• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.438-444
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• 2004

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using the a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Since the equations are based or the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot. The Kalman filter scheme is applied for this method. its performance is verified by the computer simulation and the experiment.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.32 no.1
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• pp.21-30
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• 2022

Objectives: The purpose of this study is to suggest an optimal method by comparing the analysis methods of work environment measurement datasets including left-censored data where one or more measurements are below the limit of detection (LOD). Methods: A computer program was used to generate left-censored datasets for various combinations of censoring rate (1% to 90%) and sample size (30 to 300). For the analysis of the censored data, the simple substitution method (LOD/2), β-substitution method, maximum likelihood estimation (MLE) method, Bayesian method, and regression on order statistics (ROS)were all compared. Each method was used to estimate four parameters of the log-normal distribution: (1) geometric mean (GM), (2) geometric standard deviation (GSD), (3) 95th percentile (X95), and (4) arithmetic mean (AM) for the censored dataset. The performance of each method was evaluated using relative bias and relative root mean squared error (rMSE). Results: In the case of the largest sample size (n=300), when the censoring rate was less than 40%, the relative bias and rMSE were small for all five methods. When the censoring rate was large (70%, 90%), the simple substitution method was inappropriate because the relative bias was the largest, regardless of the sample size. When the sample size was small and the censoring rate was large, the Bayesian method, the β-substitution method, and the MLE method showed the smallest relative bias. Conclusions: The accuracy and precision of all methods tended to increase as the sample size was larger and the censoring rate was smaller. The simple substitution method was inappropriate when the censoring rate was high, and the β-substitution method, MLE method, and Bayesian method can be widely applied.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.638-643
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• 2004

소형화된 기계가공시스템은 사용재료의 다양화와 에너지 및 공간의 감소와 같은 장점을 가지고 작고 정밀한 부품을 가공할 수 있는 시스템으로 주목받고 있다. 이러한 시스템이 비록 그 크기가 일반적인 가공시스템에 비해 작지만 정렬 및 조립공정, 기계요소의 불완정성에 의한 기하학적 오차는 여전히 존재한다. 기하학적 오차 평가는 기계시스템의 정밀도를 효과적으로 적은 비용으로 향상시킬 수 있는 오차보정기술을 적용할 수 있는 토대가 된다. 일반적으로, 3 축의 직선축으로 이루어진 공작기계는 21 개의 오차요소를 가진다. 레이져간섭계는 이러한 오차요소를 평가하는데 널리 사용되고 있지만 광학계를 정렬하고 설치하는 데 많은 어려움이 있으며 한번의 설치로 한 개의 오차요소만이 측정 가능하다. 또한, 소형공작기계의 경우, 그 크기로 인해 기존의 레이져 간섭계를 직접적으로 적용할 수 없다. 따라서, 본 연구에서는 소형공작기계를 포함한 소형가공시스템의 기하학적 오차 평가를 위한 새로운 다자유도 측정시스템을 제안하였다. 5 개의 정전용량변위센서를 사용하는 이 시스템을 통해 한 축의 움직임에 따른 5 개의 오차요소를 동시에 측정 가능하다. 균질 변환행렬을 이용한 측정알고리듬을 구성하고 이를 모의시험을 통해 평가하였다. 수학적 모델링을 통해 각 센서의 출력값을 유도하고 이를 이용하여 각 오차요소를 계산하기 위한 식을 유도하였다. 여기서, 단순화된 식을 적용한 경우, 임의의 오차에 대한 측정 알고리듬의 정확도를 평가하였다. 또한, 측정 시스템의 설치시 발생하는 셋업오차에 대한 측정 알고리듬의 민감도 분석을 행하였다. 제안하는 측정 시스템은 구조가 간단하고 고가의 부가장비가 필요치 않다. 또한, 적은 비용으로 구성할 수 있으며 높은 측정 정밀도를 가지고 소형가공시스템에 필요한 오차 평가를 행할 수 있다.가 함유된 계란을 생산하고 섭취하였을 때 특정항체들의 결합을 통해 병원성 미생물의 성장이나 군체를 형성하는 것을 무력화시켜 결과적으로 병원균을 감소시키거나 억제시킨다는 점이다. 오늘날 약물에 내성을 지닌 박테리아의 출현으로 질병감염을 막는데 항생제의 사용효과가 점차 감소하고 있기 때문에 이러한 항생제를 대체할 수 있는 방안으로 계란항체를 이용할 수 있다.한 중공 플랜지 형상의 단조 방법 중 보다 적절한 단조방법인 압조 단조에 있어서 일반적으로 사용되고 있는 SM10C에 대한 유한요소 해석을 수행하였으며, 제품의 형상비에 따라 폴딩 결함의 발생 유무를 검토하고, 폴딩 결함 없이 단조하기 위한 중공 플랜지의 형상한계 비를 제시하였다.도 경미하게 나타났으나, 경련이 나타난 쥐에서는 KA만을 투여한 흰쥐와 구별되지 않았다. 이상의 APT의 항산화 효과는 KA로 인한 뇌세포 변성 개선에 중요한 인자로 작용할 것으로 사료되나, 보다 명확한 APT의 기전을 검색하고 직접 임상에 응응하기 위하여는 보다 다양한 실험 조건이 보완되어야 찰 것으로 생각된다. 항우울약들의 항혈소판작용은 PKC-기질인 41-43 kD와 20 kD의 인산화를 억제함에 기인되는 것으로 사료된다.다. 것으로 사료된다.다.바와 같이 MCl에서 작은 Dv 값을 갖는데, 이것은 CdCl$_{4}$$^{2-}$ 착이온을 형성하거나 ZnCl$_{4}$$^{2-}$ , ZnCl$_{3}$$^{-}$같은 이온과 MgCl$^{+}$, MgCl$_{2}$같은 이온종을 형성하기 때문인것 같다. 한편 어떠한 용리액에서던지 NH$_{4}$$^{+}$의 경

• Journal of Astronomy and Space Sciences
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• v.21 no.4
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• pp.361-370
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• 2004

The DSN(Deep Space Network) measurement model for interplanetary navigations which is essential for precise orbit determination has been developed. The DSN measurement model produces fictitious DSN observables such as range, doppler and angular data, containing the potential observational errors in geometric data obtained from orbit propagator. So the important part of this research is to model observational errors in DSN observation and to characterize the errors. The modeled observational errors include the range delay effect caused by troposphere, ionosphere, antenna offset, and angular refraction effect caused by troposphere. Non-modeled errors are justified as the parameters. All of these results from developed models show about $10\%$ errors compared to the JPL's reference results, that are within acceptable error range.

• Proceedings of the Korea Information Processing Society Conference
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• 2011.04a
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• pp.346-349
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• 2011

In this paper, we design a perceptually invisible dot pattern layout and its recognition scheme, and we apply the recognition scheme into a smart self learning aid for interactive learning aid. To increase maximum information capacity and also increase robustness to the noises, we design a ECC (error correcting code) based dot pattern with directional vector indicator. To make a smart self-learning aid, we embed the micro dot pattern (20 information bit + 15 ECC bits + 9 layout information bit) using K ink (CMYK) and extract the dot pattern using IR (infrared) LED and IR filter based camera, which is embedded in the smart pen. The reason we use K ink is that K ink is a carbon based ink in nature, and carbon is easily recognized with IR even without light. After acquiring IR camera images for the dot patterns, we perform layout adjustment using the 9 layout information bit, and extract 20 information bits from 35 data bits which is composed of 20 information bits and 15 ECC bits. To embed and extract information bits, we use topology based dot pattern recognition scheme which is robust to geometric distortion which is very usual in camera based recognition scheme. Topology based pattern recognition traces next information bit symbols using topological distance measurement from the pivot information bit. We implemented and experimented with sample patterns, and it shows that we can achieve almost 99% recognition for our embedding patterns.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.5
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• pp.444-450
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• 2015

The accuracy of small and low cost CCD camera is insufficient to provide data for precisely tracking unmanned aerial vehicles(UAVs). This study shows how UAV can hover on a human targeted tracking object by using CCD camera rather than imprecise GPS data. To realize this, UAVs need to recognize their attitude and position in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for an UAV to estimate of his attitude by environment recognition for UAV hovering, as one of the best important problems. In this paper, we describe a method for the attitude of an UAV using image information of a maker on the floor. This method combines the observed position from GPS sensors and the estimated attitude from the images captured by a fixed camera to estimate an UAV. Using the a priori known path of an UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a marker on the floor and the estimated UAV's attitude. Since the equations are based on the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the UAV. The Kalman filter scheme is applied for this method. its performance is verified by the image processing results and the experiment.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.13 no.1
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• pp.42-55
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• 2008

To evaluate the accuracy of currents measured by HF radar in the coastal sea off Keum River estuary, we compared the facing radial vectors of two HF radars, and HF radar-derived currents with in-situ measurement currents. Principal component analysis was used to extract regression line and RMS deviation in the comparison. When two facing radar's radial vectors at the mid-point of baseline are compared, RMS deviation is 4.4 cm/s in winter and 5.4 cm/s in summer. When GDOP(Geometric Dilution of Precision) effect is corrected from the RMS deviations that is analyzed from the comparison between HF radar-derived and current-metermeasured currents, the error of velocity combined by HF radar-derived current is less than 5.1 cm/s in the stations having moderate GDOP values. These two results obtained from different method suggest that the lower limit of HF radar-derived current's accuracy is 5.4 cm/s in our study area. As mentioned in previous researches, RMS deviations become large in the stations located near the islands and increase as a function of mean distance from the radar site due to decrease of signal-to-noise level and the intersect angle of radial vectors. We found that an uncertain error bound of HF radar-derived current can be produced from the separation process of RMS deviations using GDOP value if GDOP value for each component is very close and RMS deviations obtained from current component comparison are also close. When the current measured in the stations having moderate GDOP values is separated into tidal and subtidal current, characteristics of tidal current ellipses analyzed from HF radar-derived current show a good agreement with those from current-meter-measured current, and time variation of subtidal current showed a response reflecting physical process driven by wind and density field.

• Progress in Medical Physics
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• v.24 no.4
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• pp.253-258
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• 2013

The purpose of this study is to evaluate and analyze the relationship between the external radiation dose reconstruction which is transmitted from the patient who receives radiation treatment through electronic portal imaging device (EPID) and the internal dose derived from the Monte Carlo simulation. As a comparative analysis of the two cases, it is performed to provide a basic indicator for similar studies. The geometric information of the experiment and that of the radiation source were entered into Monte Carlo n-particle (MCNPX) which is the computer simulation tool and to derive the EPID images, a tally card in MCNPX was used for visualizing and the imaging of the dose information. We set to source to surface distance (SSD) 100 cm for internal measurement and EPID. And the water phantom was set to be 100 cm of the source to surface distance (SSD) for the internal measurement and EPID was set to 90 cm of SSD which is 10 cm below. The internal dose was collected from the water phantom by using mesh tally function in MCNPX, accumulated dose data was acquired by four-portal beam exposures. At the same time, after getting the dose which had been passed through water phantom, dose reconstruction was performed using back-projection method. In order to analyze about two cases, we compared the penetrated dose by calibration of itself with the absorbed one. We also evaluated the reconstructed dose using EPID and partially accumulated (overlapped) dose in water phantom by four-portal beam exposures. The sum dose data of two cases were calculated as each 3.4580 MeV/g (absorbed dose in water) and 3.4354 MeV/g (EPID reconstruction). The result of sum dose match from two cases shows good agreement with 0.6536% dose error.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.3
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• pp.326-333
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• 2015

A tidal sandshoal, called 'Puldeung' in the Daeijackdo Marine Protected Area(DMPA), is facing erosion due to sand mining in the nearby coastal region. To monitor the morphologic change and erosion of Puldeung, a camera monitoring system was established at the top of Song-Ee Mountain in Daeijack Island. The system consists of 2 Cannon digital cameras, Eye-fi memory card/Long-Term Evolution wireless network, and solar power supply. The acquired camera images were analyzed to obtain the area of Puldeung by the following methods: geometric correction of image, identification of shoreline, areal measurement of Puldeung and its error estimation. To compare the Puldeung area with previously measured area of 1.79 km2 at tidal height of 137 cm in 2008 and of 1.59 km2 at tidal height of 148 cm in 2010, we selected images with same tidal heights. The Puldeung area was 1.37 and 1.23 km2 at the tidal height of 137 and 148 cm, respectively. The erosion at DMPA is very severe and thus it is imperative to initiate the morphodynamical study on the seasonal variation and long-term evolution of Puldeung as well as the causes and measures of Puldeung erosion.

• The Journal of Korean Society for Radiation Therapy
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• v.22 no.1
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• pp.33-39
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• 2010

Purpose: It is very important to confirm conformance of dose distribution that is formed with treatment planning from IMRS or IMRT. It has been a problem dropped accuracy and conformance when the field size is getting smaller because of character of the 2D ion chamber. Verification of MatriXX Phantom dose distribution with a change in the SAD. Dose distribution measurement and analysis to improve the accuracy and should be useful to evaluate the award. Materials and Methods: A use of Novalis linear accelerator 6 MV photon beams. In general, IMRS were 25 patients with small field size. The selected patients were divided into three groups on the basis of the field size. SAD was changed from 80 to 130 cm and field size to determine the dose distribution to the change, each dose was measured using MatriXX Phantom. Analysis of measured values obtained from the program for each patient through the treatment planning system comparison and analysis of the dose distribution and gamma values were expressed. Result: SAD 80, 100, and 120 cm in size in the gamma value to the investigation of patients less than $3\;cm^2$ average 0.939, 0.969, and 0.979, respectively. Patients with more than $5\;cm^2$ 0.962, 0.983, and 0.988, respectively. $5\;cm^2$ or more patients 0.982, 0.990, and 0.992, respectively. Conclusion: The error rate of less than $3\;cm^2$ field size is increased rapidly. If the field size is increased, resolution is increased by 2D ion chambers. It has been approved that it can be credible if it is around $3\;cm^2$ when measuring dose distribution using MatriXX. Adjusting geometric field size by changing SAD is likely to be very useful when you measure dose distribution using MatriXX.