• Journal of International Society for Simulation Surgery
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• v.2 no.1
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• pp.26-32
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• 2015

Purpose When a surgeon examines the morphology of skull of patient, locations of craniometric landmarks of 3D computed tomography(CT) volume are one of the most important information for surgical purpose. The locations of craniometric landmarks can be found manually by surgeon from the 3D rendered volume or 2D sagittal, axial, and coronal slices which are taken by CT. Since there are many landmarks on the skull, finding these manually is time-consuming, exhaustive, and occasionally inexact. These inefficiencies raise a demand for a automatic localization technique for craniometric landmark points. So in this paper, we propose a novel method through which we can automatically find these landmark points, which are useful for surgical purpose. Materials and Methods At first, we align the experimental data (CT volumes) using Frankfurt Horizontal Plane (FHP) and Mid Sagittal Plane(MSP) which are defined by 3 and 2 cranial landmark points each. The target landmark of our experiment is the anterior nasal spine. Prior to constructing a statistical cubic model which would be used for detecting the location of the landmark from a given CT volume, reference points for the anterior nasal spine were manually chosen by a surgeon from several CT volume sets. The statistical cubic model is constructed by calculating weighted intensity means of these CT sets around the reference points. By finding the location where similarity function (squared difference function) has the minimal value with this model, the location of the landmark can be found from any given CT volume. Results In this paper, we used 5 CT volumes to construct the statistical cubic model. The 20 CT volumes including the volumes, which were used to construct the model, were used for testing. The range of age of subjects is up to 2 years (24 months) old. The found points of each data are almost close to the reference point which were manually chosen by surgeon. Also it has been seen that the similarity function always has the global minimum at the detection point. Conclusion Through the experiment, we have seen the proposed method shows the outstanding performance in searching the landmark point. This algorithm would make surgeons efficiently work with morphological informations of skull. We also expect the potential of our algorithm for searching the anatomic landmarks not only cranial landmarks.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37C no.11
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• pp.1077-1083
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• 2012

The jamming countermeasures in GNSS includes anti-jamming technique and jammer localization technique. In both techniques, direction of jamming signal is important and generally the MUSIC algorithm is used to find the direction of jamming signal. The MUSIC is super-resolution algorithm for detecting incident direction of signal. But, the search time of MUSIC algorithm is too long because all candidates of incidence angle are searched. This paper proposes the new method that has less computational burdens and therefore faster than the conventional MUSIC algorithm. The proposed method improves performance speed by reducing unnecessary calculations. In the proposed method, the cost function of conventional MUSIC algorithm is decomposed into the sum of squares and if the partial sum of cost function is larger than the minimum cost function so far, then the candidate is rejected and next candidates are searched. If the computed cost function is less than the minimum cost function so far, the minimum cost function so far is replaced with newly computed value. The performance of the proposed method was compared with the conventional MUSIC algorithm using the simulation. The accuracy of the estimaed direction of jamming signal was same as the conventional MUSIC while the search speed of the proposed method was 1.15 times faster than the conventional MUSIC.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.776-787
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• 2002

Automation of welding process in shipyards is ultimately necessary, since the welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding mobile robot that can navigate autonomously within the enclosure has been developed. To achieve the welding task in the closed space, the robotic welding system needs a sensor system for the working environment recognition and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with 3D work environmental map. Using this sensor system, a spatial filter based on neural network technology is designed for extracting the center of laser stripe, and evaluated in various situations. An environment modeling algorithm structure is proposed and tested, which is composed of the laser scanning module for 3D voxel modeling and the plane reconstruction module for mobile robot localization. Finally, an environmental recognition strategy for welding mobile robot is developed in order to recognize the work environments efficiently. The design of the sensor system, the algorithm for sensing the partially structured environment with plane segments, and the recognition strategy and tactics for sensing the work environment are described and discussed with a series of experiments in detail.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.482-486
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• 2009

Conventional music players offer simple replay and one way entertainment. The paper presents an algorithm to extract, within a digitally recorded music file, the temporal information of a sequence of target notes (i.e. melody). We assume to have the score (e.g. MIDI or printed score), and using this information, it becomes possible to first sequentially predict the probable location of the target notes. However, recorded music is hardly performed according to the score, especially temporally. Thus, additional analysis is carried out to hone in on the exact location of the target note from the initially predicted location. This prediction and correction process is repeated to find one note after another. This allows us to develop an interactive music player that is enacted by rhythmic interaction, and induce a new user experience, i.e. as if one is playing the music oneself.

• The Journal of the Acoustical Society of Korea
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• v.20 no.7
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• pp.31-36
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• 2001

Passive sonar system forms the various beams in any desired directions to obtain the improvement in Signal-to-Noise (S/N) ratio, bearing detection and localization of targets, and the attenuation of interferences from other directions. The improvement of beamforming is very important to detect modern underwater targets as noise reduction technology leads to considerably low-level acoustic emissions in the long range in complex environmental sea. In this paper, we proposed the spatial cross correlation beamforming (SCCBF) algorithm using cross correlation matrix of individual hydrophone pairs of linear array sensors. By the theoretical analysis and simulation, the proposed SCCBF is demonstrated that its performances compared to conventional beamforming (CBF) output can be obtain above 3dB of array gain and about half of beam width represented the bearing accuracy in target detection. Also, this paper presents sea test result of linear passive sonar system that the proposed algorithm implemented.

• Proceedings of the Korea Contents Association Conference
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• 2007.11a
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• pp.12-16
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• 2007

The function of a protein is closely co-related with its subcellular location(s). Given a protein sequence, therefore, how to determine its subcellular location is a vitally important problem. We have developed a new prediction method for protein subcellular location(s), which is based on n-gram feature extraction and k-nearest neighbor (kNN) classification algorithm. It classifies a protein sequence to one or more subcellular compartments based on the locations of top k sequences which show the highest similarity weights against the input sequence. The similarity weight is a kind of similarity measure which is determined by comparing n-gram features between two sequences. Currently our method extract penta-grams as features of protein sequences, computes scores of the potential localization site(s) using kNN algorithm, and finally presents the locations and their associated scores. We constructed a large-scale data set of protein sequences with known subcellular locations from the SWISS-PROT database. This data set contains 51,885 entries with one or more known subcellular locations. Our method show very high prediction precision of about 93% for this data set, and compared with other method, it also showed comparable prediction improvement for a test collection used in a previous work.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.2
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• pp.220-226
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• 2014

This paper proposes an enhanced fast scanning method for multi-agent robot system. Passive RFID tag can read and store the information within the range of recognizable RF tag reader. Based on this information of Passive RFID tag, the position of mobile robot can be estimated and at the same time, the efficiency of scanning process can be improved because it provides a scanning trace for other mobile robots. This paper proposes an dfficient motion planning algorithm for mobile robots in a smart floor environment.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.3
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• pp.5-12
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• 2010

A novel algorithm which computes the orientations and the locations of mobile robots with repeating feature of ceiling textures is proposed. For orientation computation, the relative angle between a strait line on a ceiling image and the center line of the robot is firstly computed. The relative angle is added to the global reference angles of straight lines of the ceiling and a group of robot orientation candidates is composed. The robot orientation is determined from such orientation candidate group by choosing the closest one to the previous robot orientation. Similarly, the location of the robot is determined from the robot location candidate group by choosing the closest one to the previous robot location, where robot location candidate group is composed by adding the relative location of the robot to global locations of neighboring nodes of the previous robot locations. The experiment has been done to test the accuracy of the algorithm in computing locations and orientations.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.8
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• pp.1934-1942
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• 2015

An estimation problem in the environment which GPS signals do not reach, should be solved by employing an indoor location estimation scheme. Location estimation schemes for indoor environments generally include the AOA, TOA, RSS, Fingerprint, and TDOA. For a ship environment where there exist many spaces enclosed by iron plates, the TDOA scheme is appropriate because location estimation is usually performed at a closed range. In this paper, we address the problem of estimating the location of a terminal under the ship environment. The problem of location estimation by using the TDOA is presented in detail, and then an algorithm for applying the estimation to the ship environment is proposed. Finally, the proposed algorithm of location estimation in a ship by the TDOA scheme is verified through simulations from three viewpoints.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.532-537
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• 2009

The necessity of intelligent surveillance system is gradually considered seriously from the space where the security is important. In this paper, we embodied unmanned intelligent system by developing embedded mobile robot based on images and sounds tracking. For objects tracking, we used block-matching algorithm and for sound source tracking, we calculated time differences and magnitude dissimilarities of sound. And we demonstrated the superiority of intruder tracking algorithm through the embodiment of Pan-Tilt camera and sound source tracking module using system, Network camera and mobile robot using system and mobile robot using system. By linking security system, the suggested system can provide some interfacing functions for the security service of the public facilities as well as that of home.