• Korean Journal of Remote Sensing
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• v.38 no.6_3
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• pp.1827-1836
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• 2022

Disasters that occur unexpectedly are difficult to predict. In addition, the scale and damage are increasing compared to the past. Sometimes one disaster can develop into another disaster. Among the four stages of disaster management, search and rescue are carried out in the response stage when an emergency occurs. Therefore, personnel such as firefighters who are put into the scene are put in at a lot of risk. In this respect, in the initial response process at the disaster site, robots are a technology with high potential to reduce damage to human life and property. In addition, Light Detection And Ranging (LiDAR) can acquire a relatively wide range of 3D information using a laser. Due to its high accuracy and precision, it is a very useful sensor when considering the characteristics of a disaster site. Therefore, in this study, development and experiments were conducted so that the robot could perform real-time monitoring at the disaster site. Multi-sensor module was developed by combining LiDAR, Inertial Measurement Unit (IMU) sensor, and computing board. Then, this module was mounted on the robot, and a customized Simultaneous Localization and Mapping (SLAM) algorithm was developed. A method for stably mounting a multi-sensor module to a robot to maintain optimal accuracy at disaster sites was studied. And to check the performance of the module, SLAM was tested inside the disaster building, and various SLAM algorithms and distance comparisons were performed. As a result, PackSLAM developed in this study showed lower error compared to other algorithms, showing the possibility of application in disaster sites. In the future, in order to further enhance usability at disaster sites, various experiments will be conducted by establishing a rough terrain environment with many obstacles.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.6
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• pp.19-27
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• 2010

This paper proposes a method for enhancing detection performance and reducing computational cost when detecting a human face by applying B-spline active contour to the frame difference of consecutive images. Firstly, the method estimates amount of user's motion using kurtosis. If the kurtosis is smaller than a pre-defined threshold, it is considered that the amount of user's motion is insufficient and thus the contour fitting is not applied. Otherwise, the contour fitting is applied by exploiting the fact that the amount of motion is sufficient. Secondly, for the contour fitting, difference edges are detected by combining the distance transformation of the binarized frame difference and the edges of current frame. Lastly, the face is located by assigning the contour fitting process to the detected difference edges. Kurtosis-based motion amount estimation can reduce a computational cost and stabilize the results of the contour fitting. In addition, distance transformation-based difference edge detection can enhance the problems of contour lag and discontinuous difference edges. Experimental results confirm that the proposed method can reduce the face localization error caused by the contour lag and discontinuity of edges, and decrease the computational cost by omitting approximately 39% of the contour fitting.

• The Journal of the Korea institute of electronic communication sciences
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• v.9 no.8
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• pp.927-938
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• 2014

A number of crime and disease relief situation show a clear increasing trend in domestic and overseas country. In particular, we desperately need a fast location information sharing with high accuracy for dealing with this situation efficiently. In this paper, we propose a DGPS framework and performance evaluation based on Web service enable increase location accuracy using low-cost GPS or AGPS. The framework consists of mobile station to realize the final service by receiving the correction values that are created in the base station closest to the current position from DGPS server, base station system to transmit the correct values to DPGS server by installing at base point and DGPS framework working at DGPS server. Our framework is fundamentally designed to respond based on XML to service request. In addition, for performance evaluation, we make use of 3 sites of Level 2 city base-station among the base stations being operated in Suncheon-si. Through performance evaluation, we show that our framework outperforms about 10%~15% in terms of error improvement rate, compared with the existing schemes. And we have the advantage that various services can be expanded owing to receiving the correction values through mobile device such as, smart phone, smart pad, net-book by using XML based Web services.

• Korean Journal of Construction Engineering and Management
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• v.17 no.3
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• pp.32-42
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• 2016

In Korea, the absence of BIM use in existing civil structures and buildings is driving a demand for as-built BIM. As-built BIMs are often created using laser scanners that provide dense 3D point cloud data. Conventional static laser scanning approaches often suffer from limitations in their operability due to the difficulties in moving the equipment, the selection of scanning location, and the requirement of placing targets or extracting tie points for registration of each scanned point cloud. This paper aims at reducing the manual effort using a kinematic 3D laser scanning system based on graph-based simultaneous localization and mapping (SLAM) for continuous indoor mapping. The robotic platform carries three 2D laser scanners: the front scanner is mounted horizontally to compute the robot's trajectory and to build the SLAM graph; the other two scanners are mounted vertically to scan the profiles of surrounding environments. To reduce the accumulated error in the trajectory of the platform through loop closures, the graph-based SLAM system incorporates AdaBoost loop closure approach, which is particularly suitable for the developed multi-scanner system providing more features than the single-scanner system for training. We implemented the proposed method and evaluated it in two indoor test sites. Our experimental results show that the false positive rate was reduced by 13.6% and 7.9% for the two dataset. Finally, the 2D and 3D mapping results of the two test sites confirmed the effectiveness of the proposed graph-based SLAM.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.1
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• pp.94-106
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• 2020

Recently, the radio navigation method utilizing the GPS(Global Positioning System) satellite information is widely used as the method to measure the position of objects. As GPS applications become wider and fields based on various positioning information emerge, new methods for achieving higher accuracy are required. In the case of autonomous vehicles, the INS(Inertial Navigation System) using the IMU(Inertial Measurement Unit), and the DR(Dead Reckoning) algorithm using the in-vehicle sensor, are used for the purpose of preventing degradation of accuracy of the GPS and to measure the position in the shadow area. However, these positioning methods have many elements of problems due not only to the existence of various shaded areas such as building areas that are continually enlarged, tunnels, underground parking lots and but also to the limitations of accumulation-based location estimation methods that increase in error over time. In this paper, an efficient positioning method in a large underground parking space using Fingerprint method is proposed by placing the AP(Access Points) and directional antennas in the form of four anchors using WLAN, a popular means of wireless communication, for positioning the vehicle in the GPS shadow area. The proposed method is proved to be able to produce unchanged positioning results even in an environment where parked vehicles are moved as time passes.

• Progress in Medical Physics
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• v.7 no.2
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• pp.67-77
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• 1996

Purpose: To get a 3-D coordinates of intracranial target position was investicated in axial, sagittal and coronal magnetic resonance imaging with a preliminary experimented target localizer. Material and methods : In preliminal experiments, the localizer is made of engineering plastic to avoid the distrubance of magnetic field during the MR image scan. The MR localizer displayed the 9 points in three different axial tomogram. The bright signal of localizer was obtjained from 0.1～0.3％ of paramagnetic gadolinium/DTPA solution in T1WI or T2WI. In this study, the 3-D position of virtual targets were examined from three different axial MR images and the streotactic position was compared to that of BRW stereotactic system in CT scan with same targets. Results: This study provided the actual target position could be obtained from single scan with MRI localizer which has inverse N-typed 9 bars. This experiment was accomplished with shimming test for detection of image distortion in MR image. However we have not found the image distortion in axial scan. The maximum error of target positions showed 1.0 mm in axial, 1.3 mm for sagittal and 1.7 mm for coronal image, respectivelly. The target localization in MR localizer was investicated with spherical virtual target in skull cadaver. Furthermore, the target position was confirmed with CRW stereotactic system showed a 1.3 mm in discrepancy. Summary : The intracranial target position was determined within 1.7 mm of discrepancy with designed MR localizer. We found the target position from axial image has more small discrepancy than that of sagittal and coronal image.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.8
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• pp.31-37
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• 2016

Ranging is divided into a synchronous scheme and an asynchronous scheme according to the presence of global synchronization between nodes. In general, the asynchronous ranging is preferred over synchronous ranging because it does not require an expensive high-precision oscillator for the global synchronization. On the other hand, in a conventional asynchronous ranging scheme, the packets, which are generated by all nodes in a positioning system of a large-scale infrastructure and need to be sent for localization by reference nodes, are considerable, which cause an increase in network traffic as the number of nodes increases. The traffic congestion lowers the throughput of the network leading to a considerable loss of energy. To solve this problem, this paper proposes a ranging scheme, in which virtual transmission slots randomly and discretely selected by a plurality of nodes are used to reduce the overheads needed in synchronizing the nodes, and the ranging is performed asynchronously based on the virtual transmission slots, thereby decreasing the network traffic. In addition, a performance test proved that the proposed ranging scheme was stronger than the TWR and SDS-TWR on an error range, even though the intensity of traffic was very low.

• Korean Journal of Psychosomatic Medicine
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• v.15 no.2
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• pp.73-80
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• 2007

Anumber of prior studies have reported eye movement dysfunction in patients with dementia. The eye movement test which is non-invasive can evaluate the local brain function quantitatively. Therefore, it can be a useful method for characterizing regional brain abnormalities of patients with dementia. The aim of this paper is to review the literatures on eye movement abnormalities in dementia patients. Saccade system dysfunctions in Alzheimer disease include increased latency, reduced accuracy, and increased antisaccade error rates. Patients with frontotemporal dementia showed impaired reflexive saccade inhibition and increased latency and errors of antisaccade task. And delayed initiation of voluntary saccades, slow saccades, and increased errors and latency on antisaccade task were found in Huntington's disease. Patients with Parkinson’s disease dementia and dementia with Lewy bodies have characteristics of impaired in both reflexive saccade execution and complex saccade performance. However, there were few reports of abnormal eye movements in Creutzfeldt-Jakob disease; they could be found at the later stages after symptoms of dementia came to be evident, and secondary to cerebellar and vestibular involvement. Slowing of saccades and hypometric saccades might precede the supranuclear limitation of vertical gaze in PSP. Dysfunction of voluntary eyelid movements was a characteristic finding of PSP as well. In conclusion, patients with dementia can show various abnormal eye movements and they are related with cortial and subcortical brain dysfunctions. The research on localization of brain relevant to each symptom can promise more clinical implications of eye movement of dementia.

• The Journal of Korean Society for Radiation Therapy
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• v.17 no.1
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• pp.45-55
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• 2005

Purpose : To evaluate the usefulness of the handmade patient immobilization device and to report the clinical results of it. Materials and methods : We made two fusion images and analyzed those images. One image is made with diagnostic MR image and CT image, the other with therapeutic planning MR image and CT image. With open head holder, we measured the skin dose and attenuation dose. Also, we made the planning CT couch plate with acrylic plate and styrofoam and compared artifact. Results : We could get more accurate fusion image when we use MR head holder(within 2mm error). The skin dose was reduced 2 times and the attenuation dose was reduced more than $20\%$ when open head holder used. The planning CT couch plate was more convenient than conventional board and reduced artifact remarkably. Conclusion : We could verify the localization point in the MR image which is taken with MR head holder. So we could fuse the image more accurately. The same method could be applied to PET and US image, if the alike immobilization device used. With open head holder, the skin dose and the attenuation dose was reduced. And those above devices could substitute for expensive foreign device, if those are manufactured adequately.

• Radiation Oncology Journal
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• v.11 no.1
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• pp.175-181
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• 1993

Radiosurgery requires integral procedure where special devices and computer systems are needed for localization, dose planning and treatment. The aim of this work is to verify the overall mechanical accuracy of our LINAC and develop dose calculation algorithm for LINAC radiosurgery. The alignment of treatment machine and the performance testing of the entire system were extensively carried out and the basic data such as percent depth dose, off-axis ratio and output factor were measured. A three dimensional treatment planning system for stereotactic radiosurgery has been developed. We used an IBM personal computer with C programming language (IBM personal system/2, Model 80386, IBM Co., USA) for calculating the dose distribution. As a result, deviations at isocenter on gantry and table rotation for our treatment machine were acceptable since they were less than 2 mm. According to the phantom experiments, the focusing isocenter were successful by the error of less than 2 mm. Finally, the mechanical accuracy of our three dimensional planning system was confirmed by film dosimetry in sphere phantom.