• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.23 no.2
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• pp.157-172
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• 2024

Autonomous driving technology, when commercialized, has the potential to improve the safety, mobility, and environmental performance of transportation networks. However, safe autonomous driving may be hindered by poor sensor performance and limitations in long-distance detection. Therefore, cooperative autonomous driving that can supplement information collected from surrounding vehicles and infrastructure is essential. In addition, since HDVs, AVs, and CAVs have different ranges of perceivable information and different response protocols, countermeasures are needed for mixed traffic that occur during the transition period of autonomous driving technology. There is a lack of research on traffic flow optimization that considers the penetration rate of autonomous vehicles and the different characteristics of each road segment. The objective of this study is to develop weights based on safety, operational, and environmental factors for each infrastructure control use case and autonomous vehicle MPR. To develop an integrated evaluation index, infra-guidance AHP and hybrid AHP weights were combined. Based on the results of this study, it can be used to give right of way to each vehicle to optimize mixed traffic.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.24 no.3
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• pp.77-85
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• 2024

In this dissertation, a we designed and implemented a patrol robot that integrates a thermal imaging camera, speed dome camera, PTZ camera, radar, lidar sensor, and smartphone. This robot has the ability to monitor and respond efficiently even in complex environments, and is especially designed to demonstrate high performance even at night or in low visibility conditions. An orbital movement system was selected for the robot's mobility, and a smartphone-based control system was developed for real-time data processing and decision-making. The combination of various sensors allows the robot to comprehensively perceive the environment and quickly detect hazards. Thermal imaging cameras are used for night surveillance, speed domes and PTZ cameras are used for wide-area monitoring, and radar and LIDAR are used for obstacle detection and avoidance. The smartphone-based control system provides a user-friendly interface. The proposed robot system can be used in various fields such as security, surveillance, and disaster response. Future research should include improving the robot's autonomous patrol algorithm, developing a multi-robot collaboration system, and long-term testing in a real environment. This study is expected to contribute to the development of the field of intelligent surveillance robots.

• 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 radiological science and technology
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• v.29 no.4
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• pp.267-274
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• 2006

The evaluation of GB stones with ultrasound has proved to be useful procedure in patient with symptoms of cholelithiasis. GB is evaluated for size, wall thickness, presence of internal reflections within the lumen and posterior acoustic shadowing or enhancement in Ultrsonography. The patient position should be shifted during procedure to demonstrate further the presence of stone within the GB. Patient scanned at the Rt. subcostal region in supine, right lateral, Lt. down decubitus, and upright sitting position. So GB stone should shift to dependent area of GB. Often, GB is not markedly distended in the presence of cholethiasis, and so the diagnosis becomes more difficult. One of the more difficult areas for detection of a GB stones are embeded in the cystic duct region. And since the GB is adjacent to the duodenum and hepatic flexure, its may be difficult to visualizing a GB stone. When patient study position changes frome supine to other position, stones displaced the site. But if its are polyps, not changes the site whatever patient positions. It is very important to what make different GB stones or polyps. We have studied about mobility of GB stones according to the patients position(supine, Lt. down decubitus, $30^{\circ} LAO. sitting and hand-knee). So we have a result, stones wherever localized within the GB, changed 100% its position in the hand-knee position and the others appeared at least 90%. In this study, when a large stones are located through fundus-body and body-neck, does not changing the stones position in spite of varied patient's positions. But hand-knee positions can identified GB stones, because its make changed the position of stons from posterior wall to anterior wall within the GB. We recommend the hand-knee position for differentiation GB stones from polyps.