• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.1
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• pp.52-57
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• 2014

This paper presents an implementation of a smooth path planning method considering physical limits on a real time operating system for a two-wheel mobile robot. A Bezier curve is utilized to make a smooth path considering a robot's position and direction angle through the defined path. A convolution operator is used to generate the center velocity trajectory to travel the distance of the planned path while satisfying the physical limits. The joint space velocity is computed to drive the two-wheel mobile robot from the center velocity. Trajectory planning, velocity command according to the planned trajectory, and monitoring of encoder data are implemented with a multi-tasking system. And the synchronization of tasks is performed with a real-time mechanism of Event Flag. A real time system with multi-tasks is implemented and the result is compared with a non-real-time system in terms of path tracking to the designed path. The result shows the usefulness of a real-time multi-tasking system to the control system which requires real-time features.

• The KIPS Transactions:PartC
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• v.13C no.6 s.109
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• pp.669-676
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• 2006

In this paper, we present a new framework and stream synchronization mechanism to effectively support developing real-time multimedia streaming services by using a real-time object model named TMO (Time-triggered Message-triggered Object). The purpose of the framework is twofold. Firstly, the framework helps developers to design complex distributed real-time multimedia streaming services. Secondly, it supports timely streaming facilities. In order to achieve these goals, our framework is consist of Multimedia Streaming TMO, MMStreaming TMO Support Library and TMO Support Middleware. The time-triggered spontaneous feature of the MMStream TMO and a global-time based synchronization scheme is used as a regulator against the irregular deliveries and processing of media units caused by QoS non-guaranteed systems and communication channels. In conclusion, timely service capability of our framework is expected to contributed to overall enhancement of the real-time multimedia streaming.

• Journal of Information Technology Services
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• v.6 no.3
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• pp.241-249
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• 2007

This paper describes a real-time face tracking system using effective detector and Kalman filter. In the proposed system, an image is separated into a background and an object using a real-time updated face color for effective face detection. The face features are extracted using the five types of simple Haar-like features. The extracted features are reinterpreted using Principal Component Analysis (PCA), and interpreted principal components are used for Support Vector Machine (SVM) that classifies the faces and non-faces. The moving face is traced with Kalman filter, which uses the static information of the detected faces and the dynamic information of changes between previous and current frames. The proposed system sets up an initial skin color and updates a region of a skin color through a moving skin color in a real time. It is possible to remove a background which has a similar color with a skin through updating a skin color in a real time. Also, as reducing a potential-face region using a skin color, the performance is increased up to 50% when comparing to the case of extracting features from a whole region.

• Food Science and Biotechnology
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• v.18 no.3
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• pp.788-792
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• 2009

Gamma $({\gamma})-irradiation$ can be used to control pathogens such as Vibrio vulnificus in seafood. The effects of irradiation on microbial cell populations (%) have been studied in order to develop detection methods for irradiated foods. The method used in this study was ethidium bromide monoazide (EMA) real-time polymerase chain reaction (PCR), using V. vulnificus specific primer, EMA, and $SYBR^{(R)}$ Green to discriminate between ${\gamma}-irradiated$ and non-irradiated cells. Confocal microscope examination showed that ${\gamma}-irradiation$ damaged portions of the cell membrane, allowing EMA to penetrate cells of irradidated V. vulnificus. ${\gamma}-Irradiation$ at 1.08 KGy resulted in log reduction ($-1.15{\pm}0.13$ log reduction) in genomic targets derived from EMA real-time PCR. The combination cold/heat shock resulted in the highest ($-1.74{\pm}0.1$ log reduction) discrimination of dead irradiated V. vulnificus by EMA real-time PCR.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.7A
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• pp.654-661
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• 2011

RTLS (Real-time locating systems) are used for tracking the location of people or assets in real time. In this system, RTLS readers continuously communicate with RTLS tags for measuring time or ranges and location engine tries to calculate accurate location of tags. However, when we attempt to apply this system to real world, the non-line-of-sight(NLOS) problem can be critical to the system performance because of the obstacles. In this paper, we suggest a new location estimation method for an NLOS environment using a reader-selection strategy. We have implemented all components of the locating system and carried out experiments in a test-bed. The accuracy of the system is 50% better than that of the existing general locating system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.8
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• pp.1843-1849
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• 2009

In real-time 3D Graphics, pipeline optimization is one of techniques enhancing rendering performance. Pipeline optimization is kind of buffer reordering problem, but it is NP-hard. Therefore techniques that is approximating optimal solution and suitable for real-time 3D graphics are needed. This paper analyze pattern of rendering states changing costs for real-time 3D graphics, and based on this, the algorithm that brings rendering states into line by changing costs is proposed. The proposed technique shows good performance enhancement when costs of some rendering states are much higher than others. Proposed technique shows 2.5 to 4 times better performance than non-ordering algorithm and becomes more faster when rendering costs of a state gets higher.

• Journal of fish pathology
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• v.31 no.2
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• pp.101-107
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• 2018

Quantitative analysis of a myxosporean parasite, Parvicapsula sp. in internal organs (kidney, intestine, spleen, brain and liver) from non-emaciated (farm-A) or emaciated (farm-B and farm-C) olive flounder Paralichthys olivaceus were performed by real-time PCR. The highest DNA copy number ($1.7{\times}10^7copies/mg$ tissue) was detected in kidney of the emaciated olive flounder from farm-C, while the DNA copy number was below detection limit in all the organs of the olive flounder from farm-B. There was not positive result in all of organs from olive flounder in farm-A. PCR and histopathological analysis were also performed using the same specimen and showed same results as those by real-time PCR.

• Biomedical Science Letters
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• v.26 no.4
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• pp.302-309
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• 2020

Human Coxsackievirus B5 (HuCoxV-B5) infection has been associated with various diseases such as myocarditis, aseptic meningitis, hand-foot-and mouth-disease, and insulin-dependent diabetes. HuCoxV-B5 is a virus transmitted through the fecal-oral route and is detected in clinics, aquatic environments, food, shellfish, etc. and is one of the more important viruses in public health because of its incidence rate reported worldwide. In this study, a combination of SYBR Green-based real-time PCR primers for molecular diagnosis including monitoring of HuCoxV-B5 was selected and the optimal reaction conditions were established. Compared with the previously reported TaqMan probe-based real-time PCR method, assessments including a sample applicability test were performed. Results showed that the real-time PCR method developed in this study was suitable for a molecular diagnostic technique for detecting HuCoxV-B5. This study is expected to contribute to efforts in responding to safety accidents in public health because the proposed method facilitates rapid diagnosis of clinical patients. It can also be used as a specific monitoring tool of HuCoxV-B5 in non-clinical areas such as aquatic environments among others.

• Medical Lasers
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• v.10 no.3
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• pp.123-131
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• 2021

Optical imaging modalities with properties of real-time, non-invasive, in vivo, and high resolution for image-guided surgery have been widely studied. In this review, we introduce two optical imaging systems, that could be the core of image-guided surgery and introduce the system configuration, implementation, and operation methods. First, we introduce the optical coherence tomography (OCT) system implemented by our research group. This system is implemented based on a swept-source, and the system has an axial resolution of 11 ㎛ and a lateral resolution of 22 ㎛. Second, we introduce a fluorescence imaging system. The fluorescence imaging system was implemented based on the absorption and fluorescence wavelength of indocyanine green (ICG), with a light-emitting diode (LED) light source. To confirm the performance of the two imaging systems, human malignant melanoma cells were injected into BALB/c nude mice to create a xenograft model and using this, OCT images of cancer and pathological slide images were compared. In addition, in a mouse model, an intravenous injection of indocyanine green was used with a fluorescence imaging system to detect real-time images moving along blood vessels and to detect sentinel lymph nodes, which could be very important for cancer staging. Finally, polarization-sensitive OCT to find the boundaries of cancer in real-time and real-time image-guided surgery using a developed contrast agent and fluorescence imaging system were introduced.

• International journal of advanced smart convergence
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• v.11 no.2
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• pp.22-29
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• 2022

In this paper, for the purpose of designing an real-time unmanned monitoring system, the YOLOv5s (small) object detection model was applied on the NVIDIA TX2^TM AI (Artificial Intelligence) edge computing platform in order to design the fundamental function of an unmanned monitoring system that can detect objects in real time. YOLOv5s was applied to the our real-time unmanned monitoring system based on the performance evaluation of object detection algorithms (for example, R-CNN, SSD, RetinaNet, and YOLOv5). In addition, the performance of the four YOLOv5 models (small, medium, large, and xlarge) was compared and evaluated. Furthermore, based on these results, the YOLOv5s model suitable for the design purpose of this paper was ported to the NVIDIA TX2^TM AI edge computing system and it was confirmed that it operates normally. The real-time unmanned monitoring system designed as a result of the research can be applied to various application fields such as an security or monitoring system. Future research is to apply NMS (Non-Maximum Suppression) modification, model reconstruction, and parallel processing programming techniques using CUDA (Compute Unified Device Architecture) for the improvement of object detection speed and performance.