• Journal of Advanced Navigation Technology
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• v.26 no.6
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• pp.427-433
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• 2022

Obstacle detection, collision recognition, and avoidance technologies are required the collision avoidance technology for UAVs. In this paper, considering collinear multiple static obstacle, we propose an obstacle detection algorithm using LiDAR and a collision recognition and avoidance algorithm based on CPA. Preprocessing is performed to remove the ground from the LiDAR measurement data before obstacle detection. And we detect and classify obstacles in the preprocessed data using the K-means clustering algorithm. Also, we estimate the absolute positions of detected obstacles using relative navigation and correct the estimated positions using a low-pass filter. For collision avoidance with the detected multiple static obstacle, we use a collision recognition and avoidance algorithm based on CPA. Information of obstacles to be avoided is updated using distance between each obstacle, and collision recognition and avoidance are performed through the updated obstacles information. Finally, through obstacle location estimation, collision recognition, and collision avoidance result analysis in the Gazebo simulation environment, we verified that collision avoidance is performed successfully.

• Journal of IKEEE
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• v.27 no.1
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• pp.116-121
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• 2023

In this paper, we develop a deep learning structure for a complex microbial incubator that applies deep learning prediction result information. The proposed complex microbial incubator consists of pre-processing of complex microbial data, conversion of complex microbial data structure, design of deep learning network, learning of the designed deep learning network, and GUI development applied to the prototype. In the complex microbial data preprocessing, one-hot encoding is performed on the amount of molasses, nutrients, plant extract, salt, etc. required for microbial culture, and the maximum-minimum normalization method for the pH concentration measured as a result of the culture and the number of microbial cells to preprocess the data. In the complex microbial data structure conversion, the preprocessed data is converted into a graph structure by connecting the water temperature and the number of microbial cells, and then expressed as an adjacency matrix and attribute information to be used as input data for a deep learning network. In deep learning network design, complex microbial data is learned by designing a graph convolutional network specialized for graph structures. The designed deep learning network uses a cosine loss function to proceed with learning in the direction of minimizing the error that occurs during learning. GUI development applied to the prototype shows the target pH concentration (3.8 or less) and the number of cells (10⁸ or more) of complex microorganisms in an order suitable for culturing according to the water temperature selected by the user. In order to evaluate the performance of the proposed microbial incubator, the results of experiments conducted by authorized testing institutes showed that the average pH was 3.7 and the number of cells of complex microorganisms was 1.7 × 10⁸. Therefore, the effectiveness of the deep learning structure for the complex microbial incubator applying the deep learning prediction result information proposed in this paper was proven.

• Journal of Intelligence and Information Systems
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• v.26 no.2
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• pp.131-145
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• 2020

In line with the trend of industrial innovation, IoT technology utilized in a variety of fields is emerging as a key element in creation of new business models and the provision of user-friendly services through the combination of big data. The accumulated data from devices with the Internet-of-Things (IoT) is being used in many ways to build a convenience-based smart system as it can provide customized intelligent systems through user environment and pattern analysis. Recently, it has been applied to innovation in the public domain and has been using it for smart city and smart transportation, such as solving traffic and crime problems using CCTV. In particular, it is necessary to comprehensively consider the easiness of securing real-time service data and the stability of security when planning underground services or establishing movement amount control information system to enhance citizens' or commuters' convenience in circumstances with the congestion of public transportation such as subways, urban railways, etc. However, previous studies that utilize image data have limitations in reducing the performance of object detection under private issue and abnormal conditions. The IoT device-based sensor data used in this study is free from private issue because it does not require identification for individuals, and can be effectively utilized to build intelligent public services for unspecified people. Especially, sensor data stored by the IoT device need not be identified to an individual, and can be effectively utilized for constructing intelligent public services for many and unspecified people as data free form private issue. We utilize the IoT-based infrared sensor devices for an intelligent pedestrian tracking system in metro service which many people use on a daily basis and temperature data measured by sensors are therein transmitted in real time. The experimental environment for collecting data detected in real time from sensors was established for the equally-spaced midpoints of 4×4 upper parts in the ceiling of subway entrances where the actual movement amount of passengers is high, and it measured the temperature change for objects entering and leaving the detection spots. The measured data have gone through a preprocessing in which the reference values for 16 different areas are set and the difference values between the temperatures in 16 distinct areas and their reference values per unit of time are calculated. This corresponds to the methodology that maximizes movement within the detection area. In addition, the size of the data was increased by 10 times in order to more sensitively reflect the difference in temperature by area. For example, if the temperature data collected from the sensor at a given time were 28.5℃, the data analysis was conducted by changing the value to 285. As above, the data collected from sensors have the characteristics of time series data and image data with 4×4 resolution. Reflecting the characteristics of the measured, preprocessed data, we finally propose a hybrid algorithm that combines CNN in superior performance for image classification and LSTM, especially suitable for analyzing time series data, as referred to CNN-LSTM (Convolutional Neural Network-Long Short Term Memory). In the study, the CNN-LSTM algorithm is used to predict the number of passing persons in one of 4×4 detection areas. We verified the validation of the proposed model by taking performance comparison with other artificial intelligence algorithms such as Multi-Layer Perceptron (MLP), Long Short Term Memory (LSTM) and RNN-LSTM (Recurrent Neural Network-Long Short Term Memory). As a result of the experiment, proposed CNN-LSTM hybrid model compared to MLP, LSTM and RNN-LSTM has the best predictive performance. By utilizing the proposed devices and models, it is expected various metro services will be provided with no illegal issue about the personal information such as real-time monitoring of public transport facilities and emergency situation response services on the basis of congestion. However, the data have been collected by selecting one side of the entrances as the subject of analysis, and the data collected for a short period of time have been applied to the prediction. There exists the limitation that the verification of application in other environments needs to be carried out. In the future, it is expected that more reliability will be provided for the proposed model if experimental data is sufficiently collected in various environments or if learning data is further configured by measuring data in other sensors.

• Journal of Korean Society of Environmental Engineers
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• v.37 no.5
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• pp.253-261
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• 2015

In this study, Chlorophyll-a (chl-a) prediction model and multiple parameters affecting algae occurrence in Mulgeum site were evaluated by statistical analysis using water quality, hydraulic and climate data at Mulgeum site (1998~2008). Before the analysis, control chart method and effect period of typhoon were adopted for improving reliability of the data. After data preprocessing step two methods were used in this study. In method 1, chl-a prediction model was developed using preprocessed data. Another model was developed by Method 2 using significant parameters affecting chl-a after data preprocessing step. As a result of correlation analysis, water temperature, pH, DO, BOD, COD, T-N, $NO_3-N$, $PO_4-P$, flow rate, flow velocity and water depth were revealed as significant multiple parameters affecting chl-a concentration. Chl-a prediction model from Method 1 and 2 showed high $R^2$ value with 0.799 and 0.790 respectively. Validation for each prediction model was conducted with the data from 2009 to 2010. Training period and validation period of Method 1 showed 20.912 and 24.423 respectively. And Method 2 showed 21.422 and 26.277 in each period. Especially BOD, DO and $PO_4-P$ played important role in both model. So it is considered that analysis of algae occurrence at Mulgeum site need to focus on BOD, DO and $PO_4-P$.

• Korean Journal of Remote Sensing
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• v.40 no.2
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• pp.229-241
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• 2024

With the advancement of big data processing technology using cloud platforms, access, processing, and analysis of large-volume data such as satellite imagery have recently been significantly improved. In this study, the Change Detection Method, a relatively simple technique for retrieving soil moisture, was applied to the backscattering coefficient values of pre-processed Sentinel-1 synthetic aperture radar (SAR) satellite imagery product based on Google Earth Engine (GEE), one of those platforms, to estimate the surface soil moisture for six observatories within the Yongdam Dam watershed in South Korea for the period of 2015 to 2023, as well as the watershed average. Subsequently, a correlation analysis was conducted between the estimated values and actual measurements, along with an examination of the applicability of GEE. The results revealed that the surface soil moisture estimated for small areas within the soil moisture observatories of the watershed exhibited low correlations ranging from 0.1 to 0.3 for both VH and VV polarizations, likely due to the inherent measurement accuracy of the SAR satellite imagery and variations in data characteristics. However, the surface soil moisture average, which was derived by extracting the average SAR backscattering coefficient values for the entire watershed area and applying moving averages to mitigate data uncertainties and variability, exhibited significantly improved results at the level of 0.5. The results obtained from estimating soil moisture using GEE demonstrate its utility despite limitations in directly conducting desired analyses due to preprocessed SAR data. However, the efficient processing of extensive satellite imagery data allows for the estimation and evaluation of soil moisture over broad ranges, such as long-term watershed averages. This highlights the effectiveness of GEE in handling vast satellite imagery datasets to assess soil moisture. Based on this, it is anticipated that GEE can be effectively utilized to assess long-term variations of soil moisture average in major dam watersheds, in conjunction with soil moisture observation data from various locations across the country in the future.

• Journal of Intelligence and Information Systems
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• v.27 no.3
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• pp.57-73
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• 2021

Maintenance and prevention of failure through anomaly detection of ICT infrastructure is becoming important. System monitoring data is multidimensional time series data. When we deal with multidimensional time series data, we have difficulty in considering both characteristics of multidimensional data and characteristics of time series data. When dealing with multidimensional data, correlation between variables should be considered. Existing methods such as probability and linear base, distance base, etc. are degraded due to limitations called the curse of dimensions. In addition, time series data is preprocessed by applying sliding window technique and time series decomposition for self-correlation analysis. These techniques are the cause of increasing the dimension of data, so it is necessary to supplement them. The anomaly detection field is an old research field, and statistical methods and regression analysis were used in the early days. Currently, there are active studies to apply machine learning and artificial neural network technology to this field. Statistically based methods are difficult to apply when data is non-homogeneous, and do not detect local outliers well. The regression analysis method compares the predictive value and the actual value after learning the regression formula based on the parametric statistics and it detects abnormality. Anomaly detection using regression analysis has the disadvantage that the performance is lowered when the model is not solid and the noise or outliers of the data are included. There is a restriction that learning data with noise or outliers should be used. The autoencoder using artificial neural networks is learned to output as similar as possible to input data. It has many advantages compared to existing probability and linear model, cluster analysis, and map learning. It can be applied to data that does not satisfy probability distribution or linear assumption. In addition, it is possible to learn non-mapping without label data for teaching. However, there is a limitation of local outlier identification of multidimensional data in anomaly detection, and there is a problem that the dimension of data is greatly increased due to the characteristics of time series data. In this study, we propose a CMAE (Conditional Multimodal Autoencoder) that enhances the performance of anomaly detection by considering local outliers and time series characteristics. First, we applied Multimodal Autoencoder (MAE) to improve the limitations of local outlier identification of multidimensional data. Multimodals are commonly used to learn different types of inputs, such as voice and image. The different modal shares the bottleneck effect of Autoencoder and it learns correlation. In addition, CAE (Conditional Autoencoder) was used to learn the characteristics of time series data effectively without increasing the dimension of data. In general, conditional input mainly uses category variables, but in this study, time was used as a condition to learn periodicity. The CMAE model proposed in this paper was verified by comparing with the Unimodal Autoencoder (UAE) and Multi-modal Autoencoder (MAE). The restoration performance of Autoencoder for 41 variables was confirmed in the proposed model and the comparison model. The restoration performance is different by variables, and the restoration is normally well operated because the loss value is small for Memory, Disk, and Network modals in all three Autoencoder models. The process modal did not show a significant difference in all three models, and the CPU modal showed excellent performance in CMAE. ROC curve was prepared for the evaluation of anomaly detection performance in the proposed model and the comparison model, and AUC, accuracy, precision, recall, and F1-score were compared. In all indicators, the performance was shown in the order of CMAE, MAE, and AE. Especially, the reproduction rate was 0.9828 for CMAE, which can be confirmed to detect almost most of the abnormalities. The accuracy of the model was also improved and 87.12%, and the F1-score was 0.8883, which is considered to be suitable for anomaly detection. In practical aspect, the proposed model has an additional advantage in addition to performance improvement. The use of techniques such as time series decomposition and sliding windows has the disadvantage of managing unnecessary procedures; and their dimensional increase can cause a decrease in the computational speed in inference.The proposed model has characteristics that are easy to apply to practical tasks such as inference speed and model management.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.5
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• pp.2393-2399
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• 2013

In this paper, we proposed a method to screening of Alzheimer's disease (AD) from Raman spectra of platelet with synthesis of basis spectra using singular value decomposition (SVD). Raman spectra of platelet from AD transgenic mice are preprocessed with denoising, removal background and normalization method. The column vectors of each data matrix consist of Raman spectrum of AD and normal (NR). The matrix is factorized using SVD algorithm and then the basis spectra of AD and NR are determined by 12 column vectors of each matrix. The classification process is completed by select the class that minimized the root-mean-square error between the validation spectrum and the linear synthesized spectrum of the basis spectra. According to the experiments involving 278 Raman spectra, the proposed method gave about 97.6% classification rate, which is better performance about 6.1% than multi-layer perceptron (MLP) with extracted features using principle components analysis (PCA). The results show that the basis spectra using SVD is well suited for the diagnosis of AD by Raman spectra from platelet.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.10 no.4
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• pp.77-85
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• 1990

The application of remote sensing in small scale mapping has recently been widened to various fields such as information analysis of landuse, environmental conservation and natural resources. SPOT imagery, in particular, offers data which can be processed for 3-dimensional point determination. This is made possible by its high resolution, appropriate swatch width/altitude ratio and stereo imaging capabilities. This study aims to develop a suitable polymonial and an algorithm in the determination of exterior orientation which is essential in the 3-dimensional point determination of SPOT imgery. An algorithm is presented in this study to determine the exterior orientation of a preprocessed level lB film of the satellite image. It was found that a polynominal of 15 parameters is the best fit polynominal for exterior orientation determination, where 1st order line function is used for positon ($X_o$, $Y_o$, $Z_o$) and 2nd order line function is used for orientation (${\kappa}_o$, ${\phi}_o$, ${\omega}_o$).

• Korean Journal of Food Science and Technology
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• v.38 no.5
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• pp.628-634
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• 2006

This study was performed to investigate the quality of pre-processed vegetables used in school and institutional food-services. Pre-processed food materials (carrot, potato, and cabbage) frequently used in food-service were collected from 14 various processing company sources. The sensory and physico-chemical qualities of the pre-processed food materials were determined using sensory and instrumental analysis. For the physico-chemical analysis of the food materials, pH, total acidity, hardness, Hunter colorimeter value, reducing sugar and vitamin C content were determined. For the sensory quality evaluation, 15 panelist were trained and consensus was reached on the quality standards of the preprocessed materials (carrot, potato, and cabbage). Finally, appearance, color, texture, off-odor/taste, and overall quality were determined. In the physico-chemical analysis, there were no significant differences among samples collected from various processing companies. In sensory quality evaluations, the color quality of pre-processed potato was lower than that of other materials. From the coefficient correlations and partial least squares regression analysis between sensory and instrumental data, pH, total acidity, colorimeter values, and hardness were considered important components in assessing the quality of pre-processed vegetables.

• Journal of Broadcast Engineering
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• v.24 no.6
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• pp.948-955
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• 2019

As interests in 360-degree VR (Virtual Reality) video services enormously grow, compression and streaming technologies for VR video data have been rapidly developed. Quality Emphasized Region (QER) based streaming scheme has been developed as a kind of viewport-adaptive 360-degree video streaming technology for maintaining immersive experience and reducing bandwidth waste. For selecting a QER corresponding to the user's gaze coordinate, QER-based streaming scheme requires the calculation of Quality Emphasis Center (QEC) distance and signaling message delivery for requesting QER switching. QEC distance calculations require high computational complexity because of repeated calculations as many times as the number of QERs. Furthermore, the signaling message interval results in a trade-off relationship between efficient bandwidth usage and flexible QER switching. In this paper, we propose an improved QER selection algorithm based on MMT protocol to solve this problem. The proposed algorithm could achieve computational complexity reduction by using preprocessed QER_ID_MAP. Also, flexible QER switching could be achieved, as well as efficient bandwidth utilization by an adaptive adjustment of the signaling interval.