• 로봇학회논문지
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• 제4권4호
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• pp.298-304
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• 2009

This paper describes an algorithm that improves 3D reconstruction result using a multi-sensor fusion disparity map. We can project LRF (Laser Range Finder) 3D points onto image pixel coordinatesusing extrinsic calibration matrixes of a camera-LRF (${\Phi}$, ${\Delta}$) and a camera calibration matrix (K). The LRF disparity map can be generated by interpolating projected LRF points. In the stereo reconstruction, we can compensate invalid points caused by repeated pattern and textureless region using the LRF disparity map. The result disparity map of compensation process is the multi-sensor fusion disparity map. We can refine the multi-sensor 3D reconstruction based on stereo vision and LRF using the multi-sensor fusion disparity map. The refinement algorithm of multi-sensor based 3D reconstruction is specified in four subsections dealing with virtual LRF stereo image generation, LRF disparity map generation, multi-sensor fusion disparity map generation, and 3D reconstruction process. It has been tested by synchronized stereo image pair and LRF 3D scan data.

• Nuclear Engineering and Technology
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• 제53권1호
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• pp.199-207
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• 2021

This paper deals with accurate image reconstruction of gamma camera using a coded-aperture mask based on pixel-type CsI(Tl) scintillator coupled with silicon photomultipliers (SiPMs) array. Coded-aperture imaging (CAI) system typically has a smaller effective viewing angle than Compton camera. Thus, if the position of the gamma source to be searched is out of the fully-coded field-of-view (FCFOV) region of the CAI system, artifacts can be generated when the image is reconstructed by using the conventional cross-correlation (CC) method. In this work, we propose an effective method for more accurate reconstruction in CAI considering the source distribution of partially-coded field-of-view (PCFOV) in the reconstruction in attempt to overcome this drawback. We employed an iterative algorithm based on compressed-sensing (CS) and compared the reconstruction quality with that of the CC algorithm. Both algorithms were implemented and performed a systematic Monte Carlo simulation to demonstrate the possiblilty of the proposed method. The reconstructed image qualities were quantitatively evaluated in sense of the root mean square error (RMSE) and the peak signal-to-noise ratio (PSNR). Our simulation results indicate that the proposed method provides more accurate location information of the simulated gamma source than the CC-based method.

• 대한전자공학회논문지SP
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• 제37권1호
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• pp.37-48
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• 2000

본 논문에서는 영역 기반 부호화를 위해 영상 분할 과정에서 요구되는 수리형태학 기반의 새로운 Connected Operator를 제안한다 참조 영상(Reference Image)의 선택에 있어 크기와 대조를 동시에 고려하는 효과적인 참조 영상 선택 방법을 제안한다 이는 시각적으로 중요한 요소를 보존하고 불필요한 영역은 제거함으로써 단순화 성능을 높일 수 있다 또한 기존 Connected Operator는 작은 크기의 요소들에 대해서는 좋은 결과를 보이지만 정의된 요소보다 크고 천천히 변화하는 영역에 대해서는 인접영역의 간섭으로 인해 단순화의 효과가 상당히 떨어지게 된다는 문제점이 있다 이를 보완하기위해 기존의 Geodesic Dilation 방법을 적응적으로 개선시키기 위해 원영상으로 복원된 화소는 연산과정에서 제외시킨다 제안하는 참조 영상 선택의 기준과 개체 영역을 고려한 개선된 Geodesic Dilation을 이용하여 크기와 대조를 고려한 새로운 Connected Operator를 제안한다. 제안하는 알고리즘은 중요 요소의 제거를 줄이고 화질을 개선시키며, 지역 최대/최소(Regional Maximum/Minimum)인 커다란 영역으로부터 발생하는 방해를 효과적으로 줄일 수 있다 실험 결과에 대한 주관적 평가에서 동일한 조건의 경우 제안하는 알고리즘이 기존 알고리즘보다 평탄면 생성이 더 우수함을 보였으며, 특히 객관적인 평가에서는 같은 영역 개수에 대해 기존의 연산자보다 평균 7dB정도 우수함을 확인하였다.

• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.855-868
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• 2004

There are several types of singularities in controlling robotic manipulators: kinematic singularity, algorithmic singularity, semi-kinematic singularity, semi-algorithmic singularity, and representation singularity. The kinematic and algorithmic singularities have been investigated intensively because they are not predictable or difficult to avoid. The problem with these singularities is an unnecessary performance reduction in non-singular region and the difficulty in performance tuning. Tn this paper, we propose a method of avoiding kinematic and algorithmic singularities by applying a task reconstruction approach while maximizing the task performance by calculating singularity measures. The proposed method is implemented by removing the component approaching the singularity calculated by using singularity measure in real time. The outstanding feature of the proposed task reconstruction method (TR-method) is that it is based on a local task reconstruction as opposed to the local joint reconstruction of many other approaches. And, this method has dynamic task priority assignment feature which ensures the system stability under singular regions owing to the change of task priority. The TR-method enables us to increase the task controller gain to improve the task performance whereas this increase can destabilize the system for the conventional algorithms in real experiments. In addition, the physical meaning of tuning parameters is very straightforward. Hence, we can maximize task performance even near the singular region while simultaneously obtaining the singularity-free motion. The advantage of the proposed method is experimentally tested by using the 7-dof spatial manipulator, and the result shows that the new method improves the performance several times over the existing algorithms.

• Journal of Microbiology and Biotechnology
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• 제13권5호
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• pp.828-831
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• 2003

Although most of the DOS containing aminoglycosides are produced by Streptomyces, very little information is available about their biosynthesis. In the present paper, we report a method to isolate DOI synthase, a key enzyme in the biosynthesis of DOS, from aminoglycoside producer Streptomyces. PCR primers based on conserved region of DOI synthases were specific and reliable for the isolation of the biosynthetic genes of DOS containing aminoglycosides or the screening of the aminoglycoside producers. The use of DOI synthase as a probe could save both time and cost of cloning aminoglycoside biosynthetic genes.

• 대한전자공학회논문지SP
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• 제41권4호
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• pp.69-74
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• 2004

본 논문에서는 프로젝션 프로파일(PP： Projection Profile) 과 컬러공간변환(CST： Color Space Transform)을 이용하여 라인스캔 카메라(Line-Scan Camera) 영상을 재구성함으로써 LCD 표면의 결함검출 성능을 높이는 알고리즘을 제안하였다. 제안된 알고리즘은 결함을 포함한 RGB 영역 분할, 대표값 추적시스템을 이용한 대표값 추출, 그리고 컬러공간변환을 이용한 Y영상 재구성 방법들로 구성되어 있다. 실험을 통하여 제안한 방법으로 재구성된 영상의 결함검출 성능이 영역카메라(Aerial Camera)의 결함검출 성능보다 우수함을 보였다.

• Journal of Ubiquitous Convergence Technology
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• 제1권1호
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• pp.9-17
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• 2007

Feature based stereo matching is an effective way to perform 3D building reconstruction. However, in urban scene, the cluttered background and various building structures may interfere with the performance of building reconstruction. In this paper, we propose a novel method to robustly reconstruct buildings on the basis of rectangle regions. Firstly, we propose a multi-scale linear feature detector to obtain the salient line segments on the object contours. Secondly, candidate rectangle regions are extracted from the salient line segments based on their local information. Thirdly, stereo matching is performed with the list of matching line segments, which are boundary edges of the corresponding rectangles from the left and right image. Experimental results demonstrate that the proposed method can achieve better accuracy on the reconstructed result than pixel-level stereo matching.

• 전자공학회논문지S
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• 제34S권3호
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• pp.84-96
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• 1997

In this paper an efficient morphologica algorithm for reducing gaussian and impulse noise in gray-scale image is presented. Based on the edge information the input image is partitioned into a flat region and an edge region, then different algorithms are selectively applied to each region. in case of impulse noise, MGR (morphologica grayscale reconstruction) algorithm with directional SE (structuring element) is applied to the flat region. For theedge region opening-closing (closing-opening) is used instead of dialation (erosion), so that the remaining noise around large objects can be removed. In case of gaussian noise, 5*5 OCCO(opening closing closing opening) and 3*3 DMF(directional morphological filter ) are used for the flat region and the edgeregion, respectively. In order to remove discontinuity at the edge boundary, the algorithm uses 3*3 OCCO around the edge region to reconstruct the final image. Experimetnal results have shown that the proposed algorithm achieves a high performance in terms of noise removal, detail preservation, and NMSE.

• Korean Journal of Radiology
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• 제20권4호
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• pp.558-568
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• 2019

Objective: To evaluate whether computed tomography (CT) reconstruction algorithms affect the CT texture features of the liver parenchyma. Materials and Methods: This retrospective study comprised 58 patients (normal liver, n = 34; chronic liver disease [CLD], n = 24) who underwent liver CT scans using a single CT scanner. All CT images were reconstructed using filtered back projection (FBP), hybrid iterative reconstruction (IR) (iDOSE⁴), and model-based IR (IMR). On arterial phase (AP) and portal venous phase (PVP) CT imaging, quantitative texture analysis of the liver parenchyma using a single-slice region of interest was performed at the level of the hepatic hilum using a filtration-histogram statistic-based method with different filter values. Texture features were compared among the three reconstruction methods and between normal livers and those from CLD patients. Additionally, we evaluated the inter- and intra-observer reliability of the CT texture analysis by calculating intraclass correlation coefficients (ICCs). Results: IR techniques affect various CT texture features of the liver parenchyma. In particular, model-based IR frequently showed significant differences compared to FBP or hybrid IR on both AP and PVP CT imaging. Significant variation in entropy was observed between the three reconstruction algorithms on PVP imaging (p < 0.05). Comparison between normal livers and those from CLD patients revealed that AP images depend more strongly on the reconstruction method used than PVP images. For both inter- and intra-observer reliability, ICCs were acceptable (> 0.75) for CT imaging without filtration. Conclusion: CT texture features of the liver parenchyma evaluated using the filtration-histogram method were significantly affected by the CT reconstruction algorithm used.

• Archives of Plastic Surgery
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• 제34권5호
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• pp.653-655
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• 2007

Purpose: The umbilicus is an important aesthetic component of the abdomen. Its absence is both cosmetically and psychologically distressing to the patient. Umbilical reconstruction should always be aimed at creating an umbilicus of sufficient depth and good morphology with less scarring. The C-V flap developed for nipple reconstruction was used in an inverted fashion in case of umbilical reconstruction. The aim of this article is to report our experience of scarred umbilical reconstruction using inverted C-V flap. Methods: A 22-year-old woman presented with contracted scar tissue in the umbilical region because she had undergone surgical correction of an umbilical hernia at 5 year of age. Pedicle of the inverted C-V flap was based cephalically. For enhancing depth of the umbilicus, three anchoring sutures to linea alba were done at both lateral and caudal aspects of the umbilical tube. Primary closures were done at donor sites of the V flaps and bolster sutures were done in the caudal direction of the inverted umbilical tube. Results: The patient was satisfied with the appearance of umbilicus. Major complications such as dehiscence, infection, and delayed healing did not occur. Conclusion: The inverted C-V flap is easy and simple technique, and it can produce a satisfactory reconstruction of umbilical structure.