• 예술인문사회 융합 멀티미디어 논문지
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• 제8권3호
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• pp.945-953
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• 2018

본 논문은 무인수상정의 자율운항을 위한 장애물 탐지 및 회피기동을 위해 3차원 라이다를 사용하였다. 단일센서만을 사용해서 해상조건에서의 무인수상정 장애물 회피운항을 하는데 목적이 있다. 3차원 라이다는 Quanergy사의 M8센서를 사용하여 주변 환경 장애물 데이터를 (r, ��, ��)로 수집하며 장애물 정보에는 Layer 정보와 Intensity 정보를 포함한다. 수집된 데이터를 3차원 직각좌표계로 변환을 하고, 이를 2차원 좌표계로 사상한다. 2차원 좌표계로 변환한 장애물 정보를 포함하는 데이터는 수면위의 잡음데이터를 포함하고 있다. 그래서 기본적으로 무인수상정을 기준으로 가상의 관심영역을 정의하여서 규칙적으로 생성되는 잡음데이터에 대해서 삭제를 하였으며, 그 이후에 발생하는 잡음데이터는 Vector Field Histogram으로 계산된 히스토그램 데이터에서 Threshold를 정해 밀도값에 비례하여 잡음데이터를 제거하였다. 제거된 데이터를 이용하여 무인수상정의 움직임에 따른 상대물체를 탐색하여 가상의 격자지도에 1 Cell씩 저정하면서 데이터의 밀도 지도를 작성하였다. 작성된 장애물 지도를 폴라 히스토그램을 생성하고, 경계값을 이용하여 회피방향을 선정하였다.

• Korean Journal of Geomatics
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• 제1권1호
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• pp.43-49
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• 2001

Although many kinds of stereo matching method have been developed in the field of computer vision and photogrammetry, wrong matches are not easy to avoid. This paper presents a new method to reduce wrong matches after matching, and experimental results are reported. The main idea is to analyze the histogram of the image attribute differences between each pair of image patches matched. Typical image attributes of image patch are the mean and the standard deviation of gray value for each image patch, but there could be other kinds of image attributes. Another idea is to check relative position among potential matches. This paper proposes to use Gaussian blunder filter to detect the suspicious pair of candidate match in relative position among neighboring candidate matches. If the suspicious candidate matches in image attribute difference or relative position are suppressed, then many wrong matches are removed, but minimizing the suppression of good matches. The proposed method is easy to implement, and also has potential to be applied as post processing after image matching for many kinds of matching methods such as area based matching, feature matching, relaxation matching, dynamic programming, and multi-channel image matching. Results show that the proposed method produces fewer wrong matches than before.

• 대한수의학회지
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• 제38권4호
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• pp.918-928
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• 1998

The present study was done with two aims. First, to evaluate the radiographic measurements of liver volumes in normal and hepatomegaly dogs induced by carbon tetrachloride. Second, to investigate quantitative tissue echo pattern by ultrasonography. Gray level histogram of the normal liver and the kidney were estimated with carbon tetra-chloride intoxication. In normal, r-square for liver volume to body weight was 0.93372, and this showed direct linear regression. Gray level histograms of the normal liver and the kidney were $19.150{\pm}2.490$(mean${\pm}$SD) and $13.175{\pm}2.686$(mean${\pm}$SD) respectively(p < 0.01). Liver parenchymal echogenicity was more hyperechogenic than kidney cortex echogenicity. Liver/Kidney ratio was $1.504{\pm}0.313$ and it can be used relative comparison of liver and kidney parenchymal echogenicity. In carbon-tetrachloride($CCl_4$) intoxication, changes of liver volume appeared to increase up to 24 hours after administration (p < 0.05), and decreased gradually to normal level after 2~5 days. Gray level histogram of liver parenchyma decreased up to 24hours (p < 0.01) after intoxication and then gradually increased to normal level. But that of kidney cortex had no significant change. Liver/Kidney ratio also decreased by 2 days(p < 0.01) and then gradually increased to normal level. On histopathologic features of hepatic tissues in carbon tetrachloride intoxication, both coagulative necrosis of hepatic cell and hemorrhage of centrilobular & midzonal area were identified. Conclusively, plain radiography is a useful diagnostic method for evaluating liver volume in mild hepatomegaly. Especially, it is considered that an adequate numerical processing of the liver length, depth and thoracic width and depth measurement would be helpful. Using gray level histogram, ultrasonographic evaluation was useful objective methods in early diagnosis of diffuse hepatic disease.

• KIEE International Transactions on Power Engineering
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• 제4A권1호
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• pp.18-25
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• 2004

This paper proposes a totally new method in the chaos characteristics' analysis of power systems, the introduction of topological invariants. Using a return histogram, a bifurcation graph was drawn. As well, the periodic orbits and topological invariants - the local crossing number, relative rotation rates, and linking number during the process of period-doubling bifurcation and chaos were extracted. This study also examined the effect on the topological invariants when the sensitive parameters were varied. In addition, the topological invariants of a three-dimensional embedding of a strange attractor were extracted and the result was compared with those obtained from differential equations. This could be a new approach to state detection and fault diagnosis in dynamical systems.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.91-94
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• 2001

In this paper, we proposed localization method of mobile robot using color landmark mounted on ceiling. This work is composed 2 parts : landmark recognition part which finds the position of multiple landmarks in image and identifies them and absolute position estimation part which estimates the location and orientation of mobile robot in indoor environment. In landmark recognition part, mobile robot detects artificial color landmarks using simple histogram intersection method in rg color space which is insensitive to the change of illumination. Then absolute position estimation part calculates relative position of the mobile robot to the detected landmarks. For the verification of proposed algorithm, ceiling-orientated camera was installed on a mobile robot and performance of localization was examined by designed artificial color landmarks. As the result of test, mobile robot could achieve the reliable landmark detection and accurately estimate the position of mobile robot in indoor environment.

• 한국정보과학회논문지:소프트웨어및응용
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• 제26권1호
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• pp.150-150
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• 1999

In this paper, a content-based image retrieval scheme based on scale-space theory is proposed. The existing methods using scale-space theory consider all scales for image retrieval,thereby requiring a lot of computation. To overcome this problem, the proposed algorithm utilizes amodified histogram intersection method to select candidate images from database. The relative scalebetween a query image and a candidate image is calculated by the ratio of histograms. Feature pointsare extracted from the candidates using a corner detection algorithm. The feature vector for eachfeature point is composed of RGB color components and differential invariants. For computing thesimilarity between a query image and a candidate image, the euclidean distance measure is used. Theproposed image retrieval method has been applied to various images and the performance improvementover the existing methods has been verified.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 추계학술대회 논문집 전력기술부문
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• pp.297-299
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• 2003

This paper proposes a totally new method in the chaos characteristics analysis of power systems, the introduction of topological invariants. Using a return histogram the bifurcation graph was drawn, the periodic orbits and topological invariants the local crossing number, relative rotation rates, and linking number during the process of period-doubting bifurcation and chaos were extracted. This study also examined the effect on the topological invariants when the sensitive parameters were varied. In addition, the topological invariants of a three-dimensional embedding of the strange attractor was extracted and the result was compared with those obtained from differential equations. This could be a new way for a state detection and fault diagnosis in a dynamical system.

• 천문학회보
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• 제45권1호
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• pp.57.4-58
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• 2020

The B-fields in Star-forming Region Observations (BISTRO) is a large program of the James Clerk Maxwell Telescope (JCMT) to study the roles of magnetic fields in molecular clouds on intermediate scales (a few thousands au or larger scales), in which a large number of researchers over the world are involved. This project was initiated in 2016 with polarimetric observations of nearby star-forming regions and has been extended toward massive and farther regions (BISTRO-2) and various evolutionary stages and environmental conditions (BISTRO-3). The current status of the BISTRO projects is reported. In addition, we discuss magnetic fields in the Serpens Main molecular cloud, which is one of the BISTRO star-forming regions. Utilizing the Histogram of Relative Orientations method, which compares polarization directions with density gradients, we show that magnetic fields are parallel to filaments in less dense filamentary structures but perpendicular to dense ones. Furthermore, the magnetic field directions with respect to density gradients vary again with density in denser core regions, which is understood by core formation and pinched fields. Note: (PI) D. Ward-Thompson, (co-PIs) P. Bastien, T. Hasegawa, W. Kwon, S. Lai, and K. Qiu

• 한국수자원학회논문집
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• 제42권4호
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• pp.355-363
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• 2009

본 연구에서는 카오스 특성을 보이는 수문시계열에 대한 잡음의 영향을 검토하기 위하여 카오스 특성을 보이는 자료로 알려져 있는 Lorenz 시계열과 미국 Great Salt Lake의 용적 자료계열을 이용하였다. 잡음의 영향을 고려하기 위한 방법으로 잡음의 비율을 증가시키면서 끌개, 상관차원, Close Returns Plot의 변화 특성을 살펴보면서 카오스의 특성이 어떻게 변화하는지를 검토하였다. 또한 Close Returns Plot의 점들의 도수에 의해 표현되는 Close Returns Histogram의 상대도수에 대하여 $X^2$ 검정을 수행하였다. 그 결과, Lorenz 시계열과 GSL 용적 자료계열 모두 잡음의 비율이 증가함에 따라 카오스 특성이 사라지고 선형 추계학적인 과정의 자료로 변화됨을 확인하였다. 또한 단순 이동평균 방법에 의하여 Lorenz 시계열과 GSL 용적 자료계열에 대한 잡음의 제거 효과가 있는지에 대하여 검토한 결과 단순 이동평균 방법으로 자료의 잡음을 효과적으로 제거할 수 있었고, 카오스 특성을 보이는 실측 수문시계열에 적용성이 있음을 확인할 수 있었다.

• 한국정보처리학회논문지
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• 제4권2호
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• pp.338-348
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• 1997

본 논문은 병렬 해쉬 결합 연산에서 데이터 분산 시에 나타나는 부하의 불균형과 버켓 오버플로우를 해결하기 위한 새로운 데이터 분산 방법을 제안한다. 제안된 데이터 분산 방법은 편재된 분포를 갖는 데이터들을 히스토프로그램 변환 기법에 의하여 각 노드의 성능에 따라 균일하게 분산 시킨다. 또한 본 논문에서는 이 분산 방법을 병렬 해쉬 결합 연산에 적용하여 데이터 편재에 따른 성능 저하를 해결할 수 있는 알고리즘을 제안하고, 기존의 병렬 결합 알고리즘들과의 성능 비교를 위하여 모의 실험결과COREDB 병렬 데이터베이스 컴퓨터 상에서의 실험을 통하여 편재된 분포를 갖는 데이터에 대하여 성능 분석을 수행한다. 실험 결과에서 편재된 데이터에 대하여 기존의 다른 결합 연산 알고리즘보다 제안된 알고리즘이 우수한 성능을 나타냄을 보인다.