• Journal of the Institute of Electronics Engineers of Korea SP
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• v.40 no.5
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• pp.312-321
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• 2003

In this paper, we implement robot which are ability to recognize obstacles and moving automatically to destination. we present two results in this paper; hardware implementation of image processing board and software implementation of visual feedback algorithm for a self-controlled robot. In the first part, the mobile robot depends on commands from a control board which is doing image processing part. We have studied the self controlled mobile robot system equipped with a CCD camera for a long time. This robot system consists of a image processing board implemented with DSPs, a stepping motor, a CCD camera. We will propose an algorithm in which commands are delivered for the robot to move in the planned path. The distance that the robot is supposed to move is calculated on the basis of the absolute coordinate and the coordinate of the target spot. And the image signal acquired by the CCD camera mounted on the robot is captured at every sampling time in order for the robot to automatically avoid the obstacle and finally to reach the destination. The image processing board consists of DSP (TMS320VC33), ADV611, SAA7111, ADV7l76A, CPLD(EPM7256ATC144), and SRAM memories. In the second part, the visual feedback control has two types of vision algorithms: obstacle avoidance and path planning. The first algorithm is cell, part of the image divided by blob analysis. We will do image preprocessing to improve the input image. This image preprocessing consists of filtering, edge detection, NOR converting, and threshold-ing. This major image processing includes labeling, segmentation, and pixel density calculation. In the second algorithm, after an image frame went through preprocessing (edge detection, converting, thresholding), the histogram is measured vertically (the y-axis direction). Then, the binary histogram of the image shows waveforms with only black and white variations. Here we use the fact that since obstacles appear as sectional diagrams as if they were walls, there is no variation in the histogram. The intensities of the line histogram are measured as vertically at intervals of 20 pixels. So, we can find uniform and nonuniform regions of the waveforms and define the period of uniform waveforms as an obstacle region. We can see that the algorithm is very useful for the robot to move avoiding obstacles.

• Childhood Kidney Diseases
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• v.7 no.2
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• pp.142-149
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• 2003

Purpose : The urinary mass screening program for the detection of urinary abnormalities in school aged population has been performed in Seoul since 1981. Nation-wide urinary mass screening program was also performed since 1998. The aim of this study was to analyze the cause and nature of isolated proteinuria detected by chance on the urinary mass screening test in Busan and Kyungsangnam-do Province Methods : The medical records of 44 cases of isolated proteinuria detected by chance on the urinary mass screening test in Busan and Kyungsangnam-do Province, and evaluated for urinary abnormalities at the pediatrics outpatients renal clinics of Busan Paik Hospital from April 2002 to August 2003 were reviewed prospectively. Results : The cause and incidence of isolated proteinuria were as follows; transient proteinuria 4 cases(9.1%), orthostatic proteinuria 36 cases(81.8%) and persistent proteinuria 4 cases (9.1%). The total protein amount of the 24 hour urine were $121.0{\pm}136.4\;mg$ in transient proteinuria, $179.1{\pm}130.0\;mg$ in orthostatic proteinuria and $1532.8{\pm}982.5\;mg$ in persistent proteinuria. In the orthostatic proteinuria group, the total protein amount of the 24 hour urine was in the range of 40-616 mg. Spot urine protein/creatinine ratio(PCR) were $0.10{\pm}0.01$ in transient proteinuria, $0.61{\pm}0.61$ in orthostatic proteinuria and $4.35{\pm}4.04$ in persistent proteinuria. In the orthostatic proteinuria group, spot me PCR was in the range of 0.09-2.32. Renal biopsy was peformed in 4 children of the persisitent proteinuria group. They showed minimal change in 1 case, membranoproliferatiye glomerulonephritis in 2 cases and secondary renal amyloidosis in 1 case. Conclusion : The majority of isolated proteinuria which was detected by chance on school urinary mass screening were transient or orthostatic proteinuria. Even though the incidence of persistent proteinuria was much lower, it is necessary to take care of these children regularly and continuously, because persistent proteinuria itself is a useful marker of the progressive renal problems.

• Journal of the Korean Association of Geographic Information Studies
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• v.22 no.2
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• pp.36-49
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• 2019

The objectives of this study were to extract "Field Survey Based Infection Tree of Pine Wilt Disease(FSB_ITPWD)" and "Object Classification Based Infection Tree of Pine Wilt Disease(OCB_ITPWD)" from the Research Forest at Kangwon National University, and evaluate the spatial distribution characteristics and occurrence intensity of wood infested by pine wood nematode. It was found that the OCB optimum weights (OCB) were 11 for Scale, 0.1 for Shape, 0.9 for Color, 0.9 for Compactness, and 0.1 for Smoothness. The overall classification accuracy was approximately 94%, and the Kappa coefficient was 0.85, which was very high. OCB_ITPWD area is approximately 2.4ha, which is approximately 0.05% of the total area. When the stand structure, distribution characteristics, and topographic and geographic factors of OCB_ITPWD and those of FSB_ITPWD were compared, age class IV was the most abundant age class in FSB_ITPWD (approximately 55%) and OCB_ITPWD (approximately 44%) - the latter was 11% lower than the former. The diameter at breast heigh (DBH at 1.2m from the ground) results showed that (below 14cm) and (below 28cm) DBH trees were the majority (approximately 93%) in OCB_ITPWD, while medium and (more then 30cm) DBH trees were the majority (approximately 87%) in FSB_ITPWD, indicating different DBH distribution. On the other hand, the elevation distribution rate of OCB_ITPWD was mostly between 401 and 500m (approximately 30%), while that of FSB_ITPWD was mostly between 301 and 400m (approximately 45%). Additionally, the accessibility from the forest road was the highest at "100m or less" for both OCB_ITPWD (24%) and FSB_ITPWD (31%), indicating that more trees were infected when a stand was closer to a forest road with higher accessibility. OCB_ITPWD hotspots were 31 and 32 compartments, and it was highly distributed in areas with a higher age class and a higher DBH class.

• Journal of the Korean Association of Geographic Information Studies
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• v.24 no.4
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• pp.41-54
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• 2021

It is very essential to estimate the water body area using remote exploration for water resource management, analysis and prediction of water disaster damage. Hydrophysical detection using satellites has been mainly performed on large satellites equipped with optical and SAR sensors. However, due to the long repeat cycle, there is a limitation that timely utilization is impossible in the event of a disaster/disaster. With the recent active development of Micro satellites, it has served as an opportunity to overcome the limitations of time resolution centered on existing large satellites. The Micro satellites currently in active operation are ICEYE in Finland and Capella satellites in the United States, and are operated in the form of clusters for earth observation purposes. Due to clustering operation, it has a short revisit cycle and high resolution and has the advantage of being able to observe regardless of weather or day and night with the SAR sensor mounted. In this study, the operation status and characteristics of micro satellites were described, and the water area estimation technology optimized for micro SAR satellite images was applied to the Daecheong Dam basin on the Korean Peninsula. In addition, accuracy verification was performed based on the reference value of the water generated from the optical satellite Sentinel-2 satellite as a reference. In the case of the Capella satellite, the smallest difference in area was shown, and it was confirmed that all three images showed high correlation. Through the results of this study, it was confirmed that despite the low NESZ of Micro satellites, it is possible to estimate the water area, and it is believed that the limitations of water resource/water disaster monitoring using existing large SAR satellites can be overcome.

• Research in Plant Disease
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• v.28 no.4
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• pp.237-244
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• 2022

Chrysanthemum plants are one of the most economically important plants in South Korea. Both virus and viroid can cause diseases and economic damage to the plants. In this study, we investigated the detection of seven viruses and two viroids in 350 chrysanthemum plants cultivated in Yesan-gun, Chungcheongnam-do. Two viruses, chrysanthemum virus B (CVB) and tomato aspermy virus (TAV), and two viroids, chrysanthemum chlorotic mottle viroid (CChMVd) and chrysanthemum stunt viroid (CSVd), were detected in this study. The two viruses were detected in six samples and one sample, respectively. The two viroids were detected in 97 samples and 21 samples, respectively. The nucleotide sequences of the CVB-CN-Y, TAV-CN-Y, CChMVd-CN-Y, and CSVd-CN-Y obtained in this study showed 83.7-86.9%, 99.2-100.0%, 94.4-99.5%, and 95.7-99.7% identity, respectively, compared to their other strains/isolates. The CVB-CN-Y and TAV-CN-Y showed the greatest nucleotide sequence homology to CVB-GS1 and three TAV isolates (TAV-V, TAV-P, and TAV-ChJ), respectively. The CChMVd-CN-Y and CSVd-CN-Y showed the greatest nucleotide sequence homology to CChMVd-Horst and four CSVd isolates (Au1.1, K4pop, Sagae, and Tochigi), respectively. This study is the report on the infection rate of viruses and viroids in chrysanthemum plants cultivated in Yesan-gun in 2021.