• Journal of Biomedical Engineering Research
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• v.16 no.4
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• pp.439-446
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• 1995

In this paper, we present an algorithm for the detection of blood vessel contours in coronary aiteriograms. The proposed algorithm is based on both matched filtering and adaptive tracking. The proposed algorithm has merits in that it overcomes the bifurcation section problem as well as narrow vessel problem. Moreover, the algorithm has fast performance as well as insensitivity to noise.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.151-156
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• 2006

Accurate vessel traffic observation is indispensable to carry out vessel traffic management, design of vessel traffic route, planning of port construction, etc. In order to observe the vessel traffic accurately without many efforts such as the use of a ship or car equipped with special radar observation system and the preparation of observation staff, the authors have been developing completely automated remote radar/AIS network system covering the main traffic area in Tokyo Bay. The composite radar image observed at Yokosuka and Kawasaki radar stations with AIS information can be seen on web site of Internet. In addition to the development of radar/AIS observation system, the software to analyze observed vessel traffic flow has been developed. This software has various functions such as automatic tracking of ship's positions, automatic estimation of ship's size, automatic integration of radar image and AIS data, animation of ships' movements, extraction of dangerous ship encounters, etc. The configuration and functions of the developed remote radar/AIS network system are shown first in this paper. Then various functions of the software to analyze vessel traffic are introduced, and some analyzed results on the vessel traffic in Tokyo Bay are described demonstrating the effectiveness of the developed system.

• Journal of Biomedical Engineering Research
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• v.31 no.6
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• pp.427-433
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• 2010

Although tracking methods are efficient and popular for vessel segmentation, they require a seed to initiate an instance of tracking. In this paper, a new method to detect new seeds for tracking of arterial segments from CT angiography (CTA) and to construct a vascular structure is proposed. The proposed algorithm is based on shape analysis of connected components in a volume of interest around a vessel segment which was already extracted by tracking. The eigenvalues of the covariance matrix are used as the shape features for detection. The experimental results on actual clinical data showed that the results totally revealed the arterial tree not hindered by bone or veins. In visual comparison to a method which combines registration and subtraction of both pre-contrast and post-contrast CT volumes, the proposed method produced comparable results to the reference method and were confirmed of its feasibility for clinical use of reducing the cost and burden of patients.

• Journal of information and communication convergence engineering
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• v.12 no.3
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• pp.168-172
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• 2014

In this paper, we propose an algorithm that can efficiently detect and monitor multiple ships in real-time. The proposed algorithm uses morphological operations and edge information for detecting and tracking ships. We used smoothing filter with a $3{\times}3$ Gaussian window and luminance component instead of RGB components in the captured image. Additionally, we applied Sobel operator for edge detection and a threshold for binary images. Finally, object labeling with connectivity and morphological operation with open and erosion were used for ship detection. Compared with conventional methods, the proposed method is meant to be used mainly in coastal surveillance systems and monitoring systems of harbors. A system based on this method was tested for both stationary and non-stationary backgrounds, and the results of the detection and tracking rates were more than 97% on average. Thousands of image frames and 20 different video sequences in both online and offline modes were tested, and an overall detection rate of 97.6% was achieved.

• International Journal of Naval Architecture and Ocean Engineering
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• v.7 no.5
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• pp.817-832
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• 2015

This paper presents a state feedback based backstepping control algorithm to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV) in the horizontal plane. A nonlinear three Degree of Freedom (DOF) underactuated dynamic model for USV is considered, and trajectory tracking controller that can track both curve trajectory and straight line trajectory with high accuracy is designed as the well known Persistent Exciting (PE) conditions of yaw velocity is completely relaxed in our study. The proposed controller has further been enriched by incorporating an integral action additionally for enhancing the steady state performance and control precision of the USV trajectory tracking control system. Global stability of the overall system is proved by Lyapunov theory and Barbalat's Lemma, and then simulation experiments are carried out to demonstrate the effectiveness of the controller designed.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.9
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• pp.137-142
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• 2016

When injecting intravenously of CT inspection, the effusion of the contrast meium can induce the tissue damage with the blood vessel outside. We detect extravasation which is generated in the course where we inject the contrast medium into the blood vessel. And we use the bolus tracking system for the detection of that. By using MPR and VR images, moreover we detected the extravasation in order to prevent the tissue damage. In order to detect the effusion of the contrast medium, we used 16-MDCT and 64-MDCT. Three dimensional images about the outflow of the blood vessel can provide the treatment information which is important in the patient treatment. Moreover we applied the image processing technique in order to improve sharpness between contrast media and organization. And sharpness and contrast was improved.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.586-589
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• 2005

Recently, the applications of unmanned system are steadily increasing. Unmanned automatic system is suitable for routine mission such as reconnaissance, environment monitoring, resource conservation and investigation. Especially, for the ocean environmental probe mission, many ocean engineers had scoped with the routine and even risky works. The unmanned surface vessel designed for sea probes can replace the periodic and routine missions such as water sampling, temperature and salinity measuring, etc. In this paper, an unmanned surface vessel was designed for ocean environmental probe missions. A classical and an adaptive fuzzy control system were designed and tested for the unmanned surface vessel. The design methodologies and performance of the surface vessel and fuzzy control algorithm were illustrated and verified with this unmanned vessel system designed for sea probes.

• Journal of Ocean Engineering and Technology
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• v.33 no.5
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• pp.462-469
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• 2019

In this study, a motion control problem for the vessels towed by tugboats or towing ships on the sea is considered. The towed vessels, such as barge ships, are used for several purposes. Generally, these vessels have no power propulsion system and are towed using ropes and towing vessel (tugboats). The basic mathematical model of the towed vessel in which three active rudders are attached was introduced from a previous study. Owing to the dependency of the motions of the towed vessel to the towing ship, a method is suggested to cope with the undesirable disturbance and improve the tracking performance. For the simulation study, a model of the towed vessel with a towing ship is made, and necessary physical parameters are identified from the experiment. For the defined and linearized model, a control system is designed, and the control performance is also evaluated. A simulation study is conducted and the effectiveness of the proposed control strategy is verified.

• Journal of International Society for Simulation Surgery
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• v.2 no.2
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• pp.67-70
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• 2015

We propose an automatic vessel segmentation method of vertebral arteries in CT angiography using combined circular and cylindrical model fitting. First, to generate multi-segmented volumes, whole volume is automatically divided into four segments by anatomical properties of bone structures along z-axis of head and neck. To define an optimal volume circumscribing vertebral arteries, anterior-posterior bounding and side boundaries are defined as initial extracted vessel region. Second, the initial vessel candidates are tracked using circular model fitting. Since boundaries of the vertebral arteries are ambiguous in case the arteries pass through the transverse foramen in the cervical vertebra, the circle model is extended along z-axis to cylinder model for considering additional vessel information of neighboring slices. Finally, the boundaries of the vertebral arteries are detected using graph-cut optimization. From the experiments, the proposed method provides accurate results without bone artifacts and eroded vessels in the cervical vertebra.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2259-2262
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• 2003

This paper describes visual tracking procedure of the underwater mobile robot for nuclear reactor vessel inspection, which is required to find the foreign objects such as loose parts. The yellowish underwater robot body tend to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color informations, yellow and indigo. The center coordinates extraction procedures is as follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences: binarization labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth.