• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.285-292
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• 2019

Path planning is an important problem to solve in robotics and there has been many related studies so far. In the previous research, we proposed the Heterogeneous-Ants-Based Path Planner (HAB-PP) for the global path planning of mobile robots. The conventional path planners using grid map had discrete state transitions that constrain the only movement of an agent to multiples of 45 degrees. The HAB-PP provided the smoother path using the heterogeneous ants unlike the conventional path planners based on Ant Colony Optimization (ACO) algorithm. The planner, however, has the problem that the optimization of the path once found is fast but it takes a lot of time to find the first path to the goal point. Also, the HAB-PP often falls into a local optimum solution. To solve these problems, this paper proposes an improved ant-inspired path planner using the Rapidly-exploring Random Tree-star ($RRT^*$). The key ideas are to use $RRT^*$ as the characteristic of another heterogeneous ant and to share the information for the found path through the pheromone field. The comparative simulations with several scenarios verify the performance of the improved HAB-PP.

• Journal of Environmental Impact Assessment
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• v.20 no.6
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• pp.879-890
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• 2011

The GOSAT (Greenhouse gases Observing SATellite) data provide new opportunities the most regionally complete and up-to-date assessment of $CO_2$. However, in practice, GOSAT records often suffer from missing data values mainly due to unfavorable meteorological condition in specific time periods of data acquisition. The aim of this research was to identify optimal spatial interpolation techniques to ensure the continuity of $CO_2$ from samples taken in the North East Asia. The accuracy among ordinary kriging (OK), universal kriging (UK) and simple kriging (SK) was compared based on the combined consideration of $R^2$ values, Root Mean Square Error (RMSE), Mean Error (ME) for variogram models. Cross validation for 1312 random sampling points indicate that the (UK) kriging is the best geostatistical method for spatial predictions of $CO_2$ in the East Asia region. The results from this study can be useful for selecting optimal kriging algorithm to produce $CO_2$ map of various landscapes. Also, data users may benefit from a statistical approach that would allow them to better understand the uncertainty and limitations of the GOSAT sample data.

• Asian-Australasian Journal of Animal Sciences
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• v.14 no.3
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• pp.302-306
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• 2001

This study was carried out to construct mapping population and to evaluate the methods involved, including polymorphic DNA marker system and appropriate statistical analysis. As an initial step to establish chicken genome mapping project, White Leghorn (WL) and Korean Ogol chicken (KOC) were used for generating backcross population. From 8 initial parents, total 280 backcross progenies were obtained and 40 were used for genotyping and linkage analysis. For development of novel polymorphic markers for KOC, Random Amplified Polymorphic DNA (RAPD) markers specific for this chicken line were generated. Also included in this study were six microsatellite markers from East Lansing map as reference loci. For segregation analysis, 15 RAPD markers and 6 microsatellites were used to genotype the backcross population. Among the RAPD markers that we developed, 2 pairs of markers were identified to be linked and another 4 RAPD markers showed linkage with microsatellites of known map. In summary, this study showed that our backcross population generated from the mating of KOC to WL serves as a valuable genetic resource for genotyping. Furthermore, RAPD markers are proved to be valuable in linkage mapping analysis.

• The Journal of the Korea institute of electronic communication sciences
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• v.15 no.1
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• pp.179-184
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• 2020

Cellular automata (CA), which is known as a pseudo random number generator due to its excellent randomness, has various applications. Cho et al. designed a CA-based shrinking generator to generate a long period of nonlinear sequence. In addition, chaotic cat maps have been studied by many researchers as the complex nonlinear dynamics systems with sensitivity in initial conditions and unpredictable characteristics. In this paper, we propose a new image encryption method using nonlinear sequence generated by CA-based shrinking generator with maximum period and 3D chaotic cat map for high security.

• Journal of Broadcast Engineering
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• v.21 no.2
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• pp.272-275
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• 2016

This paper presents a method of single image dehazing and surface-based feature detection for remote sensing images. In the conventional dark channel prior (DCP) algorithm, the resulting transmission map invariably includes some block artifacts because of patch-based processing. This also causes image blur. Therefore, a refined transmission map based on a hidden Markov random field and expectation-maximization algorithm can reduce the block artifacts and also increase the image clarity. Also, the proposed algorithm enhances the accuracy of image matching surface-based features in an remote sensing image. Experimental results confirm that the proposed algorithm is superior to conventional algorithms in image haze removal. Moreover, the proposed algorithm is suitable for the problem of image matching based on feature extraction.

• Steel and Composite Structures
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• v.28 no.2
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• pp.195-207
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• 2018

First-order reliability method (FORM) is enhanced based on the search direction using relaxed conjugate reliability (RCR) approach for the embedded nanocomposite beam under buckling failure mode. The RCR method is formulated using discrete conjugate map with a limited scalar factor. A dynamical relaxed factor is proposed to control instability of proposed RCR, which is adjusted using sufficient descent condition. The characteristic of equivalent materials for nanocomposite beam are obtained by micro-electro-mechanical model. The probabilistic model of nanocomposite beam is simulated using the sinusoidal shear deformation theory (SSDT). The beam is subjected to external applied voltage in thickness direction and the surrounding elastic medium is modeled by Pasternak foundation. The governing equations are derived in terms of energy method and Hamilton's principal. Using exact solution, the implicit buckling limit state function of nanocomposite beam is proposed, which is involved various random variables including thickness of beam, length of beam, spring constant of foundation, shear constant of foundation, applied voltage, and volume fraction of ZnO nanoparticles in polymer. The robustness, accuracy and efficiency of proposed RCR method are evaluated for this engineering structural reliability problem. The results demonstrate that proposed RCR method is more accurate and robust than the excising reliability methods-based FORM. The volume fraction of ZnO nanoparticles and the applied voltage are the sensitive variables on the reliable levels of the nanocomposite beams.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.10a
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• pp.326-329
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• 2017

Most modern computer communications and storage media support encryption technology. Many of the Ping Pong algorithms are stream ciphers that generate random numbers in the LFSR core structure. The LFSR has a structure that guarantees the maximum period of a given size, but it has a linear structure and can be predicted. Therefore, the Ping Pong algorithm has a feature of making the linearity of the LFSR into a nonlinear structure through variable clocks and functions. In this paper, we try to improve the existing linearity by replacing the linear disadvantages of LFSR with logistic maps.

• Korean Journal of Remote Sensing
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• v.25 no.3
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• pp.295-309
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• 2009

In this study, an iterative maximum a posteriori (MAP) approach using a Bayesian model of Markovrandom field (MRF) was proposed for despeckling images that contains speckle. Image process is assumed to combine the random fields associated with the observed intensity process and the image texture process respectively. The objective measure for determining the optimal restoration of this "double compound stochastic" image process is based on Bayes' theorem, and the MAP estimation employs the Point-Jacobian iteration to obtain the optimal solution. In the proposed algorithm, MRF is used to quantify the spatial interaction probabilistically, that is, to provide a type of prior information on the image texture and the neighbor window of any size is defined for contextual information on a local region. However, the window of a certain size would result in using wrong information for the estimation from adjacent regions with different characteristics at the pixels close to or on boundary. To overcome this problem, the new method is designed to use less information from more distant neighbors as the pixel is closer to boundary. It can reduce the possibility to involve the pixel values of adjacent region with different characteristics. The proximity to boundary is estimated using a non-uniformity measurement based on standard deviation of local region. The new scheme has been extensively evaluated using simulation data, and the experimental results show a considerable improvement in despeckling the images that contain speckle.

• Korean Journal of Remote Sensing
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• v.24 no.1
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• pp.79-89
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• 2008

Irregular temporal sampling is a common feature of geophysical and biological time series in remote sensing. This study proposes an on-line system for reconstructing observation image series contaminated by noises resulted from mechanical problems or sensing environmental condition. There is also a high likelihood that during the data acquisition periods the target site corresponding to any given pixel may be covered by fog or cloud, thereby resulting in bad or missing observation. The surface parameters associated with the land are usually dependent on the climate, and many physical processes that are displayed in the image sensed from the land then exhibit temporal variation with seasonal periodicity. A feedback system proposed in this study reconstructs a sequence of images remotely sensed from the land surface having the physical processes with seasonal periodicity. The harmonic model is used to track seasonal variation through time, and a Gibbs random field (GRF) is used to represent the spatial dependency of digital image processes. The experimental results of this simulation study show the potentiality of the proposed system to reconstruct the image series observed by imperfect sensing technology from the environment which are frequently influenced by bad weather. This study provides fundamental information on the elements of the proposed system for right usage in application.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2020.11a
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• pp.180-182
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• 2020

최근 IoT 기술이 대중화됨에 따라 커넥티드 카, 스마트 시티와 같은 machine-to-machine 기술의 활용 분야가 다양화되고 있다. 이에 따라, 기계 지향 비디오 처리 및 부호화 기술에 대한 연구분야에 산업계와 학계의 관심 역시 집중되고 있다. 국제 표준화 단체인 MPEG은 이러한 추세를 반영하여 기존 비디오 부호화 표준을 개선할 새로운 표준을 수립하기 위해 Video Coding for Machines (VCM) 그룹을 구성하여 기계 소비를 대상으로 하는 비디오 표준의 표준화를 진행하고 있다. 이에 본 논문에서는 VCM이 기계 소비를 대상으로 진행하고 있는 특징맵 부호화의 부호화 효율을 개선하기 위해 특징맵을 시간적, 공간적으로 재정렬하는 방법을 제안한다. 실험 결과, 제안 방법이 CityScapes의 검증 세트 내 일부 이미지에 대해 시간적 재정렬을 수행한 결과 random access 조건에서 최대 1.48%의 부호화 효율이 향상됨이 확인되었다.