• Korean Journal of Remote Sensing
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• v.38 no.6_3
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• pp.1827-1836
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• 2022

Disasters that occur unexpectedly are difficult to predict. In addition, the scale and damage are increasing compared to the past. Sometimes one disaster can develop into another disaster. Among the four stages of disaster management, search and rescue are carried out in the response stage when an emergency occurs. Therefore, personnel such as firefighters who are put into the scene are put in at a lot of risk. In this respect, in the initial response process at the disaster site, robots are a technology with high potential to reduce damage to human life and property. In addition, Light Detection And Ranging (LiDAR) can acquire a relatively wide range of 3D information using a laser. Due to its high accuracy and precision, it is a very useful sensor when considering the characteristics of a disaster site. Therefore, in this study, development and experiments were conducted so that the robot could perform real-time monitoring at the disaster site. Multi-sensor module was developed by combining LiDAR, Inertial Measurement Unit (IMU) sensor, and computing board. Then, this module was mounted on the robot, and a customized Simultaneous Localization and Mapping (SLAM) algorithm was developed. A method for stably mounting a multi-sensor module to a robot to maintain optimal accuracy at disaster sites was studied. And to check the performance of the module, SLAM was tested inside the disaster building, and various SLAM algorithms and distance comparisons were performed. As a result, PackSLAM developed in this study showed lower error compared to other algorithms, showing the possibility of application in disaster sites. In the future, in order to further enhance usability at disaster sites, various experiments will be conducted by establishing a rough terrain environment with many obstacles.

• Investigative Magnetic Resonance Imaging
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• v.11 no.2
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• pp.95-102
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• 2007

Purpose: To acquire high-resolution spiral-scan images at higher magnetic field, high homogeneous magnetic field is needed. Field inhomogeneity mapping and in-vivo shimming are important for rapid imaging such as spiral-scan imaging. The rapid scanning sequences are very susceptible to inhomogeneity. In this paper, we proposed a higher-order shimming method to obtain homogeneous magnetic field. Materials and Methods: To reduce measurement time for field inhomogeneity mapping, simultaneous axial/ sagittal, and coronal acquisitions are done using multi-slice based Fast Spin echo sequence. Acquired field inhomogeneity map is analyzed using the spherical harmonic functions, and shim currents are obtained by the multiplication of the pseudo-inverse of the field pattern with the inhomogeneity map. Results: Since the field inhomogeneity is increasing in proportion to the magnetic field, higher order shimming to reduce the inhomogeneity becomes more important in high field imaging. The shimming technique in which axial, sagittal, and coronal section inhomogeneity maps are obtained in one scan is developed, and the shimming method based on the analysis of spherical harmonics of the imhomogenity map is applied. The proposed technique is applicable to a localized shimming as well. High resolution spiral-scan imaging was successfully obtained with the proposed higher order shimming. Conclusion: Proposed pulse sequence for rapid measurement of inhomogeneity map and higher order shimming based on the inhomogeneity map work very well at 3 Tesla MRI system. With the proposed higher order shimming and localized higher order shimming techniques, high resolution spiral-scan images are successfully obtained at 3 T MRI system.

• Journal of the Korean Society of Marine Environment & Safety
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• v.20 no.6
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• pp.781-787
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• 2014

The dimensionless extinction constants of particulate matter for F-76 diesel and JP-8 aviation fuels were measured at both 633 nm and 853 nm in the transmission cell where the simultaneous gravimetric measurement of PM concentration is compared to the light extinction measurement. For the F-76 diesel PM, the average value of the dimensionless extinction constants at 633 nm was 8.8 whereas that of the dimensionless extinction constants for JP-8 was 9.8 at the same wavelength. As the wavelength is increased to 853 nm, the average value for the F-76 diesel was reduced to 8.2 whereas that for JP-8 was decreased to 8.9.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.39 no.6
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• pp.541-548
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• 2021

Recently, multispectral cameras are being actively utilized in various application fields such as agriculture, forest management, coastal environment monitoring, and so on, particularly onboard UAV's. Resultant multispectral images are typically georeferenced primarily based on the onboard GPS (Global Positioning System) and IMU (Inertial Measurement Unit)or accurate positional information of the pixels, or could be integrated with ground control points that are directly measured on the ground. However, due to the high cost of establishing GCP's prior to the georeferencing or for inaccessible areas, it is often required to derive the positions without such reference information. This study aims to provide a means to improve the georeferencing performance of a multispectral camera images without involving such ground reference points, but instead with the simultaneously onboard high resolution RGB camera. The exterior orientation parameters of the drone camera are first estimated through the bundle adjustment, and compared with the reference values derived with the GCP's. The results showed that the incorporation of the images from a high resolution RGB camera greatly improved both the exterior orientation estimation and the georeferencing of the multispectral camera. Additionally, an evaluation performed on the direction estimation from a ground point to the sensor showed that inclusion of RGB images can reduce the angle errors more by one order.

• The Korean Journal of Nuclear Medicine
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• v.29 no.4
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• pp.533-540
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• 1995

Attenuation correction is important in producing quantitative positron emission tomography (PET) images. Conventionally, photon attenuation effects are corrected using transmission measurements performed before tracer administration. The pre-injection transmission measurement approach may require a time delay between transmission and emission scans for the tracer studies requiring a long uptake period, about 45 minutes for F-18 deoxyglucose study. The time delay will limit patient throughput and increase the likelihood of patient motion. A technique lot performing simultaneous transmission and emission scans (T+E method) after the tracer injection has been validated. The T+E method substracts the emission counts contaminating the transmission measurements to produce accurate attenuation correction coefficients. This method has been evaluated in experiments using a cylindrical phantom filled with background water (5750 cc) containing $0.4{\mu}Ci/cc$ of F-18 fluoride ion and one insert cylinder (276 cc) containing $4.3{\mu}Ci/cc$. GE $Advance^{TM}$ PET scanner and Ge-68 rotating pin sources for transmission scanning were used for this investigation. Post-injection transmission scan and emission scan were peformed alternatively over time. The error in emission images corrected using post-infection transmission scan to emission images corrected transmission scan was 2.6% at the concentration of $1.0{\mu}Ci/cc$. No obvious differences in image quality and noise were apparent between the two images. The attenuation correction can be accomplished with post-injection transmission measurement using rotating pin sources and this method can significantly shorten the time between transmission and omission scans and thereby reduce the likelihood of patient motion and increase scanning throughput in PET.

• Geophysics and Geophysical Exploration
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• v.15 no.4
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• pp.209-218
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• 2012

Repeatability and reproducibility in solid weight and effective porosity measurements have been discussed using 8 core samples with different diameters, lengths, rock types, and effective porosities. Further, the effect of temperature on the effective porosity measurement has been discussed as well. Effective porosity of each sample has been measured 7 times with vacuum saturation method with vacuum pressure of 1 torr and vacuum time of 80 minutes. Firstly, effective porosity of each sample is measured one by one, so that it can provide a reference value. Then for reproducibility check, effective porosity measurements with vacuum saturation of 2, 4, and 8 samples simultaneously have been performed. And finally, repeated measurements for 3 times for each sample are made for repeatability check. Average deviation from the reference set in solid weight showed 0.00 $g/cm^3$, which means perfect repeatability and reproducibility. For effective porosity, average deviations are less than 0.07% and 0.05% in repeatability and reproducibility test sets, respectively, which are in good agreement too. Most of porosities measured in reproducibility test lies within the deviation range in repeatability test sets. Thus, simultaneous vacuum saturation of several samples has little impact on the effective porosity measurement when high vacuum pressure of 1 torr is used. Air temperature can cause errors on submerged weight read and even effective porosity, because it is closely related to the temperature, density, and buoyancy of water. Consequently, for accurate measurement of effective porosity in a laboratory, efforts for maintaining air or water temperature constant during the experiment, or a temperature correction from other information are needed.

• Parasites, Hosts and Diseases
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• v.28 no.1
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• pp.25-30
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• 1990

The direct wet mount examination of vaginal. secretion, widely applied for the diagnosis of Trichcmonas vaginalis infection in woman patients, is rapi4 and economical, however, the sensitivity of this technique is not so high. In this study enzyme-linked immunosorbent assay (ELISA) was employed for the detection of serum anti-T. vaginalis IgG and IsM antibodies from 30 vaginal trichomoniasis patients and 30 non-infected healthy persons. The results were as follows: 1. Serum ELISA-IgG value was $0.37{\pm}0.134(Mean{\pm}S.D.)$ in vaginal trichomoniasis patients and $0.21{\pm}0.054$ in healthy controls(P<0.005), and the sensitivity and specificity of ELISA for serum IgG antibody were 70.0% and 96.7%, respectively. 2. Serum ELISA-IgM value was $0.33{\pm}0.177 (Mean{\pm}S.D.)$ in vaginal trichomonlasls patients and $0.11{\pm}0.051$ in healthy controls (p<0.005), and the sensitivity and specificity of ELISA for serum IsM antibody were 70.0% and 96.7%, respectively. 3, The ELISA-IgG values showed a significant correlation with ELISA-IgM values(r=0.77, p<0.005) , With above results, it is assumed that ELISA is a reliable method for the diagnosis of T vaginalis infection and simultaneous measurement of serum IgG and IgM with this technique is recommended.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.17 no.3
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• pp.149-157
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• 2005

Typical water quality (WQ) parameters defined in the governing equation of the WQ model are the pollutant loads from atmosphere and watersheds, pollutant release rates from sediment, diffusion coefficient and reaction coefficient etc. The direct measurement of these parameters is very difficult as well as requires high cost. In this study, the pollutant budget equation including these parameters was used to construct the linear simultaneous equations. Based on these equations, the inverse problems were constructed and WQ parameter estimation method minimizing the sum of squared errors between the computed and observed amounts of the mass changes was suggested. WQ parameters, i.e., the atmospheric pollutant loads, sediment release rates, diffusion coefficients and reaction coefficient, were estimated using .this method by utilizing the vertical concentration profile data which has been observed in Cheonsu Bay and Ulsan Port. Values of the estimated parameters show a large temporal variation. However, this technique is persuasive in that the RHS (root mean square) error was less than $5.0\%$ of the observed value ranges and the agreement index was greater than 0.95.

• The Korean Journal of Physiology
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• v.27 no.2
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• pp.185-197
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• 1993

The rostral ventrolateral medulla (RVLM) includes vasopressor neurons, which transmit activation signals to the intermediolateral nucleus (IML) of the spinal cord, where the preganglionic sympathetic nucleus is located, to raise arterial blood pressure (BP). However, controversy exists as to the possible depressor area in the RVLM and the pathway involved. The present study persued evidence far the location of depressor neurons and the pathway by simultaneously observing changes in BP and the firing rate (FR) of cardiovascular neurons (CVNs) in the RVLM during the somatosympathetic reflex (SSR) elicited by peripheral nerve stimulation, since CVNs are known to contribute to the generation of the sympathetic nerve discharge. In 42 cats, anaesthetized with $\alpha-chloralose$, single unit recording was performed, using carbon filament electrodes inserted into the RVLM, enabling estimation of the post R wave unit histogram (PR-UNlT) and the spike triggered average of sympathetic nerve discharge (STA-SND), allowing identification of CVNs. Antidromic stimulation of spinal $T_2$ segment was followed to determine whether the identified CVN projects axonal endings to the spinal cord (reticulospinal neuron). The sciatic nerve was electrically stimulated at $A\delta-intensity$ (1 mA, 0.1 ms), 1 Hz and C-intensity (10 mA, 0.5 ms), 20 Hz to elicit the depressor, and pressor responses of the SSR, respectively. Simultaneous measurement of CVN firing rate was made. Experimental results are summarized as follows. 1) 20 out of 98 CVNs had axonal projections to the spinal cord and 17 out of 98 CVNs showed FR changes during SSR. 2) Response patterns of FR and BP during SSR were classified into 8 types. 3) These 8 different response patterns could be further classified into those from pressor and depressor neurons. These results demonstrate that some CVNs were identifiable as reticulospinal neurons responding to anti-dromic stimulation and that CVNs operating as depressor neurons as well as pressor neurons exist in the RVLM, both of which are involved with SSR mediation. Therefore, evidence was found that an independent depressor pathway might be involved in the mediation of SSR.

• Investigative Magnetic Resonance Imaging
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• v.16 no.1
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• pp.6-15
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• 2012

Purpose : The objective of this study was to develop background gradient correction method using excitation pulse profile compensation for accurate fat and $T_2{^*}$ quantification in the liver. Materials and Methods: In liver imaging using gradient echo, signal decay induced by linear background gradient is weighted by an excitation pulse profile and therefore hinders accurate quantification of $T_2{^*}$and fat. To correct this, a linear background gradient in the slice-selection direction was estimated from a $B_0$ field map and signal decays were corrected using the excitation pulse profile. Improved estimation of fat fraction and $T_2{^*}$ from the corrected data were demonstrated by phantom and in vivo experiments at 3 Tesla magnetic field. Results: After correction, in the phantom experiments, the estimated $T_2{^*}$ and fat fractions were changed close to that of a well-shimmed condition while, for in vivo experiments, the background gradients were estimated to be up to approximately 120 ${\mu}T/m$ with increased homogeneity in $T_2{^*}$ and fat fractions obtained. Conclusion: The background gradient correction method using excitation pulse profile can reduce the effect of macroscopic field inhomogeneity in signal decay and can be applied for simultaneous fat and iron quantification in 2D gradient echo liver imaging.