• 한국군사과학기술학회지
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• 제25권6호
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• pp.606-616
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• 2022

Semantic segmentation in autonomous driving for unstructured environments is challenging due to the presence of uneven terrains, unstructured class boundaries, irregular features and strong textures. Current off-road datasets exhibit difficulties like class imbalance and understanding of varying environmental topography. To overcome these issues, we propose a deep learning framework for semantic segmentation that involves a pooled class semantic segmentation with five classes. The evaluation of the framework is carried out on two off-road driving datasets, RUGD and TAS500. The results show that our proposed method achieves high accuracy and real-time performance.

• 한국분무공학회지
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• 제5권1호
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• pp.13-22
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• 2000

The present study has numerically analyzed the vaporization characteristics of fuel droplets in the high temperature convective flow field. The axisymmetric governing equations for mass, momentum, energy, and species are solved by an iterative and implicite unstructured finite-volume method. The moving boundary due to vaporization is handled by the deformable unstructured grid technique. The pressure-velocity coupling in the density-variable flows is treated by the SIMPLEC algorithm. In terms of the matrix solver, Bi-CGSTAB is employed for the numerically efficient and stable convergence. The n-decane is used as a liquid fuel and the initial droplet temperature is 300K. Computations are performed for the nonevaporating and evaporating droplets with the relative interphase velocity(25m/s). The unsteady vaporization process has been simulated up to the nondimensional time, 25. Numerical results indicate that the mathematical model developed in this study succesfully simulates the main features of the droplet vaporization process in the convective environment.

• 로봇학회논문지
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• 제9권4호
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• pp.197-205
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• 2014

As computer vision algorithms are developed on a continuous basis, the visual information from vision sensors has been widely used in the context of simultaneous localization and mapping (SLAM), called visual SLAM, which utilizes relative motion information between images. This research addresses a visual SLAM framework for online localization and mapping in an unstructured seabed environment that can be applied to a low-cost unmanned underwater vehicle equipped with a single monocular camera as a major measurement sensor. Typically, an image motion model with a predefined dimensionality can be corrupted by errors due to the violation of the model assumptions, which may lead to performance degradation of the visual SLAM estimation. To deal with the erroneous image motion model, this study employs a local bundle optimization (LBO) scheme when a closed loop is detected. The results of comparison between visual SLAM estimation with LBO and the other case are presented to validate the effectiveness of the proposed methodology.

• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.211-217
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• 2009

This paper proposes a way of expanding the use area of localization technique by using a beacon. In other words, we have developed the auto-calibration algorithm that recognizes the location of this beacon by attaching the beacon on an arbitrary position and by using the information of existing beacon under this situation. By doing so, the moving robot can overcome the limitation that the localization of moving robot is only possible within the area that has installed the existing beacon since the beacon cannot be installed on the accurate location when passing through a danger zone or an unknown zone. Accordingly, the moving robot can slowly move to the unknown zone according to this auto-calibration algorithm and can recognize its own location at a later time in a safe zone. The localization technique is essentially needed in using a moving robot and it is necessary to guarantee certain degree of reliability. Generally, moving robots are designed in a way to work well under the situation that the surroundings is well arranged and the localization techniques of using camera, laser and beacon are well developed. However due to the characteristics of sensor, there may be the cases that the place is dark, interfering radio waves, and/or difficult to install a beacon. The effectiveness of the method proposed in this paper has been proved through an experiment in this paper.

• Asian-Australasian Journal of Animal Sciences
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• 제29권6호
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• pp.879-886
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• 2016

As is in all economic activities, the highest yield per unit area is the main goal in animal production, while addressing the temperamental needs of animals often is ignored. Animal welfare is not only an ethical fact; it also has an economic value. Spatial environmental enrichment contributes positively to animal welfare by addressing their behavioral and mental requirements. The present study was conducted to determine the effects of weaning and spatial environmental arrangements on behaviors of goat-kids. Experimental groups were arranged in structured and unstructured spatial environments. Roughage feeder, semi-automatic concentrate feeder, bunk, bridge, and wood block were placed in the structured environment. No equipment was placed in the unstructured environment and paddock sides were enclosed with an iron sheet to prevent bipedal stance and to provide environmental isolation. In the study 10 male and 10 female Turkish Saanen goat kids were used in each group. Spatial environmental arrangements did not have significant impacts on the growth performance of kids (p>0.05). All objects in the structured group were accepted by the kids. Average use ratios of roughage feeder, semi-automatic concentrate feeder, bunk, bridge and wood block were observed as 19.3%, 14.0%, 12.6%, 3.8%, and 0.7%, respectively. There were significant differences between before- and after-weaning in use of all objects except for underneath bridge ($p{\leq}0.05$). Concentrate feed consumption, locomotion, and resting behaviors in kids showed significant differences by structural group and growth period. Roughage consumption was similar between groups, while it differed by growth period ($p{\leq}0.05$). Interaction frequency was significantly higher in structured group (p = 0.0023). Playing behavior significantly differentiated based on the growth period rather than on groups ($p{\leq}0.05$). Playing behavior significantly decreased after weaning. Abnormal oral activity was significantly higher in the structured group before weaning ($p{\leq}0.05$). Despite there being no installations facilitating climbing and bipedal stance, the kids of the unstructured group were able to exhibit 1/3 as much bipedal stance behavior as the kids of the structured group through leaning over slippery paddock wall or over their groupmates. Bipedal stance behavior of unstructured group was similar before and after weaning, while bipedal stance behavior before weaning was about 2 times that of after weaning in structured group. It was concluded that unstructured environmental arrangement limited the behavior repertoire of the goat kids.

• Bulletin of the Korean Chemical Society
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• 제30권3호
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• pp.623-629
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• 2009

We have performed replica-exchange molecular dynamics simulations on 41 residue peptide mainly composed of NAC (non A$\beta$ component) sequence in $\alpha$-Synuclein. To investigate conformational characteristics of intrinsically unstructured peptides, we carried out structural analysis on the ‘representative structures’ for ensemble of structures occurring at different temperatures. The secondary structure profile obtained from our simulations suggests that the NAC region of $\alpha$-synuclein can be divided into roughly three helical-like segments. It is found that the overall helix-turn-helix like topology is conserved even though the conformational fluctuations grow as the temperature increases. The coordinate-based and the distance-based representative structures exhibit noticeable differences at higher temperatures while they are similar at lower temperatures. It is found that structural variations for the coordinate-based representative structures are much larger, suggesting that distance-based representative structures provide more reliable information concerning characteristic features of intrinsically unstructured proteins. The present analysis also indicates that the conformational features of representative structures at high temperatures might be related to those in membrane or low pH environment.

• 정보처리학회논문지C
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• 제9C권1호
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• pp.31-38
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• 2002

교환기 시스템(Switching System)과 같은 통신 시스템에서는 제안된 이벤트들이 반드시 명시된 시간 제약 내에 완료되어야 한다. 따라서, 시스템에 유지되는 응용 데이터들은 빠른 접근이 가능해야 하며, 동시에 제한된 시간 내에 이벤트의 완료가 보장되어야 한다. 현재, 많은 데이터 시스템들이 사용되고 있지만, 이들은 정형화된 구조와 이에 대한 기본적인 연산들만을 제공하고 있다. 최근 통신 응용에서 데이터의 복잡성이 증가함으로서, 기존의 방식과는 달리, 비정형화된 구조의 표현이 가능하며, 이들에 대해 쉽게 접근 가능한 체계가 요구되고 있다. 이를 위해, 본 논문에서는 비정형화된 다중 응용 환경의 모델링에 적합한 데이터 모델을 소개한다. 모델은 데이터세트에 대한 빠른 접근과 필요한 데이터를 쉽게 추출할 수 있는 체계를 제공한다 추가로, 모델의 특징을 명확히 하기 위해 몇몇 세부 알고리즘을 함께 설명한다.

• 한국정보통신학회논문지
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• 제25권9호
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• pp.1199-1205
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• 2021

빅데이터 시대에는 단순히 데이터베이스에 잘 정리된 정형 데이터뿐만 아니라 인터넷, 소셜 네트워크 서비스, 모바일 환경에서 실시간 생성되는 웹 문서, 이메일, 소셜 데이터 등 비정형 빅데이터를 효과적으로 분석하는 것이 매우 중요하다. 빅데이터 분석은 데이터 저장소에 저장된 빅데이터 속에서 의미 있는 새로운 상관관계, 패턴, 추세를 발견하여 새로운 가치를 창출하는 과정이다. 빅데이터 분석 도구인 R 언어를 이용하여 비정형 논문 데이터를 빈도분석을 통해 분석결과를 요약과 시각화하고자 한다. 본 연구에서 사용된 데이터는 한국정보통신학회 학회지 논문 중에서 2021년 1월호-5월호 총 논문 104편을 대상으로 분석하였다. 최종 분석결과 가장 많이 언급된 키워드는 "데이터"가 1,538회로 1위를 차지하였다. 따라서 분석결과를 바탕으로 연구의 한계와 이론적 실무적 시사점을 제시하고자 한다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2005년도 창립60주년 기념 추계 학술대회
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• pp.190.2-190.2
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• 2005

• 한국통신학회:학술대회논문집
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• 한국통신학회 2004년도 하계종합학술발표회논문초록집
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• pp.160-160
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• 2004