• Journal of Cadastre & Land InformatiX
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• v.51 no.1
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• pp.39-51
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• 2021

Recently, there has been much interest in practical use of standardized HD map that can effectively define roads, lanes, junctions, road signs, and road facilities in autonomous driving. Various kinds of de jure or de facto standards such as ISO 22726-1, ISO 14296, HERE HD Live map, NDS open lane model, OpenDRIVE, and NGII HD map are currently being used. However, there are lots of differences in data modeling among these standards, it makes difficult to use them together in autonomous driving. Therefore, we propose a data model conversion method to enable an efficient use of various kinds of HD map standards in autonomous driving in this study. Specifically, we propose a conversion method between the NGII HD map model, which is easily accessible in the country, and the OpenDRIVE model, which is commonly used in the autonomous driving industry. The proposed method consists of simple conversion of NGII HD map layers into OpenDRIVE objects, new OpenDRIVE objects creation corresponding to NGII HD map layers, and linear transformation of NGII HD map layers for OpenDRIVE objects creation. Finally, we converted some test data of NGII HD map into OpenDRIVE objects, and checked the conversion results through Carla simulator. We expect that the proposed method will greatly contribute to improving the use of NGII HD map in autonomous driving.

• Journal of the East Asian Society of Dietary Life
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• v.17 no.6
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• pp.834-839
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• 2007

This study was designed to determine the optimal ratio of dropwort powder in castella by adding the powder at levels of 0, 3, 6, 9, and 12% respectively. The properties of the castella were analyzed by specific gravity, specific volume, color determinations, texture properties and sensory evaluation. The Specific gravity increased with increasing amount of dropwort powder. However, the specific volume decreased with increasing dropwort powder. For the color values, as more dropwort powder was added, the L-value decreased. The castella with 9% dropwort powder had a higher hardness, gumminess, and chewiness. A sensory panel perceived that the external and internal color of the castella become darker with the dropwort powder substitution and the grain size decreased with increasing amount dropwort powder, while sweet taste showed no significant difference. The order of overall preference was DP 9>DP 6>DP 12>CON>DP 3. Therefore, the substitution of 9% of wheat flour with dropwort powder was recommended in the production of castella.