• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.1C
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• pp.26-35
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• 2006

In this paper, an automatic mobile robot system for a intelligent path planning using the detection scheme of the spatial coordinates based on stereo camera is proposed. In the proposed system, face area of a moving person is detected from a left image among the stereo image pairs by using the YCbCr color model and its center coordinates are computed by using the centroid method and then using these data, the stereo camera embedded on the mobile robot can be controlled for tracking the moving target in real-time. Moreover, using the disparity map obtained from the left and right images captured by the tracking-controlled stereo camera system and the perspective transformation between a 3-D scene and an image plane, depth information can be detected. Finally, based-on the analysis of these calculated coordinates, a mobile robot system is derived as a intelligent path planning and a estimation. From some experiments on robot driving with 240 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the mobile robot and the objects, and relative distance between the other objects is found to be very low value of $2.19\%$ and $1.52\%$ on average, respectably.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.44 no.4 s.316
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• pp.28-35
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• 2007

Airbone laser altimeters have been utilized for 3D topographic mapping of the earth, moon, and planets with high resolution and accuracy, which is a rapidly growing remote sensing technique that measures the round-trip time emitted laser pulse to determine the topography. The traveling time from the laser scanner to the Earth's surface and back is directly related to the distance of the sensor to the ground. When there are several objects within the travel path of the laser pulse, the reflected laser pluses are distorted by surface variation within the footprint, generating multiple echoes because each target transforms the emitted pulse. The shapes of the received waveforms also contain important information about surface roughness, slope and reflectivity. Waveform processing algorithms parameterize and model the return signal resulting from the interaction of the transmitted laser pulse with the surface. Each of the multiple targets within the footprint can be identified. Assuming each response is gaussian, returns are modeled as a mixture gaussian distribution. Then, the parameters of the model are estimated by LMS Method or EM algorithm However, each response actually shows the skewness in the right side with the slowly decaying tail. For the application to require more accurate analysis, the tail information is to be quantified by an approach to decompose the tail. One method to handle with this problem is proposed in this study.

• Journal of the Korean Society of Radiology
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• v.6 no.2
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• pp.93-98
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• 2012

Micro-computed tomography (microCT) is an important tool for preclinical vascular imaging, with micron-level resolution. This non-destructive means of imaging allows for rapid collection of 2D and 3D reconstructions to visualize specimens prior to destructive analysis such as pathological analysis. Objectives. The aim of this study was to suggest a method for ex vivo, postmortem examination of stented arterial segments with microCT. And ex vivo evaluation of stents such as bare metal or drug eluting stents on in-stent restenosis (ISR) in rabbit model was performed. The bare metal stent (BMS) and drug eluting stent (DES, paclitaxel) were implanted in the left or right iliac arteries alternatively in eight New Zealand white rabbits. After 4 weeks of post-implantation, the part of iliac arteries surrounding the stent were removed carefully and processed for microCT. Prior to microCT analysis, a contrast medium was loaded to lumen of stents. All samples were subjected to an X-ray source operating at 50 kV and 200 ${\mu}A$ by using a 3D isotropic resolution. The region of interest was traced and measured by CTAN analytical software. Objects being exposed to radiation had different Hounsfield unit each other with values of approximately 1.2 at stent area, 0.12 ~ 0.17 at a contrast medium and 0 ~ 0.06 at outer area of stent. Based on above, further analyses were performed. As a result, the difference of lengths and volumes between expanded stents, which may relate to injury score in pathological analysis, was not different significantly. Moreover, ISR area of BMS was 1.6 times higher than that of DES, indicating that paclitaxel has inhibitory effect on cell proliferation and prevent infiltration of restenosis into lumen of stent. And ISR area of BMS was higher ($1.52{\pm}0.48mm^2$) than that of DES ($0.94{\pm}0.42mm^2$), indicating that paclitaxel has inhibitory effect on cell proliferation and prevent infiltration of restenosis into lumen of stent. Though it was not statistically significant, it showed that the extent of neointema of mid-region of stents was relatively higher than that of anterior and posterior region in parts of BMS as showing cross-sectional 2-D image. suggest that microCT can be utilized as an accessorial tool for pathological analysis.

• Journal of Korean Society of Forest Science
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• v.2 no.1
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• pp.59-65
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• 1962

The objects of this experiment are to find out the local variation of the Dendrolimus Spectabilis Butler, of which sample was first collecteted 15 bodies of male and 35 bodies of female adult at Suwon area. the wing veins and the scale shape have been observed through the microscope (100) and the scale size (from the bottom of the scale to the top of the lobe) has also been measured by the micrometer. The results of this experiment are as follows: 1. There is nodifference between the venation of the male body and that of the female body. Also we can not find any differences between the right and the left wing, and between each body. The fore wings consit of 13 longitudinal veins and the only one "V" shape cross vein which is between the 5th and 6th vein. The hind wings consist of 9 longitudinal veins and the only one "V" shape cross vein which is mentioned above. 2. The scale types are divided into 4 Groups in its shape. (A) The scales of I Group are short and the lower parts of them almost look like a circle, having a small projection at their bottom. The upper parts of them have 2 or 10 lobes. We can find the lobes with fine hairs or the lobes without them at the top of the scales. (B) The scales of II Group are longer than that of I Group. The shape of the lower parts of the scales is similar to that of I Group. The upper parts of the scales have 2 or 10 lobes. (C) The scales of III Group are long and almost alike in a long wedgeshape. The upper parts of the scales have 2 Or IO lobes and we can find long fine hairs at the top of each lobe. (D) The scales of IV Group are long and the shape of the lower parts of the scales is similar to that of III Group. The lobes are short and not sharp. We can find 2 or 9 lobes. 3. The scales of I Group and II Group are distributed on the whole surface except on the outer margin. The most scales of III Group are distributed on the wing base. The scales of IV Group are distributed on the outer margin only. The scales with 4 or 5 lobes are most widely distributed not considering their Group or distributing parts. 4. In I Group the variation of the scale length become gradually greater as the number of the lobes are increasing. In II, III, IV Group, however, the variation of the scale length is in direct opposition to the above mentioned. The variation of the scale width becomes pretty small in any Groups and the scale width become wider as the number of the lobes are increasing. 5. The source of the wing colouration is pigmnetal colour, and the wing colouration is expressed by the amount of brown and white scales.