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Design and Implementation of the Stop line and Crosswalk Recognition Algorithm for Autonomous UGV (자율 주행 UGV를 위한 정지선과 횡단보도 인식 알고리즘 설계 및 구현)

  • Lee, Jae Hwan;Yoon, Heebyung
    • Journal of the Korean Institute of Intelligent Systems
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    • v.24 no.3
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    • pp.271-278
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    • 2014
  • In spite of that stop line and crosswalk should be aware of the most basic objects in transportation system, its features extracted are very limited. In addition to image-based recognition technology, laser and RF, GPS/INS recognition technology, it is difficult to recognize. For this reason, the limited research in this area has been done. In this paper, the algorithm to recognize the stop line and crosswalk is designed and implemented using image-based recognition technology with the images input through a vision sensor. This algorithm consists of three functions.; One is to select the area, in advance, needed for feature extraction in order to speed up the data processing, 'Region of Interest', another is to process the images only that white color is detected more than a certain proportion in order to remove the unnecessary operation, 'Color Pattern Inspection', the other is 'Feature Extraction and Recognition', which is to extract the edge features and compare this to the previously-modeled one to identify the stop line and crosswalk. For this, especially by using case based feature comparison algorithm, it can identify either both stop line and crosswalk exist or just one exists. Also the proposed algorithm is to develop existing researches by comparing and analysing effect of in-vehicle camera installation and changes in recognition rate of distance estimation and various constraints such as backlight and shadow.

Developing a Computer Model for Forest Road Design (임도설계(林道設計) 자동화(自動化)를 위한 전산(電算)모델의 개발(開發))

  • Chung, Joo Sang;Chung, Woo Dam
    • Journal of Korean Society of Forest Science
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    • v.84 no.3
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    • pp.333-342
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    • 1995
  • A user - oriented computer model to aid designing forest road is developed to release the burden by increasing efficiency of time - consuming and laborious road design works. In this paper, the structures and functions of the model are discussed. The model consists of functional modules : 1)input module to treat survey data and design criteria ; 2)road design module to generate preliminary road layout, horizontal and vertical curvatures and curve widening ; 3)earthwork analysis module to determine the economic mass movement ; 4)report writer module to produce hard copies of engineering drawings for plan views, cross - sections and profiles, earthwork calculation sheets and mass movement diagrams. In addition, the report writer also provides the information on earthwork disturbance along the cut and - fill slopes. The modules are designed to be fully - integrated to enable the users to perform engineering analyses and evaluate design alternatives in a series of road - design procedures.

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The Design of Optimal Filters in Vector-Quantized Subband Codecs (벡터양자화된 부대역 코덱에서 최적필터의 구현)

  • 지인호
    • The Journal of the Acoustical Society of Korea
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    • v.19 no.1
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    • pp.97-102
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    • 2000
  • Subband coding is to divide the signal frequency band into a set of uncorrelated frequency bands by filtering and then to encode each of these subbands using a bit allocation rationale matched to the signal energy in that subband. The actual coding of the subband signal can be done using waveform encoding techniques such as PCM, DPCM and vector quantizer(VQ) in order to obtain higher data compression. Most researchers have focused on the error in the quantizer, but not on the overall reconstruction error and its dependence on the filter bank. This paper provides a thorough analysis of subband codecs and further development of optimum filter bank design using vector quantizer. We compute the mean squared reconstruction error(MSE) which depends on N the number of entries in each code book, k the length of each code word, and on the filter bank coefficients. We form this MSE measure in terms of the equivalent quantization model and find the optimum FIR filter coefficients for each channel in the M-band structure for a given bit rate, given filter length, and given input signal correlation model. Specific design examples are worked out for 4-tap filter in 2-band paraunitary filter bank structure. These optimum paraunitary filter coefficients are obtained by using Monte Carlo simulation. We expect that the results of this work could be contributed to study on the optimum design of subband codecs using vector quantizer.

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Literature Review Nursing Intervention for Developmental Support on Preterm Infants (미숙아의 발달지지를 위한 간호중재에 관한 문헌연구)

  • Kim, Tae-Im;Sim, Mi-Kyung
    • Korean Parent-Child Health Journal
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    • v.4 no.1
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    • pp.35-55
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    • 2001
  • Recently attention has been focused on the effects of early intervention, or its lack, on both normal and preterm infants. Particularly numerous studies suggest that premature infants are not necessarily understimulated but instead are subjected to inappropriate stimulation. Developmental support and sensory stimulation have become clinical opportunities in which nursing practice can impact on the neurobehavioral outcome of premature infants. Developmental care has been widely accepted and implemented in neonatal intensive care units across the country. Increasingly, attention and concern in caring for low-birth-weight infants and premature infants has led clinicians in the field to explore the effects of a complex of interventions designed to create and maintain a developmentally supportive environment; to provide age-appropriate sensory input; and to protect the infant from inappropriate, excessive and stressful stimulation. The components of developmental care include modifications of the macro-environment to reduce NICU light and sound levels, care clustering, nonnutritive sucking, and containment strategies, such as flexed positioning or swaddling. Sensory stimulation of the premature infants is presented to standardize the modification of a developmental intervention based on physiologic and behavioral cues. The most appropriate type of stimuli are those that are sensitive to infant cues. Evaluation of infant physiological and behavioral responds to specific intervention stimuli may help to identify more appropriate interventions based on infants' cues. A critical question confronting the clinician is that of determining when the evidence supporting a change in practice is sufficient to justify making that change. There are acknowledged limitations in the current studies. Many of the studies examined had small sample sizes; used nonprobability sampling; and used a phase lag design, which introduces the possibility of threats to internal validity and limits the generalizability of the results. Although many issues regarding the effects of developmental interventions remain unresolved, the available research base documents significant benefits of developmental care for LBW infants in consistent outcomes, without significant adverse effects. Particularly, although the individual studies vary somewhat in the definition of specific outcomes measured, instrumentation used, time and method of data collection, and preparaion of the care providers, in all studies, infants receiving the full protocol of individualized developmentally supportive care had improvements in some aspect of four areas of infant functioning: level of respiratory or oxygen support, the establishment of oral feeding; length of hospital stay, and infant behavioral regulation. In summary, based on the available literature, individualized developmental intervention should be incorporated into standard practice in neonatal intensive care. And this implementation needs to be coupled with ongoing research to evaluate the impact of an individualized developmental care programs on the short- and long-tenn health outcomes of LBW infants.

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Efficiency Analysis of Jeollanam-do Food Exprt Industry using DEA and Tier Models (DEA 모형과 Tier 분석을 이용한 전라남도 식품수출업체의 효율성 분석)

  • Chang, Seog-Ju
    • Asia-Pacific Journal of Business Venturing and Entrepreneurship
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    • v.12 no.2
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    • pp.125-136
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    • 2017
  • This study focuses on a relative efficiency of 109 operating food companies out of 22 regions in Jeollanam-do. The relative efficiency has been analyzed by 5 input factors(capital, number of employees, annual labor costs, raw material purchase, and site area) and 2 output factors(annual exports and annual production of the companies in Jeollanam-do). This study suggests efficient companies which inefficient companies can benchmark to improve their system in short-mid-long term in phases. The main result of empirical analysis are as follows: Firstly, according to the Traditioanl DEA analysis, 7 companies out of 109 DMU indicate the optimal production scale in score 1 of CCR efficiency value, BCC efficiency value, and scale efficiency value. Secondly, a result from the Tier 1 step of inefficient companies by Post-DEA suggests that it would be better to apply each Tier step to the proper stage of the worst 5 inefficient companies such as Tier 3 step(short-term benchmark)${\rightarrow}$Tier 2 step(mid-term benchmark)${\rightarrow}$Tier 1 step(long-term benchmark) in step. This study expects that the result of the study can reduce the trial and error in inefficient part, lead to improvement, and have a big help in food exporting industry in the end.

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Prediction of NOx emission for marine gas engines (선박용 가스엔진의 NOx 배출량예측에 관한 연구)

  • Jang, Ha-Seek;Lee, Ji-Woong;Lee, Kang-Ki;Choi, Jae-Sung
    • Journal of Advanced Marine Engineering and Technology
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    • v.38 no.6
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    • pp.658-665
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    • 2014
  • Natural gas for marine diesel engine is considered as an important and clean source of energy because of simultaneously reducing the emission of NOx, SOx and GHG. Especially with a appearance of shale gas, the using of natural gas has been investigated aggressively and expected to expand rapidly. By the reports, gas engine and diesel engine were both in a similar performance in the power aspect, and the SFOC of gas engine was shown a little better than that of diesel engine. But the characteristics of exhaust gas emission were different according to various combustion technologies. And with lean burn technology, the emission of NOx could be reduced to 85% lower than that of diesel engine. In this paper, it was described that a simulation program has been developed to predict NOx emission. The developed program is adopted two-zone model and Wiebe function for combustion in cylinder. The effects of premixed and diffusive combustion could be simulated by using the excess air ratio as input data. And it was confirmed that the results of simulation were agreed with the general trends of exhaust gas emission according to various combustion conditions such as lean burn, premixed and diffusive combustion.

Experimental Study of the Effect of Shortening of Life of Tapered Roller Bearings when Subjected to Excessive Axial Pre-Load (과다 예압을 받는 테이퍼롤러 베어링의 수명단축효과에 대한 실험적 연구)

  • Park, Jong-Won;Kim, Hyoung-Eui;Kim, Jong-Ock;Sim, Yang-Jin;Jung, Won-Wook
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.34 no.9
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    • pp.1161-1166
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    • 2010
  • Tapered roller bearings are core components of rotating machine parts and are simultaneously subjected to axial and radial loads. Life-shortening effect was particularly evident in the case of tapered roller bearings used in the input and output shafts of transmission; this shortening of life was a result of excessive axial pre-load, which is common in the transmission assembly line. In this study, we derived an equation for evaluating the life of tapered roller bearings subjected to excessive pre-load by using accelerated life test data. The DOE(Design Of Experiment) method and FEA(Finite Element Analysis) was used for determining the condition for performing an accelerated life test. This equation for evaluating the service life of the bearings was derived by analyzing the Weibull distribution of the test results. Using the derived equation the life evaluated was 6-7 times longer than that evaluated by the conventional $L_{10}$ bearing-life equation. The results of this study will be helpful in predicting the life of tapered roller bearings subjected to excessive pre-load and in designing reliable rotating machines.

Connection of Hydrologic and Hydraulic Models for Flood Forecasting in a Large Urban Watershed (대규모 도시유역의 홍수예보를 위한 수리.수문 모형의 연계)

  • Yoon, Seong-Sim;Choi, Chul-Kwan;Bae, Deg-Hyo
    • Journal of Korea Water Resources Association
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    • v.41 no.9
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    • pp.929-941
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    • 2008
  • The objectives of this study are to propose a system for combined use of a hydrologic and a hydraulic model for urban flood forecast model and to evaluate the system on the $300km^2$ Jungrang urban watershed area, which is relatively large area as an urban watershed and consequently composed of very complex drainage pipes and streams with different land uses. In this study, SWMM for hydrologic model and HEC-RAS for hydraulic model are used and the study area is divided into 25 subbasins. The SWMM model is used for sewer drainage analysis within each subbasin, while HEC-RAS for unstready flow analysis in the channel streams. Also, this study develops a GUI system composed of mean areal precipitation input component, hydrologic runoff analysis component, stream channel routing component, and graphical representation of model output. The proposed system was calibrated for the model parameters and verified for the model applicability by using the observation data. The correlation coefficients between simulated and observed flows at the 2 important locations were ranged on 0.83-0.98, while the coefficients of model efficiency on 0.60-0.92 for the verification periods. This study also provided the possibilities of manhole overflows and channel bank inundation through the calculated water profile of longitudinal and channel sections, respectively. It can be concluded that the proposed system can be used as a surface runoff and channel routing models for urban flood forecast over the large watershed area.

Human Motion Tracking by Combining View-based and Model-based Methods for Monocular Video Sequences (하나의 비디오 입력을 위한 모습 기반법과 모델 사용법을 혼용한 사람 동작 추적법)

  • Park, Ji-Hun;Park, Sang-Ho;Aggarwal, J.K.
    • The KIPS Transactions:PartB
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    • v.10B no.6
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    • pp.657-664
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    • 2003
  • Reliable tracking of moving humans is essential to motion estimation, video surveillance and human-computer interface. This paper presents a new approach to human motion tracking that combines appearance-based and model-based techniques. Monocular color video is processed at both pixel level and object level. At the pixel level, a Gaussian mixture model is used to train and classily individual pixel colors. At the object level, a 3D human body model projected on a 2D image plane is used to fit the image data. Our method does not use inverse kinematics due to the singularity problem. While many others use stochastic sampling for model-based motion tracking, our method is purely dependent on nonlinear programming. We convert the human motion tracking problem into a nonlinear programming problem. A cost function for parameter optimization is used to estimate the degree of the overlapping between the foreground input image silhouette and a projected 3D model body silhouette. The overlapping is computed using computational geometry by converting a set of pixels from the image domain to a polygon in the real projection plane domain. Our method is used to recognize various human motions. Motion tracking results from video sequences are very encouraging.

Design and Implementation of a Large-Scale Spatial Reasoner Using MapReduce Framework (맵리듀스 프레임워크를 이용한 대용량 공간 추론기의 설계 및 구현)

  • Nam, Sang Ha;Kim, In Cheol
    • KIPS Transactions on Software and Data Engineering
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    • v.3 no.10
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    • pp.397-406
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    • 2014
  • In order to answer the questions successfully on behalf of the human in DeepQA environments such as Jeopardy! of the American quiz show, the computer is required to have the capability of fast temporal and spatial reasoning on a large-scale commonsense knowledge base. In this paper, we present a scalable spatial reasoning algorithm for deriving efficiently new directional and topological relations using the MapReduce framework, one of well-known parallel distributed computing environments. The proposed reasoning algorithm assumes as input a large-scale spatial knowledge base including CSD-9 directional relations and RCC-8 topological relations. To infer new directional and topological relations from the given spatial knowledge base, it performs the cross-consistency checks as well as the path-consistency checks on the knowledge base. To maximize the parallelism of reasoning computations according to the principle of the MapReduce framework, we design the algorithm to partition effectively the large knowledge base into smaller ones and distribute them over multiple computing nodes at the map phase. And then, at the reduce phase, the algorithm infers the new knowledge from distributed spatial knowledge bases. Through experiments performed on the sample knowledge base with the MapReduce-based implementation of our algorithm, we proved the high performance of our large-scale spatial reasoner.