• Korean Journal of Construction Engineering and Management
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• v.23 no.4
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• pp.3-14
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• 2022

Autonomous equipment requires a large amount of data from various environments. However, it takes a lot of time and cost for an experiment in a real construction sites, which are difficulties in data collection and processing. Therefore, this study aims to develop a virtual environment for autonomous tower cranes technology development and validation. The authors defined automation functions and operation conditions of tower cranes with three performance criteria: operational design domain, object and event detection and response, and minimum functional conditions. Afterward, this study developed a virtual environment for learning and validation for autonomous functions such as recognition, decision making, and control using the Unity game engine. Validation was conducted by construction industry experts with a fidelity which is the representative matrix for virtual environment assessment. Through the virtual environment platform developed in this study, it will be possible to reduce the cost and time for data collection and technology development. Also, it is also expected to contribute to autonomous driving for not only tower cranes but also other construction equipment.

• Journal of Korea Society of Industrial Information Systems
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• v.14 no.1
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• pp.1-8
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• 2009

The objective of this study is to design a system that automatically monitors the state of interior spaces like offices where lots of people are coming and going through image data and environment data, which includes temperature, humidity, and other conditions, and implement and test related application programs. In practice, there are lots of image data automatically obtained by unmanned equipments, such as certain types of CCTVs, for monitoring situation in usual interior spaces. This image data can be used as a more effective manner by establishing a system that recognizes situation in specific interior spaces based on the relationship between image and environment data. For instance, it is possible to perform unmanned on/off controls for various electronic equipments, such as air conditioners, lights, and other devices, through analyzing the data acquisited from environment sensors (temperature, humidity, and illumination) as dynamic states are not maintained for a specified period of time. For implementing these controls, this study analyzes environment data acquisited from temperature and humidity sensors and image data input from wireless cameras to recognize situation and that can be used to automatically control environment variables configured by users. Experiments were applied in a laboratory where unmanned controls were effectively performed as automatic on/off controls for the air conditioner and lights installed in the laboratory as certain motions were detected or undetected for a specified period of time.

• The Bulletin of The Korean Astronomical Society
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• v.46 no.2
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• pp.38.2-39
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• 2021

I will presents the analysis of the gas properties of the protoplanetary disk surrounding the young low-mass (about 1.2M_sun) triple star, GG Tau A. This work makes use of ALMA observations of rotational lines of CO (¹²CO, ¹³CO and C¹⁸O) together NOEMA observations of a few dozens of other molecules. While the CO emission gives information on the molecular layer close to the disk atmosphere, its less abundant isotopologues ¹³CO and C¹⁸O bring information much deeper in the molecular layer. I will present the analysis of the morphology and kinematics of the gas disk using the CO isotopologues. A radiative transfer model of the ring in CO isotopologues will also be presented. The subtraction of this model from the original data reveals the weak emission of the molecular gas lying inside the cavity. Thus, I am able to evaluate the properties of the gas inside the cavity, such as the gas dynamics, excitation conditions, and the amount of mass in the cavity. High angular resolution observations of CO reveals sprials induced by embedded planet(s) located near the 3:2:1 mean-motion resonance that help to explain the special morphology of the circumbinary disk. I also discuss some chemical properties of the GG Tau A disk. I report the first detection of H2S and C₂S in a protoplanetary disk. The molecule abundance relative to ¹³CO of about twenties other molecules will also be given. In GG Tau A, the detections of rare molecules such as H₂S and C₂S have been probably possible because the disk is more massive (a factor about 3-5) than other disks where the molecules was searched. Such a large disk mass makes the system suitable to detect rare molecules and to study cold-chemistry in protoplanetary disks.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.8 no.3
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• pp.945-953
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• 2018

In this paper, we use 3-D LIDAR for obstacle detection and avoidance maneuver for autonomous unmanned operation. It is aimed to avoid obstacle avoidance in unmanned water under marine condition using only single sensor. 3D lidar uses Quanergy's M8 sensor to collect surrounding obstacle data and includes layer information and intensity information in obstacle information. The collected data is converted into a three-dimensional Cartesian coordinate system, which is then mapped to a two-dimensional coordinate system. The data including the obstacle information converted into the two-dimensional coordinate system includes noise data on the water surface. So, basically, the noise data generated regularly is defined by defining a hypothetical region of interest based on the assumption of unmanned water. The noise data generated thereafter are set to a threshold value in the histogram data calculated by the Vector Field Histogram, And the noise data is removed in proportion to the amount of noise. Using the removed data, the relative object was searched according to the unmanned averaging motion, and the density map of the data was made while keeping one cell on the virtual grid map. A polar histogram was generated for the generated obstacle map, and the avoidance direction was selected using the boundary value.

• The Korean Journal of Nuclear Medicine
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• v.37 no.5
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• pp.278-287
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• 2003

Purpose: The performance of nitroglycerin-challenged Tc-99m-MIBI quantitative gated SPECT for the detection of viable myocardium was compared with rest/24-hour redistribution Tl-201 SPECT Materials and Methods: In 22 patients with coronary artery disease, rest Tl-20l/ dipyridamole stress Tc-99m-MIBI gated/24-hour redistribution Tl-201 SPECT were peformed, and gated SPECT was repeated on-site after sublingual administration of nitroglycerin (0.6 mg). Follow-up gated SPECT was done 3 months after coronary artery bypass graft surgery. For 20 segments per patient, perfusion at rest and 24-hour redistribution, and wall motion and thickening at baseline and nitroglycerin-challenged state were quantified. Quantitative viability markers were evaluated and compared;(1) rest thallium uptake, (2) thallium uptake on 24-hour redistribution SPECT, (3) systolic wall thickening at baseline, and (4) systolic wall thickening with nitroglycerin-challenge. Results: Among 100 revascularized dysfunctional segments, wall motion improved in 66 segments (66%) on follow-up gated myocardial SPECT after bypass surgery. On receiver operating characteristic (ROC) curve analysis, the sensitivity and specificity of rest and 24-hour delayed redistribution Tl-201 SPECT were 79%, 44% and 82%, 44%, respectively, at the optimal cutoff value of 50% of Tl-201 uptake. The sensitivity and specificity of systolic wall thickening at baseline and nitroglycerin-challenge were 49%, 50% and 64%, 65% at the optimal cutoff value of 15% of systolic wall thickening. Area under the ROC curve of nitroglycerin-challenged systolic wall thickening was significantly larger than that of baseline systolic wall thickening (p=0.004). Conclusion: Nitroglycerin-challenged quantitative gated Tc-99m-MIBI SPECT was a useful method for predicting functional recovery of dysfunctional myocardium.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.39 no.4
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• pp.347-357
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• 2003

This paper describes on the suppression of sea clutter on marine radar display using a cell-averaging CFAR(constant false alarm rate) technique, and on the analysis of radar echo signal data in relation to the estimation of ARPA functions and the detection of the shadow effect in clutter returns. The echo signal was measured using a X -band radar, that is located on the Pukyong National University, with a horizontal beamwidth of $$3.9^{\circ}$$, a vertical beamwidth of $20^{\circ}$, pulsewidth of $0.8 {\mu}s$ and a transmitted peak power of 4 ㎾ The suppression performance of sea clutter was investigated for the probability of false alarm between $l0-^0.25;and; 10^-1.0$. Also the performance of cell averaging CFAR was compared with that of ideal fixed threshold. The motion vectors and trajectory of ships was extracted and the shadow effect in clutter returns was analyzed. The results obtained are summarized as follows；1. The ARPA plotting results and motion vectors for acquired targets extracted by analyzing the echo signal data were displayed on the PC based radar system and the continuous trajectory of ships was tracked in real time. 2. To suppress the sea clutter under noisy environment, a cell averaging CFAR processor having total CFAR window of 47 samples(20+20 reference cells, 3+3 guard cells and the cell under test) was designed. On a particular data set acquired at Suyong Man, Busan, Korea, when the probability of false alarm applied to the designed cell averaging CFAR processor was 10$^{-0}$.75/ the suppression performance of radar clutter was significantly improved. The results obtained suggest that the designed cell averaging CFAR processor was very effective in uniform clutter environments. 3. It is concluded that the cell averaging CF AR may be able to give a considerable improvement in suppression performance of uniform sea clutter compared to the ideal fixed threshold. 4. The effective height of target, that was estimated by analyzing the shadow effect in clutter returns for a number of range bins behind the target as seen from the radar antenna, was approximately 1.2 m and the information for this height can be used to extract the shape parameter of tracked target..

• Progress in Medical Physics
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• v.23 no.1
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• pp.8-14
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• 2012

In order to develop a Patient respiratory management system includinga biofeedback function for4-dimentional radiation therapy, this study investigated anoptimal tracking algorithmfor moving target using IR (Infra-red) camera as well as commercial camera. A tracking system was developed by LabVIEW 2010. Motion phantom images were acquired using a camera (IR or commercial). After image process were conducted to convert acquired image to binary image by applying a threshold values, several edge enhance methods such as Sobel, Prewitt, Differentiation, Sigma, Gradient, Roberts, were applied. The targetpattern was defined in the images, and acquired image from a moving targetwas tracked by matching pre-defined tracking pattern. During the matching of imagee, thecoordinateof tracking point was recorded. In order to assess the performance of tracking algorithm, the value of score which represents theaccuracy of pattern matching was defined. To compare the algorithm objectively, we repeat experiments 3 times for 5 minuts for each algorithm. Average valueand standard deviations (SD) of score were automatically calculatedsaved as ASCII format. Score of threshold only was 706, and standard deviation was 84. The value of average and SD for other algorithms which combined edge detection method and thresholdwere 794, 64 in Sobel, 770, 101 in Differentiation, 754, 85 in Gradient, 763, 75 in Prewitt, 777, 93 in Roberts, and 822, 62 in Sigma, respectively. According to score analysis, the most efficient tracking algorithm is the Sigma method. Therefore, 4-dimentional radiation threapy is expected tobemore efficient if threshold and Sigma edge detection method are used together in target tracking.

• Radiation Oncology Journal
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• v.28 no.3
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• pp.155-165
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• 2010

Purpose: In order to evaluate the positional uncertainty of internal organs during radiation therapy for treatment of liver cancer, we measured differences in inter- and intra-fractional variation of the tumor position and tidal amplitude using 4-dimentional computed radiograph (DCT) images and gated orthogonal setup kilovolt (KV) images taken on every treatment using the on board imaging (OBI) and real time position management (RPM) system. Materials and Methods: Twenty consecutive patients who underwent 3-dimensional (3D) conformal radiation therapy for treatment of liver cancer participated in this study. All patients received a 4DCT simulation with an RT16 scanner and an RPM system. Lipiodol, which was updated near the target volume after transarterial chemoembolization or diaphragm was chosen as a surrogate for the evaluation of the position difference of internal organs. Two reference orthogonal (anterior and lateral) digital reconstructed radiograph (DRR) images were generated using CT image sets of 0% and 50% into the respiratory phases. The maximum tidal amplitude of the surrogate was measured from 3D conformal treatment planning. After setting the patient up with laser markings on the skin, orthogonal gated setup images at 50% into the respiratory phase were acquired at each treatment session with OBI and registered on reference DRR images by setting each beam center. Online inter-fractional variation was determined with the surrogate. After adjusting the patient setup error, orthogonal setup images at 0% and 50% into the respiratory phases were obtained and tidal amplitude of the surrogate was measured. Measured tidal amplitude was compared with data from 4DCT. For evaluation of intra-fractional variation, an orthogonal gated setup image at 50% into the respiratory phase was promptly acquired after treatment and compared with the same image taken just before treatment. In addition, a statistical analysis for the quantitative evaluation was performed. Results: Medians of inter-fractional variation for twenty patients were 0.00 cm (range, -0.50 to 0.90 cm), 0.00 cm (range, -2.40 to 1.60 cm), and 0.00 cm (range, -1.10 to 0.50 cm) in the X (transaxial), Y (superior-inferior), and Z (anterior-posterior) directions, respectively. Significant inter-fractional variations over 0.5 cm were observed in four patients. Min addition, the median tidal amplitude differences between 4DCTs and the gated orthogonal setup images were -0.05 cm (range, -0.83 to 0.60 cm), -0.15 cm (range, -2.58 to 1.18 cm), and -0.02 cm (range, -1.37 to 0.59 cm) in the X, Y, and Z directions, respectively. Large differences of over 1 cm were detected in 3 patients in the Y direction, while differences of more than 0.5 but less than 1 cm were observed in 5 patients in Y and Z directions. Median intra-fractional variation was 0.00 cm (range, -0.30 to 0.40 cm), -0.03 cm (range, -1.14 to 0.50 cm), 0.05 cm (range, -0.30 to 0.50 cm) in the X, Y, and Z directions, respectively. Significant intra-fractional variation of over 1 cm was observed in 2 patients in Y direction. Conclusion: Gated setup images provided a clear image quality for the detection of organ motion without a motion artifact. Significant intra- and inter-fractional variation and tidal amplitude differences between 4DCT and gated setup images were detected in some patients during the radiation treatment period, and therefore, should be considered when setting up the target margin. Monitoring of positional uncertainty and its adaptive feedback system can enhance the accuracy of treatments.

• Journal of Chest Surgery
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• v.35 no.1
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• pp.27-35
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• 2002

Background: A perioperative myocardial infarction(PMI) is one of the major complications after CABG. Among diagnostic methods of PMI, CK-MB activity assays have been increasingly replaced by CK-MB mass assays, which have more sensitive, simple measurement. Also, new cardiac-specific and -sensitive marker, cardiac troponin I(cTnl), has been shown to be a marker of myocardial infarction. We report our evaluation of clinical significance of CK-MB mass and cTnl as a marker of PMI after CABG. Material and Method: We studied 32 patients who underwent CABG at Kangdong Sacred Hospital between April 2000 and April 2001. Postoperative serum CK-MB activity level, serum CK-MB mass, cTnl, electrocardiogram, echocardiogram, and clinical data were recorded prospectively The diagnosis of PMI was defined as positive 2 among 3 or all of the following , by a new Q wave on the electrocardiogram, by serum CK-MB activity higher than 200 lU/L within 72 hours after operation, and by new regional wall motion abnormality on the echocardiogram. Result: After CABG, 3 patients had sustained a PMI according to current diagnostic criteria. As serum CK-MB activity time course, a level of CK-MB activity 12 hours after CABG had very linear correlated significance with serum CK-MB mass 24hours(R=0.946) and cTnl 48 hours(R=0.933) after CABG(p=0.000). As we used a receiver operating characteristics curve(ROC curve) for a diagnostic cutoff value in patients with PMI, serum CK-MB mass levels higher than 30.05 ug/L 24 hours after CABG detected the presence of PMI with an area under the ROC curve of 1.0, a sensitivity of 100%, a specificity of 100%, a positive predictive value of 100%, and a negative predictive value of 100%. Also serum cTnl levels higher than 17.15 ug/L 48 hours after CABG detected the presence of PMI with an area under the ROC curve of 0.98, a sensitivity of 100%, a specificity of 96.6%, a positive preclictive value of 75%, and a negative predictive value of 100% Conclusion: We concluded that both the measurement of CK-MB mass and cTnl are the easier, accurate methods as a diagnostic marker of PMT after CABG, also as a proposal of diagnostic cutoff value enables to an early detection of PMI. However, a 1arger number of patient will be needed because of statistic limitation that a small number of participating patients, a small number of PMI.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2003.04a
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• pp.363-368
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• 2003

We have successfully developed a more effective algorithm to extract the lineament in the area covered by wide alluvial deposits characterized by a relatively narrow range of brightness in the Landsat TM image, while the currently used algorithm is limited to the mountainous areas. In the new algorithm, flat areas mainly consisting of alluvial deposits were selected using the Local Enhancement from the Digital Elevation Model (DEM). The aspect values were obtained by 3${\times}$3 moving windowing of Zevenbergen & Thorno's Method, and then the slopes of the study area were determined using the aspect values. After the lineament factors in the alluvial deposits were revealed by comparing the threshold values, the first rank lineament under the alluvial deposits were extracted using the Hough transform In order to extract the final lineament, the lowest points under the alluvial deposits in a given topographic section perpendicular to the first rank lineament were determined through the spline interpolation, and then the final lineament were chosen through Hough transform using the lowest points. The algorithm developed in this study enables us to observe a clearer lineament in the areas covered by much larger alluvial deposits compared with the results extracted using the conventional existing algorithm. There exists, however, some differences between the first rank lineament, obtained using the aspect and the slope, and the final lineament. This study shows that the new algorithm more effectively extracts the lineament in the area covered with wide alluvlal deposits than in the areas of converging slope, areas with narrow alluvial deposits or valleys.