• Journal of Institute of Control, Robotics and Systems
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• v.21 no.1
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• pp.7-13
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• 2015

Unmanned air vehicles (UAVs) are getting popular not only as a private usage for the aerial photograph but military usage for the surveillance, reconnaissance and supply missions. For an UAV to successfully achieve these kind of missions, geolocation (localization) must be implied to track an interested target or fly by reference. In this research, we adopted multi-sensor fusion (MSF) algorithm to increase the accuracy of the geolocation and verified the algorithm using two multicopter UAVs. One UAV is equipped with an optical camera, and another UAV is equipped with an optical camera and a laser range finder. Throughout the experiment, we have obtained measurements about a fixed ground target and estimated the target position by a series of coordinate transformations and sequential Kalman filter. The result showed that the MSF has better performance in estimating target location than the case of using single sensor. Moreover, the experimental result implied that multi-sensor geolocation algorithm is able to have further improvements in localization accuracy and feasibility of other complicated applications such as moving target tracking and multiple target tracking.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.909-915
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• 2008

Recently, the interests in the development and application of unmaned robots are increasing in various fields including surveillance and reconnaissance, planet exploration, and disaster relief. Unmaned robots are usually controlled from distance using radio communications but they should be equipped with an autonomous travelling function to cope with unexpected terrains and obstacles. This means that they should be able to evaluate terrain's characteristics quantitatively using mounted sensors so as to traverse harsh natural terrains autonomously. For this purpose, this paper presents a method for extracting terrain information, that is, slope and roughness from elevation maps as a prior step of traversability analysis. Slope is extracted using the curve fitting based on the least squares method and roughness using three metrics and their weighted average. The effectiveness of the proposed method is verified on both a fractal map and the world model map of a real terrain.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.11B
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• pp.1732-1737
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• 2010

Currently, one of the main purposes of the military using Unmanned Air System (VAS) is to perform surveillance and reconnaissance of hostile enemy. To carry out their mission, Unmanned aerial vechicle (UAV) transmits video images to ground control station using ISR devices installed on the UAV. After receiving the images, the ground control station distribute them to various type of users. At this case, it is important to keep QoS. This paper presents data delivery and QoS managements using DDS for DDS for UAV video images. The experiment result, based on H.264 and JPEG2000, shows that DDS standard is able to be applied to video image transmission for UAS.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.229-235
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• 2011

To make a robust object tracking and identifying system for an intelligent robot and/or home system, heterogeneous sensor fusion between visible ray system and infrared ray system is proposed. The proposed system separates the object by combining the ROI (Region of Interest) estimated from two different images based on a heterogeneous sensor that consolidates the ordinary CCD camera and the IR (Infrared) camera. Human's body and face are detected in both images by using different algorithms, such as histogram, optical-flow, skin-color model and Haar model. Also the pose of human body is estimated from the result of body detection in IR image by using PCA algorithm along with AdaBoost algorithm. Then, the results from each detection algorithm are fused to extract the best detection result. To verify the heterogeneous sensor fusion system, few experiments were done in various environments. From the experimental results, the system seems to have good tracking and identification performance regardless of the environmental changes. The application area of the proposed system is not limited to robot or home system but the surveillance system and military system.

• Korean Journal of Health Education and Promotion
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• v.26 no.4
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• pp.117-127
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• 2009

Objectives: The primary objective of the study is to analyze the utilization patterns of provincial patients discharged from hospitals located in Seoul area. Methods: For the analysis, the study employed the nationwide data on 'Survey of Injured Patients Discharged from Hospitals' conducted by KCDC (Korea Centers for Disease Control and Prevention). The statistical methodology used in the measurement model is a logistic regression model. Results: The study has three major findings. First, compared to other disease groups, the discharged on both 'neoplasm(cancer)' and 'congenital malformation, deformity and chromosomal abnormalities' disease groups are more likely to utilize hospitals in Seoul area. Second, as for 'neoplasm(cancer)' disease group, patients with 'bones and articular cartilage' areas are more likely to utilize hospitals in Seoul area. Finally, Hospitals with more than 1,000 beds was primary factor in selecting Seoul-based hospitals by the discharged in provincial areas. Conclusion: In sum, the study showed that patients in provincial areas are more likely to utilize hospitals located in Seoul area regardless of the severity of their cases. Local authority, therefore, is required to monitor local hospitals on regular basis, as well as support them to establish specialized medical centers by providing human and physical resources.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.3
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• pp.477-486
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• 2016

This paper presents the area classification, identification, and tracking for multiple moving objects with the similar colors. To do this, first, we use the GMM(Gaussian Mixture Model)-based background modeling method to detect the moving objects. Second, we propose the use of the binary and morphology of image in order to eliminate the shadow and noise in case of detection of the moving object. Third, we recognize ROI(region of interest) of the moving object through labeling method. And, we propose the area classification method to remove the background from the detected moving objects and the novel method for identifying the classified moving area. Also, we propose the method for tracking the identified moving object using Kalman filter. To the end, we propose the effective tracking method when detecting the multiple objects with the similar colors. Finally, we demonstrate the feasibility and applicability of the proposed algorithms through some experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.415-419
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• 2010

A variety of methods for sound source localization have been developed and applied to several applications such as noise detection system, surveillance system, teleconference system, robot auditory system and so on. In the previous work, we proposed the sound source localization using the spatially mapped GCC functions based on TDOA for robot auditory system. Performance of the proposed one for the noise effect and estimation resolution was verified with the real environmental experiment under the single source assumption. However, since multi-talker case is general in human-robot interaction, multiple source localization approaches are necessary. In this paper, the proposed localization method under the single source assumption is modified to be suitable for multiple source localization. When there are two sources which are correlated, the spatially mapped GCC function for localization has three peaks at the real source locations and imaginary source location. However if two sources are uncorrelated, that has only two peaks at the real source positions. Using these characteristics, we modify the proposed localization method for the multiple source cases. Experiments with human speeches in the real environment are carried out to evaluate the performance of the proposed method for multiple source localization. In the experiments, mean value of estimation error is about $1.4^{\circ}$ and percentage of multiple source localization is about 62% on average.

• Perspectives in Nursing Science
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• v.4 no.1
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• pp.1-8
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• 2007

Aim: The purpose of this paper is to present the importance of multidisciplinary strategies in cancer prevention and control, especially comprehensive breast cancer care. Background: Worldwide, breast cancer is the most common cancer diagnosed among women and is the leading cause of cancer deaths. Although the incidence of breast cancer in Asian countries is still lower than in Western countries, the rate of increase for the last two decades is striking. Methods: Data on cancer mortality, incidence, and risk factors were summarized by using the most recent data available from population-based cancer registries affiliated with the International Union Against Cancer, the National Cancer Institute's Surveillance, Epidemiology, and End Results (SEER) program and the CDC's National Program of Cancer Registries (NPCR). Results: Global differences in breast cancer incidence and fluctuations in rates within a country still exist. The incidence of breast cancer in Asian countries was lower than in Western countries. Breast cancer incidence in the United States decreased each year during 1999-2003. On the other hand, morbidity and mortality related to breast cancer in Asia has increased significantly. Conclusion: Multidisciplinary strategies to reduce breast cancer mortality and promote breast cancer awareness are addressed. Lessons learned from multidisciplinary approaches to cancer treatment and control will be valuable in implementing future breast cancer research in the fields of basic, clinical, and population research in Asia.

• Journal of the Korea Fashion and Costume Design Association
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• v.16 no.4
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• pp.63-77
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• 2014

The purpose of this study was to investigate the effects of sociocultural attitudes toward appearance and objectified body consciousness on male consumer' appearance management behavior. The subjects were 648 males aged from 20 to 59 years old, and the questionnaire consisted of sociocultural attitude toward appearance, objectified body consciousness, appearance management behavior, and subject' demographic characteristics. The data were analyzed by descriptive statistics, Cronbach's ${\alpha}$, factor analysis, and regression analysis. The results were as follows. Three dimensions(appearance importance awareness, slimness importance awareness, and internalization) were emerged on sociocultural attitude toward appearance. Three dimensions(body shame, body surveillance, and control belief) were emerged on objectified body consciousness. Five dimensions(skin, hair, body, fashion, and plastic surgery management) were emerged on appearance management behavior. In sociocultural attitude toward appearance dimensions, appearance importance awareness and internalization had important effects on appearance management behavior. In objectified body consciousness dimensions, body shame and control belief had important effects on appearance management behavior. This results concluded that sociocultural attitude toward appearance and objectified body consciousness are important variables to understand on male consumer' appearance management behavior.

• Journal of Microbiology
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• v.43 no.spc1
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• pp.65-84
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• 2005

Invasive candidiasis is associated with high morbidity and mortality. Clinical diagnosis is complicated by a lack of specific clinical signs and symptoms of disease. Laboratory diagnosis is also complex because circulating antibodies to Candida species may occur in normal individuals as the result of commensal colonization of mucosal surfaces thereby reducing the usefulness of antibody detection for the diagnosis of this disease. In addition, Candida species antigens are often rapidly cleared from the circulation so that antigen detection tests often lack the desired level of sensitivity. Microbiological confirmation is difficult because blood cultures can be negative in up to 50% of autopsy-proven cases of deep-seated candidiasis or may only become positive late in the infection. Positive cultures from urine or mucosal surfaces do not necessarily indicate invasive disease although can occur during systemic infection. Furthermore, differences in the virulence and in the susceptibility of the various Candida species to antifungal drugs make identification to the species level important for clinical management. Newer molecular biological tests have generated interest but are not yet standardized or readily available in most clinical laboratory settings nor have they been validated in large clinical trials. Laboratory surveillance of at-risk patients could result in earlier initiation of antifungal therapy if sensitive and specific diagnostic tests, which are also cost effective, become available. This review will compare diagnostic tests currently in use as well as those under development by describing their assets and limitations for the diagnosis of invasive candidiasis.