• The Journal of Korea Robotics Society
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• v.6 no.1
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• pp.42-48
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• 2011

It is very important for a mobile robot to recognize and model its environments for navigation. However, the grid map constructed by sonar sensors cannot accurately represent the environment, especially the narrow environment, due to the angular uncertainty of sonar data. Therefore, we propose a map building scheme which combines sonar sensors and IR sensors. The maps built by sonar sensors and IR sensors are combined with different weights which are determined by the degree of translational and rotational motion of a robot. To increase the effectiveness of sensor fusion, we also propose optimal sensor arrangement through various experiments. The experimental results show that the proposed method can represent the environment such as narrow corridor and open door more accurately than conventional sonar sensor-based map building methods.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.3
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• pp.203-209
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• 2010

This paper presents a hierarchical fuzzy motion planner for humanoid robots in 3D uneven environments. First, we define both motion primitives and locomotion primitives of humanoid robots. A high-level planner finds a global path from a global navigation map that is generated based on a combination of 2.5 dimensional maps of the workspace. We use a passage map, an obstacle map and a gradient map of obstacles to distinguish obstacles. A mid-level planner creates subgoals that help the robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. We use a local obstacle map to find the subgoals along the global path. A low-level planner searches for an optimal sequence of locomotion primitives between subgoals by using fuzzy motion planning. We verify our approach on a virtual humanoid robot in a simulated environment. Simulation results show a reduction in planning time and the feasibility of the proposed method.

• The Journal of the Acoustical Society of Korea
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• v.22 no.7
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• pp.603-611
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• 2003

This paper proposes an effective feature compensation scheme based on speech model for achieving robust speech recognition. Conventional model-based method requires off-line training with noisy speech database and is not suitable for online adaptation. In the proposed scheme, we can relax the off-line training with noisy speech database by employing the parallel model combination technique for estimation of correction factors. Applying the model combination process over to the mixture model alone as opposed to entire HMM makes the online model combination possible. Exploiting the availability of noise model from off-line sources, we accomplish the online adaptation via MAP (Maximum A Posteriori) estimation. In addition, the online channel estimation procedure is induced within the proposed framework. For more efficient implementation, we propose a selective model combination which leads to reduction or the computational complexities. The representative experimental results indicate that the suggested algorithm is effective in realizing robust speech recognition under the combined adverse conditions of additive background noise and channel distortion.

• Journal of Microbiology and Biotechnology
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• v.18 no.3
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• pp.568-572
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• 2008

This study was conducted to investigate the effect of modified atmosphere packaging (MAP) in combination with BN/PE film on the shelf life and quality of fresh-cut iceberg lettuce during cold storage. The total mesophilic population in the sample packed in BN/PE film under MAP conditions was dramatically reduced in comparison with that of PE film, PE film under MAP conditions, and BN/PE film. The $O_2$ concentration in the BN/PE film under MAP conditions decreased slightly as the storage period progressed. The coloration of the iceberg lettuce progressed the slowest when it was packaged in BN/PE film under MAP conditions, followed by BN/PE film, PE film, and PE film under MAP conditions. The shelf life of fresh-cut iceberg lettuce packaged in the BN/PE film under MAP conditions was extended by more than 2 days at $10^{\circ}C$ as compared with that of the BN/PE film in which the extension effect was more than 2 days longer than that of PE, PET, and OPP films.

• Journal of Korean Society for Geospatial Information Science
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• v.7 no.2 s.14
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• pp.57-68
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• 1999

In case of topographic information construction it is most important as basemap determines the success or failure of GIS It is argument that digitizing works of basemap are divided by NGIS and PBLIS. So, it have to accompany the combination and application of cadastral information for constructing a usful basemap. In this study, we generated ortho image map using 1:5,000 aerial-photography image, present the comparative analysis for the overlay accuracy and map revision of topographic and cadastral information using ortho image map to base map. So, we present application schemes for land use, environment, and city planning field as well as union database by overlaying of image map and cadastral information.

• Genomics & Informatics
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• v.7 no.2
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• pp.136-140
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• 2009

Genome-wide association (GWA) studies may benefit from the inclusion of imputed SNPs into their dataset. Due to its predictive nature, the imputation process is typically not perfect. Thus, it would be desirable to develop a scheme for filtering out the imputed SNPs by maximizing the concordance with the observed genotypes. We report such a scheme, which is based on the combination of several parameters that are calculated by PLINK, a popular GWA analysis software program. We imputed the genotypes of 8,842 Korean individuals, based on approximately 2 million SNP genotypes of the CHB＋JPT panel in the International HapMap Project Phase II data, complementing the 352k SNPs in the original Affymetrix 5.0 dataset. A total of 333,418 SNPs were found in both datasets, with a median concordance rate of 98.7%. The concordance rates were calculated at different ranges of parameters, such as the number of proxy SNPs (NPRX), the fraction of successfully imputed individuals (IMPUTED), and the information content (INFO). The poor concordance that was observed at the lower values of the parameters allowed us to develop an optimal combination of the cutoffs (IMPUTED${\geq}$0.9 and INFO${\geq}$0.9). A total of 1,026,596 SNPs passed the cutoff, of which 94,364 were found in both datasets and had 99.4% median concordance. This study illustrates a conservative scheme for filtering imputed SNPs that would be useful in GWA studies.

• Journal of the Korean Institute of Telematics and Electronics
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• v.18 no.6
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• pp.9-15
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• 1981

A new algorithm is presented from minimiEing the gates cost and gate inputs cost for the multiple-output TANT networks. In this algorithm, multiple-output map is organized and multiple-output function is constructed by using combination of minterms in order of the number of head variables. Systematic combination is made by PSA algorithm, and so the total design procedure is simplified.

• Journal of Ocean Engineering and Technology
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• v.20 no.3 s.70
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• pp.15-23
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• 2006

On this study, realtime GPS technique and combination of GPS/GLONASS technique are used to extracting coastline. Th￡ object of coastline is Gwanganri beach located in Busan. The coastline is observed along the traces of coastline when high wave of scar by using digital map of 1:1,000 and at random time zone, coastline is surveyed along the boundary line that is contacting with sea water level. When the coastline of random time zone is converted by height of tide table, the coastline when high wave of scar and converted coastline are shown as coincident approximately.

• Journal of information and communication convergence engineering
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• v.17 no.4
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• pp.227-233
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• 2019

In long-haul optical communication system consisting of standard single-mode fiber spans and fiber amplifiers, such as the erbium-doped fiber amplifier, performance is deteriorated by signal distortion due to chromatic dispersion and nonlinearity of the fiber. A combination of dispersion management and optical phase conjugation is an effective technique to compensate for the distortion. In an optical link configured by this combination, a dispersion map mainly affects the compensation of the distorted optical signals. This paper proposes new dispersion maps configured by the decaying or expanding distribution of residual dispersion per span (RDPS) in a dispersion-managed link combined with a midway optical phase conjugator. The effect of the proposed dispersion maps on the compensation for distorted 24 channel × 40 Gbps wavelength-division multiplexed signals was assessed through numerical simulation. It was confirmed that all the proposed dispersion maps are most appropriate for the compensation and, furthermore, for the flexibility of link configuration than conventional links.

• Journal of Veterinary Clinics
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• v.21 no.2
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• pp.168-171
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• 2004

The effects of alterations of dose of xylaznie (X) and Zoltil$\circledR$ (TZ) on canine anesthesia were examined. Experimental groups were divided into three (Group 1: X 1.1 mg/kg and TZ 10 mg/kg, Group 2: X 1.65 mg/kg and TZ 7.5 mg/kg, Group 3: X 2.2 mg/kg and TZ 5 mg/kg), and each had 5 dogs. A femoral artery was catheterized for measurement of blood pressure, and baseline value was measured. The dogs were sedated with xylazine intramuscularly, then after 10 minutes TZ were injected intravenously. Mean arterial blood pressures (MAP), duration of analgesia, mean arousal time (MAT) and mean walking time (MWT) after TZ injection were measured, and the depth of analgesia and the quality of recovery were scored. The values of MAP were recorded from the time of pre-xylazine injection to arousal. Duration of analgesia and was assessed by tail clamping test, and which were done at 10 minutes intervals after TZ injection. The decreases of MAP from 40 minutes after TZ injection were significant (p<0.05). In group 2, MAP at 20 minutes, and from 40 minutes to arousal were significantly decreased (p<0.05). In group 3, MAP were significantly decreased from 40 minutes. MAT were 62.2$\pm$9.2 minutes in group 1, 60.2$\pm$7.5 minutes in group 2, and 71.0$\pm$6.9 minutes in group 3. MAT in group 3 was significantly increased compared with group 2 (p<0.05), and the differences of MWT among each groups were not significant (p>0.05). The scores of quality of recovery were significantly lowered in group 3 compared with group 1 or group 2, which means the side effects of recovery were less occurred. Thus, it was considered that the combination X 2.2 mg/kg IM and TZ 5 mg/kg IV is more effective to surgical procedures and to prevent long and rough recovery of Zoletil anesthesia.