• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.6
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• pp.549-559
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• 2015

In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments.

• Journal of KIISE:Computer Systems and Theory
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• v.26 no.9
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• pp.1042-1054
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• 1999

공유메모리 병렬프로그램의 오류수정에서 경합의 탐지는 중요하다. 왜냐하면 경합은 잘못된 수행 결과를 초래할 뿐만 아니라, 의도하지 않은 프로그램의 비결정적인 수행을 유발하여 오류수정을 어렵게 하기 때문이다. 특히 최초경합의 탐지는 더욱 중요하다. 그 이유는 최초경합을 제거함으로써 나머지 경합들을 방지할 수도 있기 때문이다. 기존의 수행중 경합 탐지기법들은 접근별 보고방식을 기반으로 하는데, 이 기법들은 임의 공유변수에 대한 병행 쓰레드들의 모든 접근사건들을 검사하기 위해서 접근역사라는 유일한 공유정보를 이용하므로 탐지과정에 심각한 병목현상을 유발시킨다. 그러나, 최초경합 탐지를 위한 경우 이러한 병목현상은 크게 개선될 수 있다. 본 논문에서는, 각 접근사건 검사를 위해 각 쓰레드에 공유되지 않는 독립적인 접근역사를 별개로 두고, 경합을 보고하는 시점인 쓰레드 합류시점에서만 공유되는 접근역사를 이용하도록 함으로써 병목현상을 개선하여 최초경합을 탐지할 수 있는 새로운 수행중 탐지기법을 제안한다. 그러므로 본 기법은 최초경합을 보다 효율적으로 탐지할 수 있기 때문에 수행중 경합 탐지를 더욱 효율적이고 실용적으로 할 수 있다. Abstract Detecting races is important for debugging shared-memory parallel programs, because the races lead to unintended nondeterministic executions of the programs as well as erroneous result and then make debugging programs difficult. Especially, detecting the first races is more important. The reason is that the removal of the first races can make other races disappear. Most existing on-the-fly techniques to detect the races are based on per- access reporting method incurring the serious central bottleneck, because the techniques use unique shared information called access history for checking all accesses of concurrent threads to a shared variable. Such bottleneck, however, can be improved considerably in case of detecting first races. This paper presents a new on-the-fly technique which detects the first races with reduced bottleneck through checking each accesses with private access histories and finally reporting races with shared access histories. Therefore, this technique makes on-the-fly race detection more efficient and practical.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.12
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• pp.1950-1958
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• 2016

Today, technique for precisely positioning vehicles is very important in C-ITS(Cooperative Intelligent Transport System), Self-Driving Car and other information technology relating to transportation. Though the most popular technology for vehicle positioning is the GPS, its accuracy is not reliable because of large delay caused by multipath effect, which is very bad for realtime traffic application. Therefore, in this paper, we proposed the Vision-Based High Accuracy Vehicle Positioning Technology. At the first step of proposed algorithm, the ROI is set up for road area and the vehicles detection. Then, center and four corners points of found vehicles on the road are determined. Lastly, these points are converted into aerial view map using homography matrix. By analyzing performance of algorithm, we find out that this technique has high accuracy with average error of result is less than about 20cm and the maximum value is not exceed 44.72cm. In addition, it is confirmed that the process of this algorithm is fast enough for real-time positioning at the $22-25_{FPS}$.

• Korean Journal of Remote Sensing
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• v.32 no.6
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• pp.673-679
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• 2016

This study propose a new method to detect Cochlodinium polykrikoides red tide occurring in South Sea of Korea using Water-leaving Radiance data and Absorption Coefficients data of Geostationary Ocean Color Imager (GOCI). C. polykrikoides were analyzed and the irradiance and light emission characteristics of the wavelength range from 412 nm to 555 nm were confirmed. The detection technique proposed in this study detects the red tide occurring in the optically complex South Sea. Based on these results, it can be used for future red tide prevention.

• Korean Journal of Veterinary Research
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• v.36 no.1
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• pp.119-129
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• 1996

The present study was conducted to rapidly detect Listeria monocytogenes in raw milk. Specificity and sensitivity of polymerase chain reaction(PCR) technique, and direct PCR were examinded in raw milk, also were compared the calssical culture methods with PCR technique. This method used a pair of primers based on a unique region in the 16S rRNA sequence of L nomocytogenes. In the PCR specificity tests, each of the 10 strains of L monocytogenes tested gave a single 70-bp band. But the other six Listera spp tested gave negative results. Results of the sensitivity tests showed that as few as 2 CFU of L monocytogenes in pure cultures could be detected with 16S rRNA-based primers, L-1 and L-2. In different PCR cycles, a PCR product was detected with $10^3$ cells of L monocytogenes from 25 cycles to 50 cycles and the concentration of PCR products was cycle-dependent. Raw milk samopes added L monocytogenes cells gave negative results. However, these samplers gave a single 70-bp band by pretreatment of pronase, and PCR products were detected with $10^1$ cells of L monocytogenes. To detemine the most sensitive culture protocol to use in conjunction with the PCR assay, raw milk samples were inoculated with L monocytogenes at concentrations ranging from 1 to $5.7{\times}10^4CFU/ml$. PCR assays from Listeria enrichment broth(LEB) containing raw milk samples added L monocytogene EGD could dtect 10 cells in pronase-pretreated samples without incubation, and 1 cell of L monocytogenes in both 12 hr and 24 hr incubation, respectively. Isolation raw of PCR assays was similar to that of classical culture methods, but required time for detection of L monocytogenes could remarkably be reduced compare to culture methods.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.25 no.1
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• pp.81-89
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• 2012

This study propose the vibration-based damage monitoring scheme for steel girder bolt-connection member by using wireless acceleration sensor node. In order to achieve the objective, the following approaches are implemented. Firstly, wireless acceleration sensor node is described on the design of hardware components and embedded operation software. Secondly, the vibration-based damage monitoring scheme of the steel girder bolt-connection member is described. The damage monitoring scheme performed global damage occurrence alarming and damage localization estimation by the acceleration response feature analysis. The global damage alarming is applied to the correlation coefficient of power spectral density. The damage localization estimation is applied to the frequency-based damage detection technique and the mode-shape-based damage detection technique. Finally, the performance of the vibration-based damage monitoring scheme is evaluated for detecting the bolt-connection member damage on a lab-scale steel girder.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.2
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• pp.260-267
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• 2016

The Internet has brought lots of changes to us sharing information mutually. However, as all social symptom have double-sided character, it has serious social problem. Vicious users have been taking advantage of anonymity on the Internet, stating comments aggressively for defamation, personal attacks, privacy violation and more. Malicious comments on the Internet are creating the biggest problem regarding unlawful acts and insults which occur on the Internet. In order to solve the issues, several studies have been done to efficiently manage the comments. However, there are limitations to recognize modified malicious vocabulary in previous research. So, in this paper, we propose a malicious comments detection technique by improving limitation of previous studies. The experimental result has shown accuracy of 87.8% providing higher accuracy as compared to previous studies done.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.178-179
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• 2018

Recently, methods of using machine learning in artificial intelligence such as autonomous navigation and speech recognition have been actively studied. Classical image processing methods such as classical boundary detection and pattern recognition have many limitations in order to recognize a specific object or area in a digital image. However, when a machine learning method such as deep-learning is used, Can be obtained. However, basically, a large amount of learning data must be secured for machine learning such as deep-learning. Therefore, it is difficult to apply the machine learning for area classification when the amount of data is very small, such as aerial photographs for environmental analysis. In this study, we apply a transfer-learning technique that can be used when the dataset size of the input image is small and the shape of the input image is not included in the category of the training dataset.

• The KIPS Transactions:PartB
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• v.14B no.3 s.113
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• pp.191-198
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• 2007

In this paper, we present a marker detection and recognition method from camera image for a disabled person to interact with a server system which can control appliance of surrounding environment. It converts the camera image to a binary image by using multi-threshold and extracts contours of objects in the binary image. After that, it approximates the contours to a list of line segments. It finds rectangular markers by using geometrical features which are extracted from the approximated line segments. It normalizes the shape of extracted markers into exact squares by using the warping technique. It extracts feature vectors from marker image by using principal component analysis and then recognizes the marker. The proposed marker recognition system is robust for light change by using multi-threshold. Also, it is robust for angular variation of camera by using warping technique and principal component analysis. Experimental results show that the proposed method achieves 100% recognition rate at maximum for 21 markers and execution speed of 12 frames/sec.

• Convergence Security Journal
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• v.8 no.4
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• pp.127-134
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• 2008

In this paper, we try to improve the accuracy of automatic measurement for analysis equipment by detecting efficiently the edge of a waterdrop with transparency. In order to detect the edge of a waterdrop with transparency, we use an edge detecting technique, MADD (Modified Adaptive Directional Derivative), which can identify the ramp edges with various widths as the perfectly sharp edges and respond effectively regardless of enlarging or reducing the image. The proposed edge detecting technique by means of perfect sharpening of ramp edges employs the modified adaptive directional derivatives instead of the usual local differential operators in order to detect the edges of image. The modified adaptive directional derivatives are defined by introducing the perfect sharpening map into the adaptive directional derivatives. Finally we apply the proposed method to contact angle arithmetic and show the effiency and validity of the proposed method.