• Journal of Auto-vehicle Safety Association
• /
• v.13 no.4
• /
• pp.14-19
• /
• 2021

This paper presents LiDAR static obstacle map based vehicle dynamic state estimation algorithm for urban autonomous driving. In an autonomous driving, state estimation of host vehicle is important for accurate prediction of ego motion and perceived object. Therefore, in a situation in which noise exists in the control input of the vehicle, state estimation using sensor such as LiDAR and vision is required. However, it is difficult to obtain a measurement for the vehicle state because the recognition sensor of autonomous vehicle perceives including a dynamic object. The proposed algorithm consists of two parts. First, a Bayesian rule-based static obstacle map is constructed using continuous LiDAR point cloud input. Second, vehicle odometry during the time interval is calculated by matching the static obstacle map using Normal Distribution Transformation (NDT) method. And the velocity and yaw rate of vehicle are estimated based on the Extended Kalman Filter (EKF) using vehicle odometry as measurement. The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment, and is verified with data obtained from actual driving on urban roads. The test results show a more robust and accurate dynamic state estimation result when there is a bias in the chassis IMU sensor.

• Journal of Veterinary Clinics
• /
• v.24 no.4
• /
• pp.577-583
• /
• 2007

It is important to obtain semen with good quality for efficient fertilization and pregnancy. To obtain these semen, various methods have been developed but most of these methods are time consuming and require costly equipment. Therefore, the objective of this research is to investigate the usability of column filtration system as quick and simple method to get sperm with better quality. Ejaculates were obtained from 5 dogs and analyzed with basic quality parameters before each filtration. Sperm concentration was adjusted to $5{\times}10^7/ml$ after dilution. The experimental groups were divided into non-filtered group(control) and filtered groups(glass wool, Sephadex 5% and Sephadex 20%). Ejaculates were filtered through each filter system and assessed by recovery rate of sperm, motility, normal morphology, CFDA/PI stain and plasma membrane integrity(hypo-osmotic swelling test, HOST). The lowest recovery rate of spermatozoa was recorded in glass wool filtration group, followed by 20% Sephadex filtration group(p<0.05). There was no significant difference between control(non-filtered) and 5% Sephadex filtration poop. Also, there was no significant difference of sperm motility assessed under light microscope among experimental groups. Morphological normality of canine spermatozoa was the highest in the glass wool filtration group and the lowest in the 5% Sephadex filtration group with no significant differences versus 20% Sephadex filtration and control group, respectively(p<0.05). Viability of canine sperm assessed by CFCA/PI staining was the highest in the glass wool filtration poop with no significant difference versus the control group, and the lowest in the 20% Sephadex filtration group with no significant difference versus 5% Sephadex filtration group, respectively(p<0.05). HOS values of canine sperm was the highest in the 20% Sephadex filtration group with no significant difference versus 5% Sephadex filtration group, and the lowest in the control poop with no significant difference versus glass wool filtration group, respectively(p<0.05). Therefore, these results indicated that filtration treatment for extended canine sperm would be useful method to get sperm with better quality by trapping the damaged sperm, consequently filter would be physical barrier against injured or immotile sperm.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.36 no.6
• /
• pp.655-662
• /
• 2012

Gas leakage in an oil refinery causes damage to the environment and unsafe conditions. Therefore, it is necessary to develop a technique that is able to detect the location of the leakage and to filter abnormal gas-leakage signals from normal background noise. In this study, the adaptation filter of the finite impulse response (FIR) least mean squares (LMS) algorithm and a cross-correlation function were used to develop a leakage-predicting program based on LABVIEW. Nitrogen gas at a high pressure of 120 kg/$cm^2$ and the assembled equipment were used to perform experiments in a reverberant chamber. Analysis of the data from the experiments performed with various hole sizes, pressures, distances, and frequencies indicated that the background noise occurred primarily at less than 1 kHz and that the leakage signal appeared in a high-frequency region of around 16 kHz. Measurement of the noise sources in an actual oil refinery revealed that the noise frequencies of pumps and compressors, which are two typical background noise sources in a petrochemical plant, were 2 kHz and 4.5 kHz, respectively. The fact that these two signals were separated clearly made it possible to distinguish leakage signals from background noises and, in addition, to detect the location of the leakage.

• Proceedings of the Korea Air Pollution Research Association Conference
• /
• 2001.11a
• /
• pp.335-335
• /
• 2001

Direct-normal, total horizontal and diffuse horizontal irradiance data obtained from a multi-filter rotating shadowband radiometer over seven different wavelength bands (416nm, 151nm, 616nm, 675nm, 870nm and 940nm and the entire spectrum) has been analyzed at Kwangju, South Korea from June 1998 December 2000. The maximum hourly global radiation flux ranged from 0.44 MJ/$m^2$ to 2.68 MJ/$m^2$ at around 11:00-12:00 Hr local time while the maximum hourly diffuse radiation flux ranged from about 0.96 MJ/$m^2$ to 1.37 MJ/$m^2$. The maximum hourly direct irradiance ranged from 1.42 MJ/$m^2$ to 2.92 MJ/$m^2$ from June1998-2000. During the period under consideration, the average monthly global radiation recorded were 13.09 MJ/$m^2$/day, 10.58MJ/$m^2$/day and 9.78MJ/$m^2$/day for years 1998, 1999 and 2000 respectively, while the diffuse irradiance were 6.54 MJ/$m^2$/day, 5.33 MJ/$m^2$/day and 5.14 MJ/$m^2$/day for f998, 1999 and 2000 respectively. The direct irradiance values at the site were 11.63 MJ/$m^2$/day, 8.24MJ/$m^2$/day and 7.75 MJ/$m^2$/day for 1998, f999 and 2000 respectively. It was observed that each of the years has its own unique meteorological parameters that affect the quality and quantity of radiation received for each month. The annual average daily fractions of the diffuse to the global radiation (KD) were 0.51, 0.61 and 0.59 for years 1998, 1999 and 2000 respectively. Analysis indicated that the average daily KD ranged from 0.13 to a maximum value of 0.99 in May for irradiance measured at the broadband channel while the maximum and minimum KD value of 0.91 and 0.23 was recorded at wavelength band 870nm and 940nm in January and September respectively. The lowest average daily clearness index (Kt) value recorded was 0.03 in May (Spring) and the annual average daily clearness indexes are 0.45, 0.34 and 0.35 for years 1998, f999 and 2000 respectively. The frequency of clear days annually at Kwangju is 67.95%, 29.57% and 40.72% for years 1998, 1999 and 2000 respectively.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2004.05b
• /
• pp.506-510
• /
• 2004

A torque transmission system composed of several gears and couplings is flexible. In order to get an exact response of motor, the torsional vibration due to an unexpected change of motor speed must be suppressed. Therefore, it is very important that motor control suppress vibration. Various methods to control it including dual inertia system are proposed. Specially, the method of vibration suppression is that vibration can be suppressed to fee㏈ack the estimated torsion torque via the disturbance observer filter being of normal filter. The suitable Proportional controller and coefficient parameter can be designed using CDM and the torsional vibration also be suppressed, but it has a low degree of adaptability to disturbance. The PID controller can be designed easily, but makes the excessive overshoot and oscillation for system response in the early period. To resolve these problems, simple and practical PID controller with two degree of freedom is proposed recently that it ran improve performance of obeying the reference unconcerned in any disturbance by changing the proportional gain by two degree of freedom parameter. But it has also the defect that parameter a must be changed to obtain the ideal Proportional parameter. On this paper, we design the controller which automatically adjusts parameter u using fuzzy Algorithm to overcome such defects. Also, we compare the proposed method with established one and evaluate them to confirm performance of the designed controller.

• Journal of Navigation and Port Research
• /
• v.27 no.4
• /
• pp.443-447
• /
• 2003

In this work. using 0.2 GaAs modulation doped FET(MODFET), a high performance DBS downconverter MMIC was developed for direct broadcasting satellite (DBS) application. Without LNA, the downconverter MMIC showed a very low noise of 4.8 dB, which is lower by 3 dB than conventional ones. A low LO power of -10 dBm was required for the normal DBS operation of the downconverter MMIC. which reduced the power consumption via a removal of LO amplifier on MMIC. It required only a low power consumption of 175 mW, which is lower than 70 percent of conventional ones. The LO leakage power at IF output was suppressed to a lower level than 30 dBm, which removes a bulky LO rejection filter on a board. The fabricated chip, which include a mixer, If amplifiers. LO rejection filter, and active balun, exhibited a small size of $0.84{\times}0.9\textrm{mm}^2$.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.27 no.6
• /
• pp.701-707
• /
• 2021

In this study, we examined the sea surface temperature (SST), air temperature (AT), and their time lag in response to an extreme cold wave in 2018 and a weak cold wave in 2019, cross-correlating these to the northern wind direction frequency. The data used in this study include SST observations of seven ocean buoys Real-time Information System for Aquaculture Environment provided by the National Institute of Fisheries Science and automatic weather station AT near them recorded every hour; null data was interpolated. A finite impulse response filter was used to identify the appropriate data period. In the extreme cold wave in 2018, the seven locations indicated low SST caused by moving cold air through the northern wind direction. A warm cold wave in 2019, the locations showed that the AT data was similar to the normal AT data, but the SST data did not change notably. During the extreme cold wave of 2018, data showed a high correlation coefficient of about 0.7 and a time lag of about 14 hours between AT and SST; during the weak cold wave of 2019, the correlation coefficient was 0.44-0.67 and time lag about 20 hours between AT and SST. This research will contribute to rapid response to such climate phenomena while minimizing aquaculture damage.

• Journal of IKEEE
• /
• v.26 no.3
• /
• pp.510-514
• /
• 2022

In this paper, we propose the development of high-sensitivity low-end radiation measuring sensor module. The proposed measurement sensor module is a scintillator + photomultiplier(SiPM) sensor optimization structure design, amplification and filter and control circuit design for sensor driver, control circuit design including short-distance communication, sensor mechanism design and manufacturing, and GUI development applied to prototypes consists of, etc. The scintillator + photomultiplier(SiPM) sensor optimization structure design is designed by checking the characteristics of the scintillator and the photomultiplier (SiPM) for the sensor structure design. Amplification, filter and control circuit design for sensor driver is designed to process fine scintillation signal generated by radiation with a scintillator using SiPM. Control circuit design including short-distance communication is designed to enable data transmission through MCU design to support short-range wireless communication function and wired communication support. The sensor mechanism design and manufacture is designed so that the glare generated by wrapping a reflective paper (mirroring) on the outside of the plastic scintillator is reflected to increase the efficiency in order to transmit the fine scintillation signal generated from the plastic scintillator to the photomultiplier(SiPM). The GUI development applied to the prototype expresses the date and time at the top according to each screen and allows the measurement unit and time, seconds, alarm level, communication status, battery capacity, etc. to be expressed. In order to evaluate the performance of the proposed system, the results of experiments conducted by an authorized testing institute showed that the radiation dose measurement range was 30 𝜇Sv/h ~ 10 mSv/h, so the results are the same as the highest level among products sold commercially at domestic and foreign. In addition, it was confirmed that the measurement uncertainty of ±7.4% was measured, and normal operation was performed under the international standard ±15%.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.47 no.3
• /
• pp.87-95
• /
• 2010

Portable multi-media products which can service the highest audio-quality by using lossless audio codec has been released and the international lossless codecs, MPEG-4 audio lossless coding(ALS) and MPEG-4 scalable lossless coding(SLS), were standardized by MPEG in 2006. The simple profile of MPEG-4 ALS, it supports up to stereo, was defined by MPEG in 2009. The lossless audio codec should have low-complexity in stereo to be widely used in portable multi-media products. But the previous researches of MPEG-4 ALS have focused on an improvement of compression ratio, a complexity reduction in multi-channels coding, and a selection of linear prediction coefficients(LPCs) order. In this paper, the complexity and compression ratio of MPEG-4 ALS encoder is analyzed in simple profile of MPEG-4 ALS, the method to reduce a complexity of MPEG-4 ALS encoder is proposed. Based on an analysis of complexity of MPEG-4 ALS encoder, the complexity of short-term prediction filter of MPEG-4 ALS encoder is reduced by using the low-complexity filter that is proposed in previous research to reduce the complexity of MPEG-4 ALS decoder. Also, we propose a joint coding decision method, it reduces the complexity and keeps the compression ratio of MPEG-4 ALS encoder. In proposed method, the operation of joint coding is decided based on the relation between cross-correlation of residual and compression ratio of joint coding. The performance of MPEG-4 ALS encoder that has the method and low-complexity filter is evaluated by using the MPEG-4 ALS conformance test file and normal music files. The complexity of MPEG-4 ALS encoder is reduced by about 24% by comparing with MPEG-4 ALS reference encoder, while the compression ratio by the proposed method is comparable to MPEG-4 ALS reference encoder.

• Journal of Life Science
• /
• v.29 no.6
• /
• pp.724-734
• /
• 2019

The present study investigated the cytotoxicity of particulate matter (PM) derived from car air filter (outdoor PM) and home cleaner filter (indoor PM) in the various human cell lines. Each outdoor and indoor PM were harvested by ethanol extraction method, subsequently sieved with 10 um filter paper, sterilized with autoclave and added to culture media. The half maximal inhibitory concentration ($IC_{50}$) values was significantly (p<0.05) lower in the outdoor PM, compared with indoor PM, and the significantly (p<0.05) higher $IC_{50}$ values were observed in the cancer cell lines (A-549 lung adenocarcinoma and AGS stomach adenocarcinoma), than those of normal MRC-5 fibroblasts and dental papilla tissue derived-mesenchymal stem cells (DSC). After being exposed to $100{\mu}g/ml$ outdoor PM for 7 days, the population doubling time (PDT) was significantly (p<0.05) increased in especially MRC-5 and DSC cell lines, compared with untreated cell lines. Further, the expression of senescence-associated ${\beta}$-galactosidase activity was up-regulated in all the cells exposed to outdoor PM than those of untreated control. Besides, the expression level of inflammation-associated genes, such as cyclooxygenase-2 (COX-2) and interleukin-6 (IL-6) was found to be significantly (p<0.05) increased in the outdoor PM-treated cell lines than those of untreated cell lines. Our results showed that PM induces the cytotoxicity via arrest of cell growth, cell damage and inflammation response.