• Korean Journal of Remote Sensing
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• v.24 no.3
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• pp.223-233
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• 2008

In the mid 90's, the U.S. government released images acquired by the first generation of photo reconnaissance satellite missions between 1960 and 1972. The Declassified Intelligent Satellite Photographs (DISP) from the Corona mission are of high quality with an astounding ground resolution of about 2 m. The KH-4A panoramic camera system employed a scan angle of $70^{\circ}$ that produces film strips with a dimension of $55\;mm\;{\times}\;757\;mm$. Since GPS/INS did not exist at the time of data acquisition, the exterior orientation must be established in the traditional way by using control information and the interior orientation of the camera. Detailed information about the camera is not available, however. For reconstructing points in object space from DISP imagery to an accuracy that is comparable to high resolution (a few meters), a precise camera model is essential. This paper is concerned with the derivation of a rigorous mathematical model for the KH-4A/B panoramic camera. The proposed model is compared with generic sensor models, such as affine transformation and rational functions. The paper concludes with experimental results concerning the precision of reconstructed points in object space. The rigorous mathematical panoramic camera model for the KH-4A camera system is based on extended collinearity equations assuming that the satellite trajectory during one scan is smooth and the attitude remains unchanged. As a result, the collinearity equations express the perspective center as a function of the scan time. With the known satellite velocity this will translate into a shift along-track. Therefore, the exterior orientation contains seven parameters to be estimated. The reconstruction of object points can now be performed with the exterior orientation parameters, either by intersecting bundle rays with a known surface or by using the stereoscopic KH-4A arrangement with fore and aft cameras mounted an angle of $30^{\circ}$.

• Korean Journal of Remote Sensing
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• v.37 no.5_1
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• pp.1095-1109
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• 2021

The technology used to recognize the location and surroundings of autonomous vehicles is called SLAM. SLAM standsfor Simultaneously Localization and Mapping and hasrecently been actively utilized in research on autonomous vehicles,starting with robotic research. Expensive GPS, INS, LiDAR, RADAR, and Wheel Odometry allow precise magnetic positioning and mapping in centimeters. However, if it can secure similar accuracy as using cheaper Cameras and GPS data, it will contribute to advancing the era of autonomous driving. In this paper, we present a method for converging monocular camera with RTK-enabled GPS data to perform RMSE 33.7 cm localization and mapping on the urban road.

• Journal of Drive and Control
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• v.19 no.4
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• pp.46-53
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• 2022

RIn this study, a test tractor that could measure various types of agricultural operational loads was developed, and its performance was verified. This tractor could be used to measure the load generated during agricultural work and convert the related data into a database. A test tractor was developed using an 80-kW-rated load tractor, and it could measure various types of field test data, such as engine torque and rpm, wheel torque, PTO(power take-off) torque, hexometer, IMU/INS sensor, steering angle sensor, hydraulic pressure, and flow sensor data. To verify the developed test tractor, a verification test using an agriculture rotavator was performed. The test conditions were L1, L2, and L3 based on the tractor's main and sub-transmission stages, and stages 1 and 2 were selected as the PTO. In a comparison of the analyzed test data, similar tendencies in the test results of this research and other research (Kim's research) were seen. Through this, the developed test tractor was verified. In the future, we plan to conduct research on the tractor developed in this study using various attached working machines.

• Journal of the Korean Magnetic Resonance Society
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• v.5 no.2
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• pp.99-109
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• 2001

Authors investigated neuronal changes of local cellular metabolism in the cerebral lesions of Parkinsonian symptomatic side between before and after stereotactic neurosurgery by follow-up 1H magnetic resonance spectroscopy (MRS). Patients with Parkinson's disease (PD) (n = 15) and age-matched normal controls (n = 15) underwen MRS examinations using a stimulated echo acquisition mode (STEAM) pulse sequence that provided 2${\times}$2${\times}$2 ㎤ (8ml) volume of interest in the regions of substantia nigra, thalamus, and lentiform nucleus. Spectral parameters were 20 ms TE, 2000 ms TR, 128 averages,2500 Hz spectral width, and 2048 data points. Raw data were processed by the SAGE data analysis package (GE Medical Systems). Peak areas of N-acetylaspartate (NAA), creatine (Cr), choline-containing compounds (Cho), inositols (Ins), and the sum (Glx) of glutamate and GABA were calculated by means of fitting the spectrum to a summation of Lorentzian curves using Marquardt algorithm. After blindly processed, we evaluated neuronal alterations of observable metabolite ratios between before and after stereotactic neurosurgery using Pearson product-moment analysis (SPSS, Ver. 6.0). A significant reduction of NAA/Cho ratio was observed in the cerebral lesion in substantia nigra of PD patient related to the symptomatic side after neurosurgery (P : 0.03). In thalamus, NAA/Cho ratio was also significantly decreased in the cerebral lesion including the electrode-surgical region (P : 0.03). A significant reduction of NAA/Cho ratio in lentiform nucleus was not oberved, but tended toward significant reduction after neurosurgery (P = 0.08). In particular, remarkable lactate signal was noted from the surgical thalamic lesions of 6 among 8 patients and internal segments of globus pallidus of 6 among 7 patients, respectively. Significant metabolic alterations of NAA/Cho ratio might reflect functional changes of neuropathological processes in the lesion of substantia nigra, thalamus, and lentiform nucleus, and could be a valuable finding fur evaluation of Parkinson's disease after neurosurgery. Increase of lactate signals, being remarkable in surgical lesions, could be consistent with a common consequence of neurosurgical necrosis. Thus, IH MRS could be a useful modality to evaluate the diagnostic and prognostic implications fur Parkinsons disease after functional neurosurgery.

• Journal of the Korean Magnetic Resonance Society
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• v.4 no.1
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• pp.19-28
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• 2000

Authors evaluated alterations of observable metabolite ratios between the cerebral lesion and the contralateral region related to the clinical symptomatic side in levodopa-treated Parkinson's disease (PD) and investigated correlation between age in patients with PD and metabolite ratios of the lesion. Patients with levodopa-treated PD (n = 54) and age-matched normal controls (n = 15) underwent magnetic resonance spectroscopy (MRS) examinations using a stimulated echo acquisition mode (STEAM) pulse sequence that provided 2$\times$2$\times$2 cm3 volume of interest in the selected regions of substantia nigra (SN) and putamed-globus pallidus (PG). To evaluate dependence of metabolite ratios on age, we divided into two groups (i.e., younger and older age). We quantitatively measured N-acetylaspartate (NAA), creatine (Cr), choline-containing compounds (Cho), inositols (Ins), and the sum of glutamate (Glx) and GABA levels and obtained proton metabolite ratios relative to Cr using a Marquart algorithm. Compared with the contralateral region, a significant neuronal laterality of the NAA/Cr ratio in the lesion of SN related to the clinical symptomatic side was established (P = 0.01), but was not established in the lesion of PG (P = 0.24). Also, Cho/Cr ratio tended toward significance in the lesion of SN (P = 0.07) and was statistically significant in the lesion of PG(P = 0.01). Compared with that in the younger age group, NAA/Cr ratio in the older age was decreased in the lesion of SN (P = 0.02), while NAA/Cr ratio was not statistically significant in the lesion of PG ( P = 0.21). Significant metabolic alterations of NAA/Cr and Cho/Cr ratios might be closely related with functional changes of neuropathological process in SN and PG of levodopa treated PD and could be a valuable finding for evaluation of the PD. A trend of NAA/Cr reduction, being statistically significant in older patients, could be indicative of more pronounced neuronal damage in the SN of the progressive PD.

• Investigative Magnetic Resonance Imaging
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• v.4 no.2
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• pp.94-99
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• 2000

Purpose : With the use of localized, water-suppressed in vivo $^1H$ magnetic resonance spectroscopy (MRS), we evaluated the proton metabolic alterations in patients with chronic alcoholism and healthy normal controls. Material and Methods : Patients with chronic alcoholism (N = 10) and normal control subjects (N = 10) underwent MRS examinations using a stimulated echo acquisition mode (STEAM) pulse sequence with $2{\times}2{\times}2{\;}\textrm{cm}^3$ volume of interest (VOI) in the left cerebellum and basal ganglia. Proton metabolite ratios relative to creative (Cr) were obtained using a Marquart algorithm. Results : The specific feature in patients with chronic alcoholism was a significant decrease of N-acetylaspartate (NAA)/Cr ratio in the left cerebellum, compared with normal controls. No clear correlation of other metabolite ratios such as choline (Cho)/Cr and inositols (Ins)/Cr was established. Conclusion : Our preliminary study suggests that the reduction of NAA/Cr ratio may indicate neuronal loss in patients with chronic alcoholism. Thus, in vivo 1H MRS may be a useful modality in the clinical evaluation of patients with chronic alcoholism based on the proton metabolite ratios.

• Environmental Analysis Health and Toxicology
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• v.17 no.3
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• pp.197-205
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• 2002

Volatile organic compounds (VOCs) are an important public health problem throughout the world. Many important questions remain to be addressed in assessing exposure to these compounds. Because they are ubiquitous and highly volatile, special techniques must be applied in the analytical determination of VOCs. Personal exposure measurements are needed to evaluate the relationship between microenvironmental concentrations and actual exposures. It is also important to investigate exposure frequency, duration, and intensity, as well as personal exposure characteristics. In addition to air monitoring, biological monitoring may contribute significantly to risk assessment by allowing estimation of absorbed doses, rather than just the external exposure concentrations, which are evaluated by environmental and personal monitoring. This study was conducted to establish the analytic procedure of VOCs in air, blood, urine and exhaled breath and to evaluate the relationships among these environmental media. The subjects of this study were selected because they are occupationally exposed to high levels of VOCs. Environmental, personal, blood, urine and exhalation samples were collected. Purge ＆ trap, thermal desorber, gas chromatography and mass selective detector were used to analyze the collected samples. Analytical procedures were validated with the“break through test”, 'quot;recovery test for storage and transportation”,“method detection limit test”and“inter-laboratory QA/QC study”. Assessment of halogenated compounds indicted that they were significantly correlated to each other (p value < 0.01). In a similar manner, aromatic compounds were also correlated, except in urine sample. Linear regression was used to evaluate the relationships between personal exposures and environmental concentrations. These relationships for aromatic and halogenated are as follows: Halogen $s_{personal}$ = 3.875+0.068Halogen $s_{environmet}$, ($R^2$= .930) Aromatic $s_{personal}$ = 34217.757-31.266Aromatic $s_{environmet}$, ($R^2$= .821) Multiple regression was used to evaluate the relationship between exposures and various exposure deter-minants including, gender, duration of employment, and smoking history. The results of the regression model-ins for halogens in blood and aromatics in urine are as follows: Halogen $s_{blood}$ = 8.181+0.246Halogen $s_{personal}$+3.975Gender ($R^2$= .925), Aromatic $s_{urine}$ = 249.565+0.135Aromatic $s_{personal}$ -5.651 D.S ($R^2$ = .735), In conclusion, we have established analytic procedures for VOC measurement in biological and environmental samples and have presented data demonstrating relationships between VOCs levels in biological media and environmental samples. Abbreviation GC/MS, Gas Chromatography/Mass Spectrometer; VOCs, Volatile Organic Compounds; OVM, Organic Vapor Monitor; TO, Toxic Organicsapor Monitor; TO, Toxic Organics.

• Journal of Advanced Navigation Technology
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• v.25 no.1
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• pp.68-77
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• 2021

In this paper, a GPS/MEMS IMU integrated navigation receiver module capable of operating in a high dynamic environment is designed and fabricated, and the results is confirmed. The designed module is composed of RF receiver unit, inertial measurement unit, signal processing unit, correlator, and navigation S/W. The RF receiver performs the functions of low noise amplification, frequency conversion, filtering, and automatic gain control. The inertial measurement unit collects measurement data from a MEMS class IMU applied with a 3-axis gyroscope, accelerometer, and geomagnetic sensor. In addition, it provides an interface to transmit to the navigation S/W. The signal processing unit and the correlator is implemented with FPGA logic to perform filtering and corrrelation value calculation. Navigation S/W is implemented using the internal CPU of the FPGA. The size of the manufactured module is 95.0×85.0×.12.5mm, the weight is 110g, and the navigation accuracy performance within the specification is confirmed in an environment of 1200m/s and acceleration of 10g.

• Journal of Aerospace System Engineering
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• v.16 no.4
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• pp.60-67
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• 2022

An Electro-Optical Tracking System (EOTS) is an electric optical system with EO/IR cameras, laser sensors, and an IMU. The EOTS calculates coordinates of targets, using attitude and acceleration measured by the IMU. In particular for an armed aircraft, the performance of the weapon system depends on how quickly and accurately it acquires the target coordinates. The IMU should be operated after alignment is complete, to meet the coordinate accuracy required by the weapon system so the initial stabilization time of the IMU should be reduced, by quickly measuring the attitude and acceleration. Alignment is the process of determining the initial attitude by resolving the attitude error of the IMU, and the IMU of mission equipment such as an airborne EOTS, uses velocity matching based on the velocity from GPS/INS for aircraft navigation. In this paper, a method is presented to improve the transfer alignment performance of the airborne EOTS, by maneuvering aircraft and the mission equipment. First, the performance factor of the alignment was identified, as a heading error through the velocity matching model and simulation results. Then acceleration maneuvers and attitude changes were necessary, to correct the error. As a result of flight tests applied to an EOTS on a OOO aircraft system, the transfer alignment performance was improved as the duration time was decreased, by more than five times when the aircraft accelerated by more than 0.2g and the EOTS was moving until 6.7deg/s.

• Journal of Life Science
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• v.26 no.5
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• pp.519-530
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• 2016

Vegetative plants in Yakutia are naturally frozen when they are covered with snow in the fall, and they function as green cryo-fodder that is a source of biologically active substances and nutrients for herbivorous animals. We observed a considerable increase in the total fatty acid content in the leaves of Avena sativa, Elytrigia rеpens, Equisetum variegatum and Equisetum scirpoides during the fall period. However, the degree of unsaturation of fatty acids was not higher in the frozen plants covered with snow than in the summer plants, with the exception of E. scirpoides, a dwarf horsetail found in the Pole of Cold in the northern hemisphere. In the internal adipose tissue of the Yakut horse (young horse meat), 18 fatty acids were found, including 10 saturated ones. Monounsaturated oleic С18:1 (n-9) acid and polyunsaturated α-linolenic С18:3 (n-3) acid were equally prevalent among the unsaturated fatty acids, accounting for 70% of the total unsaturated fatty acids. This composition of polyenoic fatty acids in the internal adipose tissue indicates that the Yakut horse actively feeds on the fall vegetation and the wintergreen sedge-grass. We believe that the high plant-specific free fatty acid content in the tissue of Yakut horses may play an important role in the regulation of their resistance to long-term low-temperature stress.