• Journal of Practical Engineering Education
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• v.14 no.3
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• pp.593-600
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• 2022

Various sensors such as lidar, radar, and camera are fused and used in autonomous vehicles. Rider and radar sensors are difficult to popularize because they are expensive equipment. In order to popularize autonomous vehicles, research that can replace expensive equipment is continuously being conducted. In this paper, we use a single camera that is inexpensive and can be easily mounted. We propose a method for detecting the wheels and adjacent lanes of a front-side vehicle of a driving vehicle and estimating distances. Our proposed method detects lanes and wheels from frame images after frame extraction via input images. In addition, the distance is measured and compared with the actual distance measured in the actual road environment. The distance could be calculated relatively accurately within the error range of ± 3 cm. Through this, it is expected that the camera can be used as an alternative means when the cost of autonomous vehicles is reduced or when the lidar or radar sensor fails.

• Journal of Yeungnam Medical Science
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• v.11 no.2
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• pp.293-302
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• 1994

The objective of this study was to establish a good methodology to isolate single smooth muscle cells that are alive and respond properly to pharmacological agents. Canine urinary bladders were employed as the source of single cells, and acetylcholine, atropine and imipramine were used as indicators of pharmacological responsiveness. Imipramine, an antidepressant drug exhibited the anticholinergic and calcium antagonizing properties on rat detrusor muscle. To establish a control value for a further experiment to elucidate the mechanism of action of imipramine on detrusor muscle, we measured the concentration-response of single cells to acetylcholine in the presesnce of imipramine by length of the cells and compared the result with the response in the presence of atropine. Tiny chops of smooth muscle taken from anesthetized canine urinary bladder were incubated in collagenase solution at $36^{\circ}C$ for 17-20 minutes. The collagenase solution included collagenase 1.2 mg/ml, soybean tryspin inhibitor 0.08 mg/ml, bovine serum albumin 2% in 10 ml Krebs-Henseleit buffer solution aerated with a consistent breeze of 95/5% $O_2/CO_2$, to maintain the pH at 7.4. After washing with plain K-H solution on 450 mesh, cells were dissociated from the digested tissue for 12-15 minutes. Cell suspension was transfered in 5 ml test tubes and acetylcholine was added for the final concentration to be $10^{-14}M{\sim}10^{-9}M$. To find the optimal time to fix the cells to determine the contractile responses, 1% acrolein was added 5, 10, 20, 30, 60 and 120 seconds after the administration of ACh. The length of cells fixed by acrolein were measured by microscaler via CCTV camera on phaes-contrast microscope. The average length of 50 cells from a slide glass was taken as the value of a sample at the very concentration point. Single cells were isolated from canine detrusor. The length of untreated cells varied from 82 ${\mu}m$ to 94 ${\mu}m$. The maximal response to actylcholine $10^{-9}M$ was accomplished within 5 seconds of exposure, and the shortening was $19{\pm}3$%. Atropine reduced the contraction of the cells concentration-dependently. Imipramine which exerts a cholinergic blocking action on some smooth muscles also reduced the contraction concentration-dependently and by a similar pattern as atropine. These findings document that imipramine may exerts a cholinergic blocking activity in the single smooth muscle cells isolated from canine urinary bladder.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1235-1238
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• 2004

Thresholding has been used to reduce the number of gray values in images. Typically, a single threshold value has been used, resulting in two gray level images. Image reduction of one single threshold value, however, may lose too much of the high-frequency edge information. Thus, dynamic thresholding that uses a different threshold for each pixel is preferred instead of using a single threshold value. Dynamic thresholding can preserve high frequency details as well as reduce the size of images. Since it takes long time to perform existing software dynamic thresholding in an embedded system, this paper proposes and implements a circuit by using a FPGA in order to perform a real-time dynamic thresholding,. The proposed circuit consists of two counters, and threshold look-up table, and control unit. The values of two counters determine each pixel position, the threshold look-up table converts each pixel value into other value, and the control unit generates necessary control signals. On arriving from a camera to the proposed circuit, each pixel is compared with its threshold value and is converted into other gray value. An image processing system by using the proposed circuit will be implemented and some experiments will be performed.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.6
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• pp.149-156
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• 2008

SLAM(Simultaneous Localization and Mapping) system is to find a global position and build a map with sensing data when an unmanned-robot navigates an unknown environment. Two kinds of system were developed. One is used distance measurement sensors such as an ultra sonic and a laser sensor. The other is used stereo vision system. The distance measurement SLAM with sensors has low computing time and low cost, but precision of system can be somewhat worse by measurement error or non-linearity of the sensor In contrast, stereo vision system can accurately measure the 3D space area, but it needs high-end system for complex calculation and it is an expensive tool. In this paper, we implement the SLAM system using a single camera image and a PSD sensors. It detects obstacles from the front PSD sensor and then perceive size and feature of the obstacles by image processing. The probability SLAM was implemented using the data of sensor and image and we verify the performance of the system by real experiment.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.41 no.6
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• pp.389-395
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• 2017

This study was performed to provide the information of the soot formation behavior of octane single fuel droplet under the identical combustion conditions. To achieve this, this experimental study provide the results of the soot formation characteristics of octane droplet in accordance with different initial droplet diameter($d_0$), at the same time, experiment was conducted under the same combustion conditions which are 1.0atm of ambient pressure($P_{amb}$), 21% of oxygen concentration($O_2$) and 79% of nitrogen concentration($N_2$). Visualization of octane droplet combustion was performed by visualization system with high speed camera. The results of maximum soot volume fraction($f_{vmax}$) was almost the same under the equivalent ambient conditions regardless of initial droplet diameter. Furthermore, maximum soot volume fraction was showed the higher value in the measuring direction between $135^{\circ}$ and $315^{\circ}$ since the soot-tail is generated during two opposing igniters movement process.

• Journal of the Korean Society of Physical Medicine
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• v.9 no.1
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• pp.69-74
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• 2014

PURPOSE: The aim of this study is to compare the spatio-temporal gait parameters between paretic and non-paretic limb while stepping over the different obstacle's heights in subjects with stroke. METHODS: Nine subjects with stroke were participated in this study. Subjects were asked to step over obstacles with a different height. 8 camera motion analysis system(Motion Analysis Corporation, Santa Rosa, USA) was used to measure spatio-temporal parameters. The two way repeated measurement ANOVA was used to compare spati-temporal gait parameters between paretic and non-paretic limbs while stepping over a different obstacle's height(0cm, 10cm, 20cm). RESULTS: Step width, velocity, single supoort time, and double support time were not different among obstacle's height(p>0.05) but stride length, step length, and cadence were significantly different(p>0.05). In stride length, cadence, and double support time, the interactions between obstacle's heights and limbs were not different(p>0.05) but it was significantly different in velocity, step length, and single support time(p<0.05). Velocity, stride length, cadence, and double support times were not different between paretic limb and non-paretic limb(p>0.05) but step length and single support times were significantly different between paretic limb and non-paretic limb(p<0.05). CONCLUSION: These results show that there are differences with spatio-temporal gait parameters among obstacle's heights and between paretic and non-paretic limb during obstacle crossing in subjects with stroke.

• Journal of the Optical Society of Korea
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• v.18 no.4
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• pp.382-387
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• 2014

An all-reflective, simple noncollinear second harmonic (SH) autocorrelator is described for monitoring the shot-to-shot behavior of ultrashort high-power laser pulses. Two mirrors are used for the dispersion-free splitting of a pulse into two halves. One of the mirrors is able to adjust the delay time and angle between two halves of the laser pulse in a nonlinear crystal. We present the possibility of real-time measurement of the pulse duration, peak intensity (or energy), and the pointing jitters of a laser pulse, by analyzing the spatial profile of the SH autocorrelation signal measured by a CCD camera. The measurement of the shot-to-shot variation of those parameters will be important for the detailed characterization of laser accelerated electrons or protons.

• Journal of Korean Society for Geospatial Information Science
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• v.25 no.2
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• pp.21-29
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• 2017

For the efficient and stable operation of autonomous vehicles or advanced driver assistance systems being actively studied nowadays, it is important to determine the positions of the vehicle accurately and economically. A satellite based navigation system is mainly used for positioning, but it has a limitation in signal blockage areas. To overcome this limitation, sensor fusion methods including additional sensors such as an inertial navigation system have been mainly proposed but the high sensor cost has been a problem. In this work, we develop a vehicle position estimation algorithm using in-vehicle sensors and a low-cost imaging sensor without any expensive additional sensor. We determine the vehicle positions using the velocity and yaw-rate of a car from the in-vehicle sensors and the position and attitude of the camera based on the single photo resection process. For the evaluation, we built a prototype system, acquired test data using the system, and estimated the trajectory. The proposed algorithm shows the accuracy of about 40% higher than an in-vehicle sensor only method.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.13 no.4
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• pp.91-97
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• 2013

A finger-gesture remote controller using the single camera is implemented in this paper, which is base on the recognition of finger number and finger moving direction. Proposed method uses the transformed YCbCr color-difference information to extract the hand region effectively. The number and position of finger are computer by using a double circle tracing method. Specially, a user continuous-command can be performed repeatedly by recognizing the finger-gesture direction of single shape. The position information of finger enables a user command to amplify a same command in the User eXperience. Also, all processing tasks are implemented by using the Intel OpenCV library and C++ language. In order to evaluate the performance of the our proposed method, after applying to the commercial video player software as a remote controller. As a result, the proposed method showed the average 89% recognition ratio by the user command-mode.

• The KIPS Transactions:PartB
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• v.16B no.1
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• pp.35-46
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• 2009

Lane extraction and lane departure warning algorithms using the image sensor attached in the vehicle are addressed. With the research about intelligent automobile, there have been many algorithms about lane recognition and lane departure warning system. However, since these algorithms require to detect 2 lanes, the high time complexity and the low recognition rate under various driving circumstances are critical problems. In this paper, we present a lane departure warning algorithm using single lane extraction and center point analysis that achieves the fast processing time and high detection rate. From the geometry between camera and objects, the region of interest (ROI) is determined and splitted into two parts. Hough transform detects the part of the lane. After the detected lane is restored to have a pre-determined size, lane departure is estimated by calculating the distance from the center point. On real driving environments, the presented algorithm is compared with previous algorithms. Experiment results support that the presented algorithm is fast and accurate.