자율주행을 위한 정적 장면 컨텍스트 변조 기반 차량 궤적 예측 네트워크

최두섭,민경욱 한국자동차공학회 2023 한국 자동차공학회논문집 Vol.31 No.8

In this paper, we are proposing a vehicle trajectory forecasting network based on static scene context modulation. First, in modeling the distribution over future trajectories efficiently via variational auto-encoder frameworks, we suggest using a transformer-based trajectory encoder that models the interaction between neighboring vehicles. The proposed encoder is trained to remove interaction between irrelevant vehicles, and model key interaction more efficiently. Moreover, to increase the diversity of generated trajectories, we propose using latent variables during the trajectory generation process in modulating static scene context. Then, we can use large-scale, real-world datasets like nuScenes in evaluating performance. Experimental results showed that the proposed model generates plausible and diverse future trajectories with the techniques proposed in this paper. Furthermore, it outperformed the baseline models in terms of prediction accuracy.

함백산 일원의 식물상

최두섭,손동찬,박범균,고성철 한국식물분류학회 2015 식물 분류학회지 Vol.45 No.1

In order to illustrate the flora of vascular plants distributed in the area of Mt. Hambaek-san and its neighboring mountains, the authors collected vascular plants intensively on Mt. Hambaek-san (1,573 m), Mt. Geumdae-bong (1,418 m) and Mt. Daedeok-san (1,307 m) from April of 2012 to August of 2014. All of them consisted of 90 families, 310 genera, 532 species, 4 subspecies, 73 varieties and 13 forms, with a total of 622 taxa. The total number of vascular plants in the investigated area was 808 taxa (17.55% of all vascular plants in Korea) with the addition of voucher specimens from previous investigations. Among the collected plants, endemic ones were 21 taxa, rare and endangered ones 26 taxa, naturalized ones 30 taxa, useful ones 464 taxa, and floristically specific ones of Korean floristic zones 62 taxa except for species of the first and second grade. Among the floristic zones of the Korean Peninsula, this investigated area showed the typical vegetation of a temperate middle province into which more northern elements than southern elements flowed. 함백산 일원의 식물상을 파악하기 위하여 함백산(1,573 m), 금대봉(1,418 m), 대덕산(1,307 m)의 관속식물을 2012년 4월부터 2014년 8월까지 조사하였다. 본 조사에서 생육이 확인된 관속식물은 90과 310속 532종 4아종 73변종 13품종의 총 622분류군이며, 문헌상 증거표본이 있는 자료를 추가하면 총 808분류군에 이르고, 이는 한반도 전체 관속식물의 17.55%에 해당된다. 이들 중에는 한국 특산식물 21분류군, 희귀 및 멸종위기식물 26분류군, 귀화식물 30분류군, 유용자원식물은 총 464분류군, 식물구계학적 특정식물종 62분류군(I, II등급 제외)이 각각 포함된다. 한편, 본 조사지역은 한반도 식물구계로 볼 때 남부식물분자보다 북부식물분자가 더 많이 유입된 전형적인 중부아구의 식생을 보였다.

[강연문] 글로벌시대(21c)와 우리의 사명 : 나의 꿈, 우리의 꿈, 우리의 사명

최두섭 한국기독교회사학회 2021 교회사학 Vol.16 No.1

비 반복적 에너지 최소화를 통한 빠른 움직임 예측 알고리즘

최두섭(Dooseop Choi),최혁(Hyuk Choi),송원석(Wonseok Song),김태정(Taejeong Kim) 한국정보과학회 2013 정보과학회논문지 : 소프트웨어 및 응용 Vol.40 No.12

본 논문은 에너지 최소화 기법에 기반 하는 빠른 움직임 벡터장 예측 방법을 제안한다. 비디오 프레임의 실제 움직임 벡터장은 제안하는 에너지 함수를 최소화함으로써 예측되며 이 때 에너지 함수는 블록 정합 오류와 움직임 벡터장 내 벡터들의 유사도를 평가하는 smoothness constraint로 구성된다. 제안하는 smoothness constraint는, 움직임 벡터장의 움직임 경계를 보존하기 위하여, 가운데 블록의 블록정합 오류를 최소화 하는 이웃 움직임 벡터가 가운데 블록의 움직임 벡터 예측에 많은 영향을 미치도록 설계되었다. 블록 정합 오류와 smoothness constraint의 균형을 유지하는 가중치 인자는 목표 블록의 이미지 특징을 반영하도록 설계되어 질감이 매우 적거나 혹은 질감이 반복되는 영역에 있는 블록의 실제 움직임 벡터를 효율적으로 예측할 수 있도록 하였다. 한편 에너지 함수의 최소화는 계산량을 획기적으로 줄이기 위하여 인과 문제의 해결 및 vector median filter의 이용을 통하여 비 반복적으로 이루어진다. 실험 결과는 제안하는 알고리즘이 더욱 적은 계산량으로 최신 움직임 예측 알고리즘과 비교할만한 성능을 나타냄을 보여주고 있다. In this paper, we propose a fast motion estimation algorithm based on energy minimization framework. The true motion vector field (MVF) of a video frame is estimated by minimizing the energy function, which is defined as the weighted sum of the block-matching errors and the irregularity measure of the motion vector field (MVF), called smoothness constraint. The smoothness constraint proposed in this paper is designed such that the motion vector (MV) of the center block is mainly affected by the neighboring MVs that minimize block-matching errors of the center block in order to preserve motion boundaries. The weight factor, which trades off the block-matching errors and the smoothness constraint, is adaptively determined depending on the image characteristic of the target block so the true MV of the block with low textures or in periodic patterned areas is correctly estimated through the energy minimization. The minimization of the energy function, on the other hand, is done in a non-iterative manner by solving causality problem and exploiting vector median filter in order to drastically reduce computational complexity. Experimental results show that the proposed algorithm shows comparable performance to the state-of-the-art motion estimation algorithms at lower computational complexity.

차선 변경 행동 결정을 위한 종단 간 학습

최두섭(Dooseop Choi),이동진(Dongjin Lee),한승준(Seungjun Han),민경욱(Kyoungwook Min),최정단(Jeongdan Choi) 대한전자공학회 2020 대한전자공학회 학술대회 Vol.2020 No.8

衝突空氣 墳流系에서의 傳流促進技術에 關한 硏究

최두섭(Doo-Seob Choi),금성민(Seong-Min Kum),이용화(Yong-Hwa Lee),서정윤(Jeong-Yun Seo) 한국태양에너지학회 1993 한국태양에너지학회 논문집 Vol.13 No.1

二次元 衝突空氣噴流系에서 흐름방향과 垂直이 되게 설치한 平板傳熱面 前方에 亂流促進體인 正4角 로드群(로드폭=4mm,로드피치=50mm)을 설치하고 로드와 傳熱面사이의 間隙(C=1,2,6mm), 노즐출구와 傳熱面間 거리(H/B=2,6,10,14) 및 Re수(Re=6.4X10³~5.769X10⁴)를 변화시켜 실험한 결과, 平板에서 熱傳達系數의 감소율이 큰 영역에서도 로드를 설치하므로써 높은 熱傳達系數가 最大가 되는 最適間隙은 C=1mm이고, 最大 열전달증진율은 H/B=2, C=1mm에서 로드를 설치하지 않는 平板보다 약 43% 증진한다. The purpose of this study was to investigate the enhancement of heat transfer without additional external power in the case of rectangular impingement air jet vertically on the flat heating surface. The technique used in the present study was placement of square rod bundles as a turbulence promoter in front of the heat transfer enhancement was achieved by inserting rods in front of the heating flat plate. According to visulaization, it was examined because of flow acceleration and separation and disturbance of boundary layer. The smaller clerance between rod and heating plate was, the larger heat transfer effect became at each HIE. Arverage Nusselt number reached maximum at H/B = 10 and the local augmentation rate of heat transfer became maximum at H/B=2. The maximum average heat transfer enhancement rate increase about 43% for the case of X/B =2 and C = 1mm, compared to a flat plate without rods. The correlating equation of average Nusselt number and Reynolds number was obatined. As follws <br/> /Nu_0=1.249Re^0.465(C/A)^-0.033(H/B)^0.013

도심환경을 위한 맵리스 자율주행 시스템

최두섭(Dooseop Choi),조용우(Yongwoo Jo),안택현(Taeghyun An),이동진(Dongjin Lee),한승준(Seung-Jun Han),성경복(Kyungbok Sung),민경욱(Kyoung-Wook Min) 대한전자공학회 2021 대한전자공학회 학술대회 Vol.2021 No.6

자율주행을 위한 TORCS 기반 End-to-End 학습

최두섭(Dooseop Choi),안택현(Taeg-Hyun An),안경환(Kyounghwan An),최정단(Jeongdan Choi) 대한전자공학회 2017 대한전자공학회 학술대회 Vol.2017 No.11

천황산 지역(경남)의 관속식물상

고성철,최두섭,손동찬,박범균,김태훈 한국식물분류학회 2013 식물 분류학회지 Vol.43 No.2

경상남도 밀양시의 천황산 지역에 자생하는 관속식물상 조사를 위하여 2009년 3월부터 2011년 9월까지 총 16회에 걸쳐 실시하였다. 그 결과, 천황산 지역의 관속식물은 90과 252속 387종 3아종 43변종 9품종의 총 442분류군이 조사되었다. 이 중 14분류군은 한국특산식물이었고, 11분류군은 희귀 및 멸종위기식물이었다. 식물구계학적특정종은 5등급 2분류군, 4등급 5분류군, 3등급 15분류군, 2등급 16분류군 그리고 1등급 21분류군 등 59분류군이 발견되었다. 귀화식물은 21분류군이었다. 또한, 조사된 식물들을 용도별로 구분하면 식용식물 163분류군, 섬유용식물 6분류군, 약용식물 125분류군, 관상용식물 76분류군, 목초용식물 163분류군, 공업용식물 4분류군, 염료용식물 9분류군, 목재용식물 21분류군 등이 자원식물로 나타났다. The flora of vascular plants in the Mt. Cheonhwang, located at Miryang-si, Gyeongsangnam-do Province, was surveyed 16 times from March, 2009 to September, 2011. The result of this survey revealed 442 taxa in total, comprising 90 families, 252 genera, 387 species, 3 subspecies, 43 varieties, and 9 forms. Among the flora of this area, 14 taxa were plants endemic to Korea and 11 taxa were rare and endangered plants of Korea. The floristic regional indicator plants found in this area were 59 taxa: 2 taxa of grade V, 5 taxa of grade IV, 15 taxa of grade III, 16 taxa of grade II and 21 taxa of grade I. Alien plants in Korea numbered 21 taxa. In addition, 442 taxa were categorized by usage into 8 groups, as follows: 163 edible, 6 fiber, 125 medical, 76 ornamental, 163 pasturing, 4 industrial, 9 dyeing and 21 timber plants.

Adenosine Signaling in Striatal Circuits and Alcohol Use Disorders

남형욱,최두섭,Robert C. Bruner 한국분자세포생물학회 2013 Molecules and cells Vol.36 No.3

Adenosine signaling has been implicated in the patho-physiology of alcohol use disorders and other psychiatric disorders such as anxiety and depression. Numerous studies have indicated a role for A1 receptors (A1R) in acute ethanol-induced motor incoordination, while A2A receptors (A2AR) mainly regulate the rewarding effect of ethanol in mice. Recent findings have demonstrated that dampened A2AR-mediated signaling in the dorsomedial striatum (DMS) promotes ethanol-seeking behaviors. Moreover, decreased A2AR function is associated with decreased CREB activity in the DMS, which enhances goal-oriented behaviors and contributes to excessive ethanol drinking in mice. Interestingly, caffeine, the most commonly used psychoactive substance, is known to inhibit both the A1R and A2AR. This dampened adenosine receptor function may mask some of the acute intoxicating effects of ethanol. Furthermore, based on the fact that A2AR activity plays a role in goal-directed behavior, caffeine may also promote ethanol-seeking behavior. The A2AR is enriched in the striatum and exclusively expressed in striatopallidal neurons, which may be responsible for the regulation of inhibitory behavioral control over drug rewarding processes through the indirect pathway of the basal gan-glia circuit. Furthermore, the antagonistic interactions between adenosine and dopamine receptors in the stria-tum also play an integral role in alcoholism and addiction-related disorders. This review focuses on regulation of adenosine signaling in striatal circuits and the possible implication of caffeine in goal-directed behaviors and addiction.