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코파일럿 시스템을 위한 다중 2D LiDAR 융합기반 차량 주변 동적 장애물 추적 모듈 개발
나기인(Ki-in Na),변재민(Jaemin Byun),노명찬(Myoungchan Rho),서범수(Bumsu Seo) 한국자동차공학회 2014 한국자동차공학회 부문종합 학술대회 Vol.2014 No.5
This paper introduces the development of moving obstacles perception module using multiple 2D LiDARs. This can estimate both position and velocity of dynamic objects around vehicles. Projecting point cloud data from 2D LiDARs to range image structure, they are partitioned to particular observations with connectivity based region growing segmentation. In sequence, observations from segmentation steps are associated with the predicted tracks employing NNSF based on Kalman filter. Furthermore, the associated tracks are continuously updated, extraneous observations are generated to new tracks and missing tracks are removed. This developed module was installed on Co-Pilot system and the experiments tracking several moving obstacles at the same time were performed to show this module working.
구두발표(OC)-농업화학 및 생태,식품분야 : OC-04 ; 황산화 미생물(SOB)을 이용한 토양 독성 평가
나비드 ( Naveed Ahmed Qambrani ),신범수 ( Boem Soo Shin ),오상은 ( Sang Eun Oh ) 한국환경농학회 2014 한국환경농학회 학술대회집 Vol.2014 No.-
A sulfur-oxidizing bacteria (SOB) was successfully applied on the Cd2+ contaminated soil toxicity assessment in batch tests. The monitoring of pH and EC is enough to detect SOB activity. The SOB was found active in different weights of sulfur particles and a 25 g SOB attached sulfur particles were selected to be used in tests. EC and sulfate were found to be correlated with each other, and increasing soil quantity in the reactors decreased the EC change and sulfate production. Contaminated soil having 2 to 64 mg/L Cd2+ concentration was checked. An EC50 of 7.05 mg/L was calculated for Cd2+ contaminated soil. The SOB system was found to be efficient in detecting soil toxicity and can be applied for the evaluation of soil.
자율 주행 차량의 레이저 기반 환경인식 모듈 설계 및 데이터 수집 시스템 구축
나기인(Ki-In Na),변재민(Jaemin Byun),노명찬(Myoungchan Roh),손주찬(Joochan Sohn),서범수(Bumsoo Seo),김성훈(Sunghoon Kim) 한국자동차공학회 2013 한국자동차공학회 부문종합 학술대회 Vol.2013 No.5
Architecture of the environmental perception module has been designed and specifically, the LiDAR based obstacle perception module has been designed and described with applicable algorithms. Moreover, the data logging system has been developed by vehicle, LiDAR and ROS packages for testing perception algorithms. The developed data logging system has been tested around ETRI and the logged data have been played back.
윤석태,고영구,나범수,오강호 全南大學校 師範大學 科學敎育硏究所 2007 科學敎育硏究誌 Vol.31 No.1
On the basis of soil analyses in Hampyeong area, A and B layers are dominantly developed in well weathered soils of the area. Those soil grain sizes are coarse to fine, showing a wide variation, and are poorly sorted. The soil characters directly influence to soil textures, and then, the texture types are classified into several kinds as clay, clay loam, sandy loam, sandy clay, and loam in the area. Soils in the area were formed in variable mixed ones including mountain piedmont and lower flat area environments, arid they are varied into brown soils with much humid material and deep weathered orange ones. Those soil characteristics might be brought on diverse agricultural types as ginseng and bamboo farms putting first of dry and water field ones in the study area.
진구성 아킬레스 건 파열에서 V-Y 건편(tendinous flap)을 이용한 재건술
전철홍,박근호,나범수 圓光大學校 醫科學硏究所 1991 圓光醫科學 Vol.7 No.1-2
Old ruptures of the Achilles tendon are not common, and they pose many difficult problems in which wide separation of the ruptured tendon is not repaired by end-to-end due to intervening scar tissue. Many methods have been attempted to fulfill the gap by grafting and to restore the continuity of the tendon. Although the results in many methods were reported as good or excellent, the extent of functional disability and residual muscle power were not usually unsatisfactory. We operated the 4 patients with old rupture of the Achilles tendon by end-to-end anastomosis using the V-Y tendinous flap originated by Abraham and Pankovich in 1975. The postoperative results were satisfactory with no functional disability of muscle power. There was neither re-rupture of the Achilles tendon nor adhesion of the tendon to the skin. Furthermore the skin problem is not developed. In conclusion, the V-Y tendinous flap is easy to do, and the power of triceps muscle is normal range. So we recommend that the method is useful for the treatment of old rupture of the Achilles tendon in which end-to-end anastomosis is otherwise impossible.
김주용,유환수,고영구,윤석태,나범수,오강호 全南大學校 師範大學 科學敎育硏究所 2001 科學敎育硏究誌 Vol.25 No.1
Brackish water and sediment samples from seven stations were investigated with the geochemical and sedimentological aspects, Kwangyang Bay. Those stations are located along the transections ranging from estuarine mouth to bay centre. Those water and sediment samples were investigated in items of pH, COD, DO, salinity, TOC, SS, ions incIuding NH₃, P0₄, NO₃, and metal contents. And, correlations among above ion and metal contents were considered, too. From the above mentioned analyses, brackish water in the estuarine mouth are graduaIly changed to typica1 sea one in Qua1ity, and ionic contents in the water are more or less lowered toward open sea. Additionally, the metalIic contents of the sediments would show unambiguous grain size dependent pattern relative to that of the sea water samples which are more disperse in content tendency.
자율주행 자동차를 위한 3D LiDAR 정보를 이용한 MRF(Markov Random Field)기반 도로 인식 방법
변재민(Jaemin Byun),나기인(Ki-In Na),노명찬(Myoungchan Roh),손주찬(Joochan Sohn),서범수(Bumsoo Seo),김성훈(Sunghoon Kim) 한국자동차공학회 2013 한국자동차공학회 부문종합 학술대회 Vol.2013 No.5
본 논문은 자율주행자동차의 핵심 기술인 주행환경 인식기술과 관련하여 도로 영역인 주행 가능한 영역을 인식하는 방법에 대해서 제안한다. 기존 많이 사용했던 2D LiDAR 또는 카메라를 이용한 방법들은 2D 정보 기반으로 평지 환경에서의 주행 가능영역 인식에 대한 연구는 많이 진행되어 왔지만, 오르막(내리막) 또는 굴곡이 있는 도로 등에 대한 다양한 도로 유형에 대한 고려는 아직 미흡한 실정이다. 본 논문에서 굴곡이 있는 도로 환경에서 주행가능영역인식의 성능을 향상시키기 위해서 3D Lidar 센서로 획득된 3D Point Cloud 정보를 기반으로 기존의 널리 사용되었던 수직 방향의 높이정보를 통한 도로 영역을 분류하는 방법과 달리 Gradient 정보 기반으로 MRF 모델을 적용하고, LBP(Loopy Belief Propagation)방법을 통하여 도로 영역을 분류하는 방법을 제안하였다. 본 방법의 타당성을 보이기 위해서 실제 실험차량을 통해서 실제 도로의 데이터를 획득하고, 각도로 유형별에 따른 결과 및 분석을 통해서 본 방법의 성능의 우수성을 제시하였다.