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Seok-Wun Ha,Quiroz Paul,Yong-Ho Moon 중소기업융합학회 2018 융합정보논문지 Vol.8 No.6
최근에 정밀 추적이나 타격 등의 군사 목적으로 UAV를 활용하는 연구가 매우 활발하게 진행되고 있다. 앞서가는 비행체를 추적하기 위해 후방에서 촬영한 영상을 활용하여 롤, 피치, 요와 같은 그 비행체의 자세 정보를 추정하는 기존의 연구가 진행되었다. 본 연구에서는 기존의 영상처리기법을 이용한 연구에 칼만 필터를 적용함으로써 자세 정보를 더욱 정 밀하게 추정하는 방법을 제시한다. 영상처리를 사용해서 추정한 비행 자세 데이터에 칼만 필터를 적용함으로써 기존의 방 식에서 발생했던 자세 각도의 추정오차 범위를 크게 줄일 수 있었다. 시뮬레이션 실험을 통해서, 칼만 필터를 적용할 경우 비행체의 자세 정보를 더욱 정확하게 추정할 수 있음을 확인할 수 있었다. In recent years, researches utilizing UAV for military purposes such as precision tracking and batting have been actively conducted. In order to track the preceding flight, there has been a previous research on estimating the attitude information of the flight such as roll, pitch, and yaw using images taken from the rear UAV. In this study, we propose a method to estimate the attitude information more precisely by applying the Kalman filter to the existing image processing technique. By applying the Kalman filter to the estimated attitude data using image processing, we could reduce the estimation error of the attitude angle significantly. Through the simulation experiments, it was confirmed that the estimation using the Kalman filter can estimate the posture information of the aircraft more accurately.
Ha, Seok-Wun The Korea Institute of Information and Commucation 2004 Journal of information and communication convergen Vol.2 No.2
The most popular technique for image retrieval in a heterogeneous collection of color images is the comparison of images based on their color histogram. The color histogram describes the distribution of colors in the color space of a color image. In the most image retrieval systems, the color histogram is used to compute similarities between the query image and all the images in a database. But, small changes in the resolution, scaling, and illumination may cause important modifications of the color histogram, and so two color images may be considered to be very different from each other even though they have completely related semantics. A new method of color feature representation based on the 3-dimensional RGB color map is proposed to improve the defects of the color histogram. The proposed method is based on the three 2-dimensional projection map evaluated by projecting the RGB color space on the RG, GB, and BR surfaces. The experimental results reveal that the proposed is less sensitive to small changes in the scene and that achieve higher retrieval performances than the traditional color histogram.
Estimation and Extraction of Unstable Frequency Lines of Acoustic Signal Using Neural Network
Ha, Seok-Wun,Hwang, Soo-Bok,Kim, Jae-Chang The Acoustical Society of Korea 1999 韓國音響學會誌 Vol.18 No.e2
In passive sonar, underwater moving objects are identified by the acoustic sounds they transmit. The spectrum of these sounds show features about the mechanism of the sound source, these features are discrete frequencies on the spectrum and frequency lines on the spectrogram. Variability in the underwater environment produce discontinuous broken or unstable fluctuating frequency lines. In this paper, we propose an efficient algorithm that estimate continuities of the discontinuous frequency lines and extract presence of the unstable frequency lines using neural networks and represent the proposed algorithm shows good performance in estimation and extraction the unstable frequency lines through the experiments.
ROI와 병렬처리를 이용한 UAV 자세정보추정 처리속도 향상
하석운(Seok-Wun Ha),박명철(Myeong-Chul Park) 한국컴퓨터정보학회 2021 韓國컴퓨터情報學會論文誌 Vol.26 No.1
최근 UAV를 활용하는 정밀 추적이나 임무완수 등의 군사 목적의 연구가 활발하게 진행되고 있다. 특히 앞서가는 유도 UAV의 자세 정보를 추정하고 이 정보를 이용하여 임무 UAV가 스텔스로 따라가서 자신의 임무를 완수하는 기능이 필요한 경우에는 유도 UAV의 자세 정보 추정 속도를 실시간으로 처리해야만 한다. 최근까지 영상처리와 칼만 필터를 사용해서 앞서가는 유도 UAV의 자세정보를 정밀하게 추정하는 연구가 수행되어 왔으나 처리과정의 순차처리로 인해 처리속도에 있어 문제점이 있어왔다. 따라서 본 연구에서는 영상 처리에 있어 처리영역을 전체영역이 아닌 물체를 포함하는 ROI 영역으로 한정하고 또한 연속적인 처리 과정을 OpenMP 기반의 멀티스레드로 분배하고 스레드동기를 맞추어서 병렬 형태로 처리함으로써 자세정보 추정 속도를 향상시킬 수 있는 방법을 제안한다. 구현 결과를 통해서 기본의 처리에 비해 45%이상 처리 속도를 향상시킴으로써 실시간처리가 가능하게 되어 임무 UAV의 추적 기능 향상을 통한 임무 완수 가능성을 증가시킬 수 있음을 확인하였다. Recently, researches for military purposes such as precision tracking and mission completion using UAVs have been actively conducted. In particular, if the posture information of the leading UAV is estimated and the mission UAV uses this information to follow in stealth and complete its mission, the speed of the posture information estimation of the guide UAV must be processed in real time. Until recently, research has been conducted to accurately estimate the posture information of the leading UAV using image processing and Kalman filters, but there has been a problem in processing speed due to the sequential processing of the processing process. Therefore, in this study we propose a way to improve processing speed by applying methods that the image processing area is limited to the ROI area including the object, not the entire area, and the continuous processing is distributed to OpenMP-based multi-threads and processed in parallel with thread synchronization to estimate attitude information. Based on the experimental results, it was confirmed that real-time processing is possible by improving the processing speed by more than 45% compared to the basic processing, and thus the possibility of completing the mission can be increased by improving the tracking and estimating speed of the mission UAV.
프로젝트 완성을 포함하는 모바일 프로그래밍 교육을 위한 교육과정과 그 구현 결과
하석운(Seok-Wun Ha),허광훈(Kwang-Hoon Huh) 한국컴퓨터정보학회 2016 韓國컴퓨터情報學會論文誌 Vol.21 No.9
In recent, android application developments have been done widely that intensify smart phone utilization. In this paper, we propose a curriculum that undergraduate students can improve their mobile programming abilities as well as integrate experiences of application development based on android. And also a series of practices to advance their sense of accomplishment are added by offering an opportunity to carry out a real project to use a variety of sensors embedded in smart phone during the course of study. The project is composed of a series of modules for implementing a trekking App that helpful to people who enjoy spending time in outdoors through their favorite activities such as trekking, cycling, and climbing with their own smart phones. Through practical curriculum operation and project implementation, we show that the proposed curriculum is appropriate to a mobile programming education that combine learning and practice.
Alpha-Methylacyl-Coenzyme A Racemase-Expressing Urachal Adenocarcinoma of the Abdominal Wall
Ha, Yun-Sok,Kim, Young-Won,Min, Byung-Dal,Lee, Ok-Jun,Kim, Yong-June,Yun, Seok-Joong,Lee, Sang-Cheol,Kim, Wun-Jae The Korean Urological Association 2010 Korean Journal of Urology Vol.51 No.7
<P>Urachal adenocarcinomas are very rare and about one third of these neoplasms arise in urachal remnants. To demonstrate the origin of the urachal adenocarcinoma is not easy, but it is very important for managing patient care. We report on a 35-year-old man who complained of a palpable mass in the periumbilical area. The mass was incidentally identified 10 days earlier. Computed tomography revealed a well-defined enhancing mass with internal calcification and septation abutting on the dome of the urinary bladder. The clinical diagnosis was urachal cancer, which seemed to invade the urinary bladder. Thus, we performed mass excision and partial resection of the bladder. Histopathologically, the mass was diagnosed as mucinous cystadenocarcinoma originating from urachal remnants that showed an unusual expression of alpha-methylacyl-coenzyme A racemase (AMACR). To our knowledge, this report is the first case of AMACR-expressing urachal adenocarcinoma arising in the abdominal wall.</P>
<i>GSTM1</i> Tissue Genotype as a Recurrence Predictor in Non-muscle Invasive Bladder Cancer
Ha, Yun-Sok,Yan, Chunri,Jeong, Pildu,Kim, Won Tae,Yun, Seok-Joong,Kim, Isaac Yi,Moon, Sung-Kwon,Kim, Wun-Jae The Korean Academy of Medical Sciences 2011 JOURNAL OF KOREAN MEDICAL SCIENCE Vol.26 No.2
<P>Tissue genotyping is more useful approach than using blood genomic DNA, which can reflect the effects of the somatic mutations in cancer. Although polymorphisms in glutathione S-transferase (<I>GST</I>) have been associated with the risk of bladder cancer (BC) development, few reports provide information about the prognosis of BC. We investigated glutathione S-transferase mu (<I>GSTM1</I>) and glutathione S-transferase theta (<I>GSTT1</I>) genotypes using genomic DNA from primary 165 BC tissue samples to assess the association with disease prognosis. DNA samples from tumor were analyzed by multiplex polymerase chain reaction (PCR). The results were compared with clinicopathological parameters. The prognostic significance of the <I>GST</I>s was evaluated by Kaplan-Meier and multivariate Cox regression model. Kaplan-Meier estimates revealed significant differences in time to tumor recurrence according to the <I>GSTM1</I> tissue genotype (<I>P</I> = 0.038) in non-muscle invasive bladder cancer (NMIBC). Multivariate Cox regression analysis also revealed that the tissue <I>GSTM1</I> genotype (hazards ratio [HR]: 0.377, <I>P</I> = 0.031) was an independent predictor of bladder tumor recurrence in NMIBC. This identification of <I>GSTM1</I> tissue genotype as a prognosticator for determining recurrence in NMIBC should prove highly useful in a clinical setting.</P>