Lane-level vehicle positioning is an important task for enhancing the accuracy of in-vehicle navigation systems and the safety of autonomous vehicles. GPS (Global Positioning System) and DGPS (Differential GPS) are generally used in navigation service systems, which however only provide an accuracy level up to 2~3 m. In this paper, we propose a 3D vision based lane-level positioning technique which can provides accurate vehicle position. The proposed method determines the current driving lane of a vehicle by tracking the 3D position of traffic signs which stand at the side of the road. Using a stereo camera, the 3D tracking paths of traffic signs are computed and their projections to the 2D road plane are used to determine the distance from the vehicle to the signs. Several experiments are performed to analyze the feasibility of the proposed method in many real roads. According to the experimental results, the proposed method can achieve 90.9% accuracy in lane-level positioning.

This paper suggests the method of the spherical signature description of 3D point clouds taken from the laser range scanner on the ground vehicle. Based on the spherical signature description of each point, the extractor of significant environmental features is learned by the Deep Belief Nets for the urban structure classification. Arbitrary point among the 3D point cloud can represents its signature in its sky surface by using several neighborhood points. The unit spherical surface centered on that point can be considered to accumulate the evidence of each angular tessellation. According to a kind of point area such as wall, ground, tree, car, and so on, the results of spherical signature description look so different each other. These data can be applied into the Deep Belief Nets, which is one of the Deep Neural Networks, for learning the environmental feature extractor. With this learned feature extractor, 3D points can be classified due to its urban structures well. Experimental results prove that the proposed method based on the spherical signature description and the Deep Belief Nets is suitable for the mobile robots in terms of the classification accuracy.

In this paper we present (1) analysis of imaging sonar measurement for two-view relative pose estimation of an autonomous vehicle and (2) bundle adjustment and 3D reconstruction method using imaging sonar. Sonar has been a popular sensor for underwater application due to its robustness to water turbidity and visibility in water medium. While vision based motion estimation has been applied to many ground vehicles for motion estimation and 3D reconstruction, imaging sonar addresses challenges in relative sensor frame motion. We focus on the fact that the sonar measurement inherently poses ambiguity in its measurement. This paper illustrates the source of the ambiguity in sonar measurements and summarizes assumptions for sonar based robot navigation. For validation, we synthetically generated underwater seafloor with varying complexity to analyze the error in the motion estimation.

To minimize damage from disasters, various aspects of prevention, preparation, and response, etc. are being managed. A system that can share the identical disaster information based on prompt disaster management and prediction must be developed and constructed for integrated disaster management.

Waterproofing materials applied in underground structures are commonly exposed to environmental factors such as rain water, vibration, structural movement. Particularly in the case of rain waters, the pollutants and chemical substances penetrate into the waterproofing layer surface and cause complex degradation. Approaching this problem with only conventional leakage preventative measures may prove difficulties in solving it. In this regard, 3 dimensional material evaluation methods (waterproofing system structure) should be employed over 2 dimensional methods, and a testing method that allows the simultaneous testing of various degradation conditions found in underground environments is necessary.

본 데이터 분석은 췌장의 묘출을 위한 2D T1 FFE 과 3D T1 THRIVE 기법을 비교하고자 하였다. 1.5 T에서 검사한 총 85명(남자 45명, 여자 40 명, 연령범위 38-80세, 평균연령 58세)의 데이터를 PACS 네 트워크(network)로 분석을 하였다. 평균 2D T1 FFE(SNR: 46.42 ± 0.67, CNR: 28.16 ± 0.50,)보다 3D T1 THRIVE(SNR: 53.84 ± 1.20, CNR: 35.48 ± 0.70)값이 의미 있게 높은 값을 보여주었고(p<0.05), 영상의 질적인면(2D T1 FFE: 2.2 ± 0.05, 3D T1 THRIVE: 2.63 ± 0.14)에서도 2D T1 FFE 기법에 비 해 3D T1 THRIVE 기법이 모두 우위의 값을 얻게 되었다(p<0.05). 그러나 3D T1 THRIVE 기법이 높은 값을 얻었지만 영상의 질을 감소시키는 몇 가지 인공물이 발생하였다. 결론적으로 1.5 T MRI 기기를 이용 한 3D T1 THRIVE 기법이 SNR, CNR, 영상의 질적 측면에서 증가된 결과를 얻었다.

VOCs의 배출원은 자연적 배출원과 인위적인 배출원으로 나뉘는데, 주로 페인트 공정이나 자동차에서 인위적으로 다량 발생하여 신경계 교란물질이나 발암성으로 인체에 직접적인 피해를 주고 있어 VOC 저감에 대한 다양한 연구가 진행되고 있다. 플라즈마 기술은 높은 에너지에 의해 플라즈마가 형성되고, 이로 인해 자유전자가 생성되어 다양한 라디컬을 생성되어 유해성분들을 분해 저감시키고 화학적 반응을 가속화 시키는 원리를 이용하여 VOC 물질을 저감시킨다. 최근에는 제거 효율을 향상시키기 위해 플라즈마, 전자빔, 광촉매 등 여러 기술을 융복합하여 각 기술의 단점을 보완하여 이용되기도 한다. 본 연구에서는 VOC 제거 효율을 높이기 위해 3가지 기술이 융합된 플라즈마-덤프 연소기(PDC, plasma dump combustor)를 개발하였다. PDC 특성을 파악하기 위해 상부 공급 유량, VOC농도, 공급전력, AC/DC전원 공급에 대한 실험을 수행하였다. Fig. 1은 유량 변화 시 VOC 분해율과 배출되는 가스 성상 및 농도를 측정한 그래프이다. 그래프에서 나타나듯 유량이 증가 할수록 분해율이 떨어지는 모습을 볼 수 있다. 이는 플라즈마-덤프의 분해 원리인 캐비티 영역에서의 체류시간이 짧아지게 되어 처리율이 낮아지기 때문이다. 연소 후 배출가스인 CO2와 CO의 농도변화는 유량이 증가할수록 감소되는 추세를 보이고 있다. 이는 증가된 유량에 의해 공기비가 증가되어 연소율이 떨어지게 되어 CO2생성의 감소와 유량 증가에 의한 희석에 의해 CO농도도 감소하게 된다.

Highly homogeneous and functional stem cell-derived hepatocyte-like cells (HLCs) are considered a promising option in the treatment of liver disease and the development of effective in vitro toxicity screening tool. However, the purity of cells and expression and/or activity of drug metabolizing enzymes in stem cell-derived HLCs are usually too low to be useful for clinical or in vitro applications. Here, we describe a highly optimized differentiation protocol, which produces more than 90% albumin-positive HLCs with no purification process. In addition, we show that hepatic enzyme gene expressions and activities were significantly improved by generating three-dimensional (3D) spheroidal aggregate of HLCs. The 3D differentiation method increased expressions of nuclear receptors that regulate the proper expression of key hepatic enzymes. Furthermore, a significantly increased hepatic functions such as albumin and urea secretion were observed in 3D hepatic spheroids and HLCs in the spheroid exhibited morphological and ultrastructural features of normal hepatocytes. Importantly, we show that repeated exposures to xenobiotics facilitated the functional maturation of HLC, as confirmed by increased expression of genes for drug metabolizing enzymes and transcription factors. In conclusion, the 3D culture system with repeated exposures to xenobiotics may be a new strategy for enhancing hepatic maturation of stem cell-derived HLCs as a cell source for in vitro high-throughput hepatotoxicity models.

Hepatocyte-like cells (HLCs) derived from human pluripotent stem cells have received extensive attention in the development of drug screening and toxicity testing. However, it has been reported that stem cell-derived HLCs showed hepatic functions that were too limited to be of use in drug screening and toxicity testing, possibly due to the lack of sufficient intercellular communication under conventional two-dimensional (2D) culture conditions. Therefore, a 3D differentiation system may overcome the in vitro limitation of 2D culture to produce stem cell-derived hepatocytes with mature metabolic functions. In this study, the feasibility of using a silicone-based spherofilm, specifically designed to produce spherical cell clusters, to generate uniformly sized 3D hepatic spheroids from hESCs was investigated. Hepatic spheroids generated on the spherofilm showed more homogenous size and shape than those generated in conventional low-attachment suspension culture dishes. Results of immunohistochemical analysis showed that expression of the mature hepatic marker albumin (ALB) increased over time during the hepatic maturation process. Furthermore, the 3D culture system mimicked the in vivo 3D microenvironment. Laminin, which is an important component of hepatic ECM, was expressed in hepatic spheroids. The results of immunohistochemical analysis indicated that the 3D culture environment is capable of generating an in vivo-like microenvironment. In addition, quantitative PCR analysis showed that the mature hepatic marker ALB and cytochrome P450 (CYP) enzymes CYP3A4 and CYP3A7 were expressed at higher levels in 3D culture than in 2D culture. This indicates that the 3D culture system is suitable for hepatic maturation and that our size-controlled 3D culture conditions might accelerate hepatic function. These results suggest that 3D hepatic spheroids significantly enhance metabolic maturation of hepatocytes derived from hESCs

When humans explore the Moon, lunar caves will be an ideal base to provide a shelter from the hazards of radiation, meteorite impact, and extreme diurnal temperature differences. In order to ascertain the existence of caves on the Moon, it is best to visit the Moon in person. The Google Lunar X Prize(GLXP) competition started recently to attempt lunar exploration missions. Ones of those groups competing, plan to land on a pit of Lacus Mortis and determine the existence of a cave inside this pit. In this pit, there is a ramp from the entrance down to the inside of the pit, which enables a rover to approach the inner region of the pit. In this study, under the assumption of the existence of a cave in this pit, a 3D model was developed based on the optical image data. Since this model simulates the actual terrain, the rendering of the model agrees well with the image data. Furthermore, the 3D printing of this model will enable more rigorous investigations and also could be used to publicize lunar exploration missions with ease.

이 논문에서는 의료용 초음파 볼륨 데이터의 잡음을 효과적으로 제거하기 위한 방법을 제안 한다. 초음파 영상은 잡음이 심하여 필터링이 필요하다. 기존의 2차원 필터링은 인접한 슬라이 스 간 정보를 무시하고 기존의 3차원 필터링은 속도가 느리거나 잡음 제거 효과가 떨어지는 필 터를 적용하였고 또한 초음파 데이터의 샘플링 특성을 고려치 않아 균등하게 필터링 하지 않았 다. 이를 해결하기 위해 잡음제거에 효과적인 양방향 필터를 병렬로 빠르게 처리하고 필터 영 역에 따라 윈도우 크기를 달리하는 기법을 제안한다. 공간 필터의 합산영역 테이블을 이용하여 병렬로 빠르게 필터링하고 윈도우 크기는 필터 영역에 따라 비례적으로 결정한다. 실험은 평균 필터와 양방향 필터, 양방향 적응 필터를 적용한 초음파 볼륨 렌더링 영상에서 잡음 제거와 원 본 손실 정도를 비교한다. 이렇게 하여 양방향 필터링을 빠르게 수행하면서 기존 보다 균등하 게 필터링하여 잡음을 효과적으로 정확하게 제거할 수 있다.

This study presents an experimental study on compressive and flexural strengths of concrete reinforced by 3D Fiber Reinforced Polymer(FRP). This study is intended to investigate the potential of 3D FRP concrete composites against impact or explosive loadings. For the comparative study, non-reinforced specimen and specimens reinforced by 3D FRP are constructed and tested. 20mm×10mm 3D fiber and 25mm×20mm 3D fiber was set to be variable.

The purpose of this study is able to prevent accidents as users will tell you in real time the long distance is to the safety inspection of various structures using a 3D scanner therefore, it is possible to use civil engineering structures, such as building structures

A corrugated steel culvert is well used as underpass structure because of its advantages. But many deformed culverts were observed recently. In this paper, we analyzed structural safety of this culvert using 3D laser scanning geometry data, which is called point cloud data. All surface geometry can be built and transformed into the analysis model based on actual geometrical conditions from this data.