• ETRI Journal
• /
• 제43권4호
• /
• pp.617-629
• /
• 2021

Although the actual visual simultaneous localization and mapping (SLAM) algorithms provide highly accurate tracking and mapping, most algorithms are too heavy to run live on embedded devices. In addition, the maps they produce are often unsuitable for path planning. To mitigate these issues, we propose a completely closed-loop online dense RGB-D SLAM algorithm targeting autonomous indoor mobile robot navigation tasks. The proposed algorithm runs live on an NVIDIA Jetson board embedded on a two-wheel differential-drive robot. It exhibits lightweight three-dimensional mapping, room-scale consistency, accurate pose tracking, and robustness to moving objects. Further, we introduce a navigation strategy based on the proposed algorithm. Experimental results demonstrate the robustness of the proposed SLAM algorithm, its computational efficiency, and its benefits for on-the-fly navigation while mapping.

• Genomics & Informatics
• /
• 제20권3호
• /
• pp.33.1-33.17
• /
• 2022

Nervous necrosis virus (NNV) is a deadly infectious disease that affects several fish species. It has been found that the NNV utilizes grouper heat shock cognate protein 70 (GHSC70) to enter the host cell. Thus, blocking the virus entry by targeting the responsible protein can protect the fishes from disease. The main objective of the study was to evaluate the inhibitory potentiality of 70 compounds of Azadirachta indica (Neem plant) which has been reported to show potential antiviral activity against various pathogens, but activity against the NNV has not yet been reported. The binding affinity of 70 compounds was calculated against the GHSC70 with the docking and molecular dynamics (MD) simulation approaches. Both the docking and MD methods predict 4 (PubChem CID: 14492795, 10134, 5280863, and 11119228) inhibitory compounds that bind strongly with the GHSC70 protein with a binding affinity of -9.7, -9.5, -9.1, and -9.0 kcal/mol, respectively. Also, the ADMET (absorption, distribution, metabolism, excretion, and toxicity) properties of the compounds confirmed the drug-likeness properties. As a result of the investigation, it may be inferred that Neem plant compounds may act as significant inhibitors of viral entry into the host cell. More in-vitro testing is needed to establish their effectiveness.

• 산업경영시스템학회지
• /
• 제35권1호
• /
• pp.39-46
• /
• 2012

An unmanned aerial vehicle (UAV) is a powered aerial vehicle that does not carry a human operator, uses aerodynamic forces to provide vehicle lift, can fly autonomously or be piloted remotely, can be expendable or recoverable, and can carry a lethal or non-lethal payload. An UAV is very important weapon system and is currently being employed in many military missions (surveillance, reconnaissance, communication relay, targeting, strike, etc.) in the war. To accomplish UAV's missions, guarantee of survivability should be preceded. The main objective of this study is a local path planning to maximize survivability for UAV on the battlefield of dynamic threats (obstacles, surface-to-air missiles, radar etc.). A local path planning is capable of producing a new path in response to environmental changes. This study suggests a $Smart$ $A^*$ (Smart A-star) algorithm for local path planning. The local path planned by $Smart$ $A^*$ algorithm is compared with the results of existing algorithms ($A^*$ $Replanner$, $D^*$) and evaluated performance of $Smart$ $A^*$ algorithm. The result of suggested algorithm gives the better solutions when compared with existing algorithms.

• 한국시뮬레이션학회논문지
• /
• 제22권3호
• /
• pp.81-87
• /
• 2013

본 논문은 컴퓨터 해석프로그램인 SimulationX를 이용하여 굴삭기 주행모터의 내부에서 발생하는 서지압력의 저감 방법에 대하여 분석하는 연구이다. 설계민감도 해석을 통하여 설계상의 문제점을 파악하고 해결책에 접근하는 방법을 다룬다. 진행순서는 다음과 같다. 우선 현재 설계 된 주행모터에 장착된 밸브들의 동적거동을 분석하여 설계의 문제점을 찾아낸다. 그 후 많은 설계변수들 중 동적성능향상에 민감하다고 판단되는 변수를 도출하고 설계치수를 조정하여 동적성능 안정화의 경향을 살펴본다. 마지막으로 민감한 변수가 다수 일 경우 변수조합을 통해 효과적인 튜닝방법을 제안한다.

• 수산해양교육연구
• /
• 제28권6호
• /
• pp.1812-1821
• /
• 2016

The purpose of this study is to survey input data error of ship automatic identification system (AIS) and suggest its improvement. The effects of AIS were observed. Input data error of AIS was investigated by dividing it into dynamic data, static data by targeting actual ships and its improvement method was suggested. The findings are as follows. Looking into accidents before and after AIS is enforced to install on the ship, total collision were decreased after AIS installed. Static data error of AIS took place mainly in the case that ship name, call sign, MMSI, IMO number, ship type, location of antenna (ship length and width) were wrongly input or those data were not input initially. Dynamic data error of AIS was represented by input error of ship's heading. As errors of voyage related data take place as well, confusion is made in sailing or ship condition. Counter measures against the above are as follows. First, reliability of AIS data information should be improved. Second, incessant concern and management should be made on the navigation officers.

• BMB Reports
• /
• 제50권4호
• /
• pp.214-219
• /
• 2017

Mitochondria play pivotal roles in the ATP production, apoptosis and generation of reactive oxygen species. Although dynamic regulation of mitochondria morphology is a critical step to maintain cellular homeostasis, the regulatory mechanisms are not yet fully elucidated. In this study, we identified miR-200a-3p as a novel regulator of mitochondrial dynamics by targeting mitochondrial fission factor (MFF). We demonstrated that the ectopic expression of miR-200a-3p enhanced mitochondrial elongation, mitochondrial ATP synthesis, mitochondrial membrane potential and oxygen consumption rate. These results indicate that miR-200a-3p positively regulates mitochondrial elongation by downregulating MFF expression.

• 토지주택연구
• /
• 제10권1호
• /
• pp.9-18
• /
• 2019

This study examined the dynamic change in the co-movement between the house price rates with the network methods of Mantegna (1999). First, Capital area and non-capital area form independent clusters which have the heterogeneous co-movement pattern. In other words, Capital and non-capital areas have low connectivity in the housing market. Also, if the co-movement between capital areas have been strengthened, the co-movement between non-capital areas have been weakened. The results of the dynamic analysis show that the degree of the co-movement in the housing market is continuously increased. The members of the co-movement group in the capital area are strongly steadied by all periods. However, the members in the non-capital area have been changed according to the period. Accordingly, it is necessary to establish policies based on various information for the housing market of the non-capital area rather than policies targeting the capital area. In addition, Apartments in Korea are more likely to be used as investment or speculative assets than other types of houses. It has been confirmed that this is Gangbuk, which is locatied in the northern part of Seoul, appears to be a region where the Spillover Effects of price fluctuation can be triggered in the housing and apartment market. However, the housing market in Gangnam, which is locatied in the southern part of Seoul, was divided into low systematic risk.

• 한국소음진동공학회논문집
• /
• 제15권3호
• /
• pp.341-345
• /
• 2005

Structural Dynamics Modification (SDM) is a very effective technique to improve structure's dynamic characteristics by adding or removing auxiliary structures, changing material properties and shape of structure. Among those of SDM technique, the method to change shape of structure has been mostly relied on engineer's experience and trial-and-error process which are very time consuming. In order to develop a systematic method to change structure shape, surface grooving technique is studied. In this work, the shape of base structure was modified to improve its dynamic characteristics such as natural frequencies via surface grooving technique. Grooving shape was formed by mergingthe neighboring small embossing elements after analyzing frequency increment sensitivities of all the neighboring emboss elements. For this process, Criterion Factor was introduced and the initial grooving was started from the element having highest strain energy and the grooving is expanded into neighboring element. The range of targeting grooving area to check its frequency variations restricted to their neighboring area to reduce the computation effort. This surface grooving technique was successfully applied to a hard disk drives (HDD) cover model to raise its natural frequency by giving some groove on its surface.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2010년도 춘계학술대회 논문집
• /
• pp.50-57
• /
• 2010

Various installation faults may lie in fasteners in the construction of a direct-fixation track by the top-down method. At an extreme, they may cause excessive interaction between the train and track, compromise the running safety of the train, and cause damage to the track components. Therefore, the faults need to be kept within the allowable level through an investigation of their effects on the interactions between the train and track. In this study, the vertical dynamic stiffness of fasteners in installation faults was measured based on the dynamic stiffness test by means of an experimental apparatus that was devised to feasibly reproduce gap faults. This study proposes an effective analytical model for a train-track interaction system in which most elements, except the nonlinear wheel-rail contact and some components that behave bi-linearly, exhibit linear behavior. To investigate the effect of the behavior of fasteners in gap faults in a direct-fixation track on the vehicle and track, vehicle-track interaction analyses were carried out, targeting key review parameters such as the wheel load reduction factor, vertical rail displacement, rail bending stress, and mean stress of the elastomer. From the results, it was noted that the gap faults in the concrete bearing surface of a direct-fixation track need to be limited for the sake of the long-term durability of the elastomer than for the running safety of the train or the structural safety of the track.

• 제어로봇시스템학회논문지
• /
• 제8권3호
• /
• pp.199-207
• /
• 2002

In this paper, a self-tuning gain-scheduled skyhook control for semi-active suspension systems is investigated. The dynamic characteristics of a continuously variable damper including electro-hydraulic pressure control valves is analyzed. A 2-d.o.f. time-varying quarter-car model that permits variations in sprung mass and suspension spring coefficient is considered. The self-tuning skyhook control algorithm proposed in this paper requires only the measurement of body acceleration. The absolute velocity of the sprung mass and the relative velocity of the suspension deflection are estimated by using integral filters. The skyhook gains are gain-scheduled in such a way that the body acceleration and the dynamic tire force are optimized. An ECU prototype is discussed. Experimental results using a 1/4-ear simulator are discussed. Also, a suspension ECU prototype targeting real implementation is provided.