• IEMEK Journal of Embedded Systems and Applications
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• v.4 no.2
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• pp.69-78
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• 2009

Localization is a very important technique for the mobile robot to navigate in outdoor environment. In this paper, the development of the sensor fusion algorithm for controlling mobile robots in outdoor environments is presented. The multi-sensorial dead-reckoning subsystem is established based on the optimal filtering by first fusing a heading angle reading data from a magnetic compass, a rate-gyro, and two encoders mounted on the robot wheels, thereby computing the dead-reckoned location. These data and the position data provided by a global sensing system are fused together by means of an extended Kalman filter. The proposed algorithm is proved by simulation studies of controlling a mobile robot controlled by a backstepping controller and a cascaded controller. Performances of each controller are compared.

• Journal of the Korea Institute of Military Science and Technology
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• v.8 no.4 s.23
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• pp.14-23
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• 2005

In this paper we propose a sensor fusion method for the navigation algorithm which can be used to estimate state vectors such as position and velocity for its motion control using multi-sensor output measurements. The output measurement we will use in estimating the state is a series of known multi-sensor asynchronous outputs with measurement noise. This paper investigates the Extended Kalman Filtering method to merge asynchronous heading, heading rate, velocity of DVL, and SSBL information to produce a single state vector. Different complexity of Kalman Filter, with. biases and measurement noise, are investigated with theoretically data from MOERI's SAUV. All levels of complexity of the Kalman Filters are shown to be much more close and smooth to real trajectories then the basic underwater acoustic navigation system commonly used aboard underwater vehicle.

• Proceedings of the Korea Information Processing Society Conference
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• 2005.05a
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• pp.521-524
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• 2005

This paper proposes a fusion algorithm which merges multiple vein pattern images into a single image, larger than those images. As a preprocessing step of template matching, during the verification of biometric data such as fingerprint image, vein pattern image of hand, etc., the fusion technique is used to make reference image larger than the candidate images in order to enhance the matching performance. In this paper, a new algorithm, called BSA (Boundary Stitching Algorithm) is proposed, in which the boundary rectilinear parts extracted from the candidate images are stitched to the reference image in order to enlarge its matching space. By applying BSA to practical vein pattern verification system, its verification rate was increased by about 10%.

• Journal of Biomedical Engineering Research
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• v.17 no.2
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• pp.173-178
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• 1996

The objective of this paper is to investigate the effect of AC field on the protoplast of plant cells. The results of investigation will be the basis for the development of etectric cell fusion device. For the experiment, we made the electrode and AC and DC pulse generator and observed the behavior of the protoplasts through the inverted microscope which is connected to the monitor and video recorder by the CCD camera. As a result, the numbers of rotating, moving and destructed protoplasts and viability of the protoplasts have close relation to the amplitude of AC field, while the rotation rate is closely related to the frequency of AC pulse.

• Korean Journal of Metals and Materials
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• v.48 no.8
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• pp.757-764
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• 2010

We report on the effect of additives on the microstructure and corrosion properties of electrodeposited Cu films. Copper films were fabricated by electrodeposition on various concentrations of gelatin in a copper sulfate electrolyte. The surface morphologies of the Cu films were observed using a scanning electron microscope (SEM), and crystal orientation of the Cu films was analyzed by X-ray diffraction measurement. (220) plane was the dominant orientation when the films were fabricated at ambient temperature, decreasing in dominance with addition of gelatin. On the other hand, (111) plane-Cu films were preferentially grown at $40^{\circ}C$, and were also diminished with adding additives. Corrosion rate measurements using the Tafel extrapolation method based on corrosion potential and current reveal the effect of additives on corrosion behavior. Corrosion behavior was found to be strongly related to the orientation of the films. Consequently, additives like gelatin influence crystal orientation of the films, and if a less dense crystal plane, e.g. (220), is preferentially oriented during electrodeposition, a lower corrosion rate could be produced, since the plane shows a lower current density.

• Journal of Korean Society of Forest Science
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• v.101 no.3
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• pp.517-525
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• 2012

In this study, a 4-year-old mountain ginseng was mixed and ripened with 4-year-matured persimmon vinegar, and then it was diluted 5 times and orally administerd to rats. Afterwards, by analyzing the protein expression rate which affects both the carbohydrate metabolism and the lipid metabolism, this study examined the anti-obesity effect of the fusion material. The rats were divided into a control group (CON), a persimmon vinegar group (PV) and a mountain ginseng+persimmon vinegar fusion material group (MPV). The weight gain rate was found to be low in PV and MPV, and the concentration of glucose was also low in PV and MPV. However, GLUT-2 was found to be significantly high in these two groups on the contrary. Both the concentration of free fatty acid and CPT-1 protein expression rate were high in PV and MVP, but MVP was higher than PV. Cytochrome C oxidase was found to be higher in MPV than in CON. AMPK, $PPAR-{\gamma}$ and $PGC1-{\alpha}$ were all high in PV and MPV, but MPV was higher than PV. All the results above verified the thermogenesis effect of the fusion material, leading to an increase of energy metabolism, and it was thought that the fusion material could be effectively used for anti-obesity. However, it seems necessary to verify the anti-obesity effect through various further studies.

• International Journal of Aeronautical and Space Sciences
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• v.14 no.1
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• pp.91-98
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• 2013

The rigorous requirements of modern spacecraft missions necessitate a precise attitude determination strategy. This paper mainly researches that, based on three space-borne attitude sensors: 3-axis rate gyros, 3-antenna GPS receiver and star-sensor. To obtain global attitude estimation after an information fusion process, a feedback-involved Federated Kalman Filter (FKF), consisting of two subsystem Kalman filters (Gyros/GPS and Gyros/Star-sensor), is established. In these filters, the state equation is implemented according to the spacecraft's kinematic attitude model, while the residual error models of GPS and star-sensor observed attitude are utilized, to establish two observation equations, respectively. Taking the sensors' different update rates into account, these two subsystem filters are conducted under a variable step size state prediction method. To improve the fault tolerant capacity of the attitude determination system, this paper designs malfunction warning factors, based on the principle of ${\chi}^2$ residual verification. Mathematical simulation indicates that the information fusion strategy overwhelms the disadvantages of each sensor, acquiring global attitude estimation with precision at a 2-arcsecs level. Although a subsystem encounters malfunction, FKF still reaches precise and stable accuracy. In this process, malfunction warning factors advice malfunctions correctly and effectively.

• Journal of Korean Neurosurgical Society
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• v.61 no.5
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• pp.608-617
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• 2018

Objective : This study aimed to investigate the rates, types, and risk factors of surgical site infection (SSI) following spinal surgery using data from a Korean SSI surveillance system that included diagnoses made by surgeons. Methods : This was a prospective observational study of patients who underwent spinal surgeries at 42 hospitals in South Korea from January 2017 to December 2017. The procedures included spinal fusion, laminectomy, discectomy, and corpectomy. Univariate and multivariate logistic regression analyses were performed. Results : Of the 3080 cases included, 30 showed infection, and the overall SSI rate was 1.0% (an incidence of 1.2% in spinal fusion and 0.6% in laminectomy). Deep incisional infections were the most common type of SSIs (46.7%). Gram-positive bacteria caused 80% of the infections, and coagulase-negative staphylococci, including Staphylococcus epidermidis, accounted for 58% of the gram-positive bacteria. A longer preoperative hospital stay was significantly associated with the incidence of SSI after both spinal fusion and laminectomy (p=0.013, p<0.001). A combined operation also was associated with SSI after laminectomy (p=0.032). Conclusion : An SSI surveillance system is important for the accurate analysis of SSI. The incidence of SSI after spinal surgery assessed by a national surveillance system was 1.0%. Additional data collection will be needed in future studies to analyze SSI in spinal surgery.

• The Korean Journal of Physiology and Pharmacology
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• v.6 no.2
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• pp.81-85
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• 2002

Conventional views of synaptic transmission generally overlook the possibility of 'postfusional-control' the regulation of the speed or completeness of transmitter release upon vesicular fusion. However, such regulation often occurs in non-neuronal cells where the dynamics of fusion-pore opening is critical for the speed of transmitter release. In case of synapses, the slower the transmitter release, the smaller the size and rate-of-rise of postsynaptic responses would be expected if postsynaptic neurotransmitter receptors were not saturated. This prediction was tested at hippocampal synapses where postsynaptic AMPA-type glutamate receptors (AMPAR) were not generally saturated. Here, we found that the small miniature excitatory postsynaptic currents (mEPSCs) showed significantly slower rise times than the large mEPSCs when the sucrose-induced mEPSCs recorded in cyclothiazide (CTZ), a blocker for AMPAR desensitization, were sorted by size. The slow rise time of the small mEPSCs might result from slow release through a non-expanding fusion pore, consistent with postfusional control of neurotransmitter release at central synapses.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.5
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• pp.564-569
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• 2011

The current establishment of city gas piping polyethylene (PE) tube used as bonding state or part of the health or safety of fusion is very important. A part of these fusion methods to determine the soundness of the short-term trials and long-term tests can be largely classified. Typical tests include short-term strength, tensile strength, impact strength, compressive strength, resiliency and compression. Polyethylene (PE) pipes installed in the domestic terms of overall penetration rate of 45% has been used. However, polyethylene (PE) pipes have reliability problems, and these occurs mostly in part by defective welding. Therefore, the test is necessary for safety. Non-destructive methods (ultrasonic testing) are difficult to be used. Therefore, Polypropylene copolymer (PP-C), polypropylene homopolymer (PP-H), and polyethylene (PE) pipe are used. Fusion of these materials is necessary in these field however, its technical, and basic research has not been studied well. In this research, short-term strength of welding parts, its tensile strength, hardness, fatigue, and microstructure have been analyzed to find the optimum process conditions to improve mechanical properties.