• Journal of the Institute of Convergence Signal Processing
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• v.5 no.4
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• pp.256-262
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• 2004

A key component of an autonomous mobile robot is to localize itself and build a map of the environment simultaneously. In this paper, we propose a vision-based localization and mapping algorithm of mobile robot using fisheye lens. To acquire high-level features with scale invariance, a camera with fisheye lens facing toward to ceiling is attached to the robot. These features are used in mP building and localization. As a preprocessing, input image from fisheye lens is calibrated to remove radial distortion and then labeling and convex hull techniques are used to segment ceiling and wall region for the calibrated image. At the initial map building process, features we calculated for each segmented region and stored in map database. Features are continuously calculated for sequential input images and matched to the map. n some features are not matched, those features are added to the map. This map matching and updating process is continued until map building process is finished, Localization is used in map building process and searching the location of the robot on the map. The calculated features at the position of the robot are matched to the existing map to estimate the real position of the robot, and map building database is updated at the same time. By the proposed method, the elapsed time for map building is within 2 minutes for 50㎡ region, the positioning accuracy is ±13cm and the error about the positioning angle of the robot is ±3 degree for localization.

• Culinary science and hospitality research
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• v.18 no.5
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• pp.176-189
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• 2012

This study was conducted to investigate the effective educational and promotional strategies for the Special Act on the Safety Management of Children's Dietary Life on the basis of the survey conducted on parents. First of all, its result showed that most parents are well aware of the main contents of the law. They answered that, when choosing safe favorite food for children, the most important part is the article "Regulations on the standards for children's favorite food should be reinforced." As for the index of safety management for children's dietary life, most respondents think safety the most important; housewives and nuclear family members choose safety (p<.01), while large family members do nutrition. For the question asking how they get the information on safety management for children's dietary life, most of them answered that they generally use mass media, family and friends as a reference. Those with high income usually get the information from special books, those between 30s and 50 from mass media, and those with college graduates from civil social groups (p<.05). In case of taking the safety education programs for children's dietary life, they told that the most necessary information is concerned with hygienic dietary life and nutrition labeling on processed food; housewives are interested in the latter, while working people in the former (p<.05). As a method of informing parents of the Special Act on the Safety Management of Children's Dietary Life, mass media such as TV and radio, and school education are suggested in this survey. Therefore, this study proposes that mass media be considered as the most effective way of promoting the Special Act on the Safety Management of Children's Dietary Life and getting information concerning the law.

• Journal of IKEEE
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• v.9 no.1 s.16
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• pp.7-18
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• 2005

A key component of an autonomous mobile robot is to localize itself accurately and build a map of the environment simultaneously. In this paper, we propose a vision-based mobile robot localization and mapping algorithm using scale-invariant features. A camera with fisheye lens facing toward to ceiling is attached to the robot to acquire high-level features with scale invariance. These features are used in map building and localization process. As pre-processing, input images from fisheye lens are calibrated to remove radial distortion then labeling and convex hull techniques are used to segment ceiling region from wall region. At initial map building process, features are calculated for segmented regions and stored in map database. Features are continuously calculated from sequential input images and matched against existing map until map building process is finished. If features are not matched, they are added to the existing map. Localization is done simultaneously with feature matching at map building process. Localization. is performed when features are matched with existing map and map building database is updated at same time. The proposed method can perform a map building in 2 minutes on $50m^2$ area. The positioning accuracy is ${\pm}13cm$, the average error on robot angle with the positioning is ${\pm}3$ degree.

• Korean Journal of Animal Reproduction
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• v.26 no.2
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• pp.173-182
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• 2002

The mechanisms underlying of the visual assessment and resulting in optimum embryonic development following in vitro maturation, fertilization, and culture are unclear, It was known that in vitro produced embryos show more frequent occurrence of fragmentation, which resulted in poor developmental potential and decreased implantation rate. The objective of this study was to investigate the apoptotic rates in bovine blastocyst derived from in vitro fertilization (IVF) and nuclear transfer (NT). In addition, the expression levels of Bcl-2 and Bax gene were investigated in the blastocyst to confirm their potential roles in the regulation of apoptosis during preimplantation embryonic development. Analysis of apoptosis was carried out by using terminal deoxynucleotidyl transferase mediate dUTP nick end labeling (TUNEL) method. The levels of Bcl-2 and Bax gene in the blastocyst derived from IVF and NT were determined by RT-PCR. The proportion of TUNEL positive signal in blastocyst derived from NT was significantly higher than that in blastocyst derived from IVF (p<0.001). Bcl-2 expression level of blastocyst derived from IVF was higher than that of blstocyst derived from NT. However, high expression level of Bax was observed in the blastocyst derived from NT. These results indicates that apoptosis is more responsible for fiagmentation in bovine blastocyst derived from NT than IVF. These results suggested that the increase of developmental failure followed by NT could be caused by nuclear fragmentation as apoptosis.

• Journal of Life Science
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• v.12 no.3
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• pp.250-255
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• 2002

Fluorescent species-specific DNA probe (AT1) of toxic dinoflagellate Arexandrium tamarense was tested on several other species, on comparison of binding activity at different preservatives for fixation of the cells, at different culture age and estimation of cell density by light microscope or epifluorescent microscope using whole cell hybridization. Th AT1 probe specifically bound to Alexandrium tamarense, whereas it did not bind to other phytoplankton, in particular Alexandrium catenella, morphologically similar to Alexandrium tamarense, could not react to AT1 probe. When cells were fixed with all three preservatives, labeling cells of Alexandrium tamarense emitted strong fluorescent signal intensity. In addition, regardless culture days, binding activity with AT1 probe was strong. The tell densities estimated by epifluorescent microscope were than those estimated by light microscope. The enumeration and identifying of Arexandriurn tamarense using DNA probe method will be contributed to a new biotoxin monitoring and prediction system in field.

• Journal of Food Hygiene and Safety
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• v.32 no.2
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• pp.83-88
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• 2017

We introduced disposable amperometric immunosensors for the detection of Sildenafil and Vardenafil (SDF/VDF) based on screen printed carbon electrodes. The developed immunosensors were used as a non-competitive sandwich-type enzyme immunoassay with a horseradish peroxidase label. The sensors were constructed on screen printed carbon electrodes by the simple electrochemical deposition of a reduced graphene oxide and chitosan (ErGO-CS) composite. To evaluate the sensing chemistry and optimize the sensor characteristics, a series of electrochemical experiments were carried out including electrochemical impedance spectroscopy, cyclic voltammetry and amperometry. The sensors showed a linear response to SDF/VDF concentrations in a range from 100 pg/mL to 300 ng/mL. The lower detection limit was calculated to be 55 pg/mL, the sensitivity was calculated to be $1.02{\mu}Ang/mL/cm^2$, and the sensor performance exhibited good reproducibility with a relative standard deviation (RSD) of 7.1%. The proposed sensing chemistry strategy and the sensor format can be used as a simple, cost-effective, and feasible method for the in-field analysis of SDF/VDF in functional or health supplement food samples.

• Journal of Korean Neurosurgical Society
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• v.29 no.4
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• pp.461-470
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• 2000

Objective : Many investigators have demonstrated the protective effects of hypothermia following traumatic brain injury(TBI) in both animals and humans. It has long been recognized that mild to moderate hypothermia improves neurologic outcomes as well as reduces histologic and biochemical sequelae after TBI. In this study, two immunohistochemical staining using terminal deoxynucleotidyl-transferase-mediated biotin dUTP nick end labeling(TUNEL), staining of apoptosis, and ${\beta}$-amyloid precursor protein(${\beta}$-APP), a marker of axonal injury, were done and the authors evaluated the protective effects of hypothermia on axonal and neuronal injury after TBI in rats. Material and Method : The animals were prepared for the delivery of impact-acceleration brain injury as described by Marmarou and colleagues. TBI is achieved by allowing of a weight drop of 450gm, 1 m height to fall onto a metallic disc fixed on the intact skull of the rats. Fourty Sprague-Dawley rats weighing 400 to 450g were subjected to experimental TBI induced by an impact-acceleration device. Twenty rats were subjected to hypothermia after injury, with their rectal temperatures maintained at $32^{\circ}C$ for 1 hour. After this 1-hour period of hypothermia, rewarming to normothermic levels was accomplished over 30-minute period. Following 12 hours, 24 hours, 1 week and 2 weeks later the animals were killed and semiserial sagittal sections of the brain were reacted for visualization of the apoptosis and ${\beta}$-APP. Results : The density of ${\beta}$-APP marked damaged axons within the corticospinal tract at the pontomedullary junction and apoptotic cells at the contused cerebral cortex were calculated for each animal. In comparison with the untreated controls, a significant reduction in ${\beta}$-APP marked damaged axonal density and apoptotic cells were found in all hypothermic animals(p<0.05). Conclusion : This study shows that the posttraumatic hypothermia result in substantial protection in TBI, at least in terms of the injured axons and neurons.

• Journal of Nutrition and Health
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• v.47 no.3
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• pp.193-205
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• 2014

Purpose: This study was conducted in order to investigate nutrient and food intake status and dietary quality in Korean adults according to nutrition label utilization. Methods: We analyzed data from the combined 2010-2011 KNHANES (Korean National Health and Nutrition Examination Survey). The analysis included 8190 adults aged 19 to 64 years. In this study, according to nutrition label utilization, we classified the subjects according to the "non-utilization of nutrition label (NUNL)" group (male, n = 2716, female, n = 3147), "identification of nutrition label (INL)" group (male, n = 143, female, n = 330), and "Utilization of nutrition label (UNL)" group (male, n = 363, female, n = 1491). Nutrient and food group intake, NAR (nutrient adequacy ratio), MAR (mean adequacy ratio), and INQ (index of nutritional quality) were analyzed using data from the 24-recall method. Results: Results of this study showed that subjects in the NUNL group were significantly more likely to drink alcohol compared with the other two groups. The NUNL group showed a significantly higher frequency of consuming instant noodles, Soju (male), and carbonated drink (female) than the UNL group, whereas the NUNL group showed a significantly lower frequency of consuming milk, soymilk, and yogurt than the UNL group. In addition, regarding diet quality (NAR and INQ), significantly lower vitamin $B_2$, vitamin C, and calcium was observed in the NUNL group compared with the UNL group. For both male and female, significantly higher MAR was observed in the UNL group than in the NUNL group. The NUNL group showed significantly lower consumption of milk compared to the UNL group. Conclusion: Good dietary practice such as referring to nutrition labels and its influence can affect the quality of nutritional intake and selection of food, while it can also provide basic data for specific nutrition education regarding use of nutrition labeling.

• Korean Journal of Remote Sensing
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• v.15 no.2
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• pp.147-158
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• 1999

Remote sensing technique has offered better understanding of our environment for the decades by providing useful level of information on the landcover. In many applications using the remotely sensed data, digital image processing methodology has been usefully employed to characterize the features in the data and develop the models. Random field models, especially Markov Random Field (MRF) models exploiting spatial relationships, are successfully utilized in many problems such as texture modeling, region labeling and so on. Usually, remotely sensed imagery are very large in nature and the data increase greatly in the problem requiring temporal data over time period. The time required to process increasing larger images is not linear. In this study, the methodology to reduce the computational cost is investigated in the utilization of the Markov Random Field. For this, multiresolution framework is explored which provides convenient and efficient structures for the transition between the local and global features. The computational requirements for parameter estimation of the MRF model also become excessive as image size increases. A Bayesian approach is investigated as an alternative estimation method to reduce the computational burden in estimation of the parameters of large images.

• Journal of the Korea institute for structural maintenance and inspection
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• v.25 no.4
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• pp.65-74
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• 2021

In order to efficiently inspect rapidly increasing old tunnels in many well-developed countries, many inspection methodologies have been proposed using imaging equipment and image processing. However, most of the existing methodologies evaluated their performance on a clean concrete surface with a limited area where other objects do not exist. Therefore, this paper proposes a 6-step framework for tunnel crack detection deep learning model development. The proposed method is mainly based on negative sample (non-crack object) training and Cascade Mask R-CNN. The proposed framework consists of six steps: searching for cracks in images captured from real tunnels, labeling cracks in pixel level, training a deep learning model, collecting non-crack objects, retraining the deep learning model with the collected non-crack objects, and constructing final training dataset. To implement the proposed framework, Cascade Mask R-CNN, an instance segmentation model, was trained with 1561 general crack images and 206 non-crack images. In order to examine the applicability of the trained model to the real-world tunnel crack detection, field testing is conducted on tunnel spans with a length of about 200m where electric wires and lights are prevalent. In the experimental result, the trained model showed 99% precision and 92% recall, which shows the excellent field applicability of the proposed framework.