• 로봇학회논문지
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• 제14권2호
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• pp.87-93
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• 2019

This paper presents a 6-DOF relocalization using a 3D laser scanner and a monocular camera. A relocalization problem in robotics is to estimate pose of sensor when a robot revisits the area. A deep convolutional neural network (CNN) is designed to regress 6-DOF sensor pose and trained using both RGB image and 3D point cloud information in end-to-end manner. We generate the new input that consists of RGB and range information. After training step, the relocalization system results in the pose of the sensor corresponding to each input when a new input is received. However, most of cases, mobile robot navigation system has successive sensor measurements. In order to improve the localization performance, the output of CNN is used for measurements of the particle filter that smooth the trajectory. We evaluate our relocalization method on real world datasets using a mobile robot platform.

• 한국환경성돌연변이발암원학회:학술대회논문집
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• 한국환경성돌연변이발암원학회 2002년도 Molecular and Cellular Response to Toxic Substances
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• pp.80-88
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• 2002

Recent studies demonstrate that collagen IV selectively pro-motes the repair of physiological processes in sublethally injured renal proximal tubular ceils (RPTC). We sought to further define the mechanisms of cell repair by measuring the effects of toxicant injury and stimulation of repair by L-ascorbic acid-2-phosphate (AscP), exogenous collagen IV, or function-stimulating integrin antibodies on the expression and subcellular localization of collagen-binding integrins (CBI) in RPTC. Expression of CBI subunits ${\alpha}_1$, ${\alpha}_2$, and ${\beta}_1$ in RPTC was not altered on day 1 after sublethal injury by S-(1,2-dichlorovinyl)-L-cysteine (DCVC). On day 6, expression of ${\alpha}_1$ and ${\beta}_1$ subunits remained unchanged, whereas a 2.2-fold increase in ${\alpha}_2$ expression was evident in injured RPTC. CBI localization in control RPTC was limited exclusively to the basal membrane. On day 1 after injury, RPTC exhibited a marked inhibition of active $Na^+$ transport and a loss of cell polarity characterized by a decrease in basal CBI localization and the appearance of CBI on the apical membrane. On day 6 after injury, RPTC still exhibited marked inhibition of active $Na^+$ transport and localization of CBI to the apical membrane. However, DCVC-injured RPTC cultured in pharmacological concentrations of AscP (500 ${\mu}$M)or exogenous collagen IV (50 ${\mu}$g/ml) exhibited an increase inactive $Na^+$ transport, relocalization of CBI to the basal membrane, and the disappearance of CBI from the apical membrane on day 6. Function-stimulating antibodies to CBI ${\beta}_1$ did not promote basal relocalization of CBI despite stimulating the repair of $Na^+$/$K^+$-ATPase activity on day 6 after injury. These data demonstrate that DCVC disrupts integrin localization and that physiological repair stimulated by AscP or collagen IV is associated with the basal relocalization of CBI in DCVC-injured RPTC. These data also suggest that CBI-mediated repair of physiological functions may occur independently of integrin relocalization.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.369-370
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• 2010

• 로봇학회논문지
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• 제17권3호
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• pp.334-338
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• 2022

In visual simultaneous localization and mapping (vSLAM), the correct recognition of a place benefits in relocalization and improved map accuracy. However, its performance is significantly affected by the environmental conditions such as variation in light, viewpoints, seasons, and presence of dynamic objects. This research addresses the problem of feature occlusion caused by interference of dynamic objects leading to the poor performance of visual place recognition algorithm. To overcome the aforementioned problem, this research analyzes the role of scene semantics in correct detection of a place in challenging environments and presents a semantics aided visual place recognition method. Semantics being invariant to viewpoint changes and dynamic environment can improve the overall performance of the place matching method. The proposed method is evaluated on the two benchmark datasets with dynamic environment and seasonal changes. Experimental results show the improved performance of the visual place recognition method for vSLAM.

• Parasites, Hosts and Diseases
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• 제59권2호
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• pp.173-178
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• 2021

The DM9 domain is a protein unit of 60-75 amino acids that has been first detected in the fruit fly Drosophila as a repeated motif of unknown function. Recent research on proteins carrying DM9 domains in the mosquito Anopheles gambiae and the oyster Crassostrea gigas indicated an association with the uptake of microbial organisms. Likewise, in the trematode Fasciola gigantica DM9-1 showed intracellular relocalization following microbial, heat and drug stress. In the present research, we show that FgDM9-1 is a lectin with a novel mannose-binding site that has been recently described for the protein CGL1 of Crassostrea gigas. This property allowed FgDM9-1 to agglutinate gram-positive and -negative bacteria with appropriate cell surface glycosylation patterns. Furthermore, FgDM9-1 caused hemagglutination across all ABO blood group phenotypes. It is speculated that the parenchymal located FgDM9-1 has a role in cellular processes that involve the transport of mannose-carrying molecules in the parenchymal cells of the parasite.

• Journal of Plant Biotechnology
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• 제40권1호
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• pp.9-17
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• 2013

Ran is a small GTP-binding protein that binds and subsequently hydrolyzes GTP. The functions of Ran in nuclear transport and mitotic progression are well conserved in plants and animals. In animal cells, stress treatments cause Ran relocalization and slowing of nuclear transport, but the role of Ran proteins in plant cells exposed to stress is still unclear. We have therefore compared Ran genes from three EST libraries construed from different cell types of sweetpotato and the distribution pattern of Ran ESTs differed according to cell type. We further characterized two IbRan genes. IbRan1 is a specific EST to the suspension cells and leaf libraries, and IbRan2 is specific EST to the root library. IbRan1 showed 94.6 % identity with IbRan2 at the amino acid level, but the C-terminal region of IbRan1 differed from that of IbRan2. These two genes showed tissue-specific differential regulation in wounded tissues. Chilling stress induced a similar expression pattern in both IbRan genes in the leaves and petioles, but they were differently regulated in the roots. Hydrogen peroxide treatment highly stimulated IbRan2 mRNA expression in the leaves and petioles, but had no significant effect on IbRan1 gene expression. These results showed that the transcription of these two IbRan genes responds differentially to abiotic stresses and that they are subjected to tissue-specific regulation. Plant Ran-type small G-proteins are a multigenic family, and the characterization of each Ran genes under various environmental stresses will contribute toward our understanding of the distinctive function of each plant Ran isoform.

• 생명과학회지
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• 제26권9호
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• pp.1097-1104
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• 2016

차세대 염기서열 분석기술의 발달로 대량의 전사수준의 단위체들이 발견되었는데, 이것들 중 대부분의 전사체들은 비암호화 RNA들이다. 이들 중 긴 비암호화 RNA (lncRNA)들은 200개 이상의 뉴클레오티드를 가지며 단백질로 번역이 되지 않는 기능적 RNA 분자들이다. 식물의 lncRNA들은 RNA Pol II, Pol III, Pol IV, Pol V에 의해 전사체가 만들어지고, 전사 후 이들 lncRNA들은 추가적인 splicing과 polyadenylation 과정이 일어난다. 식물의 lncRNA들은 그 발현수준이 매우 낮고, 조직 특이적으로 발현 되지만, 이들 lncRNA들은 외부자극에 의해 강한 발현이 유도된다. 환경스트레스를 포함한 각기 다른 외부자극에 의해 많은 식물 lncRNA들의 발현이 유도되었기 때문에 이들 lncRNA들은 식물의 다양한 생물학적 기능과 식물의 생장발달 과정에 있어 새로운 조절 인자로 고려되고 있다. 특히 후성유전학적인 유전자 억제, 크로마틴 변형, 타겟모방, 광형태형성, 단백질 재배치, 환경스트레스 반응, 병원균 감염등에 관련하여 기능을 한다. 또한 어떤 lncRNA들은 short RNA들의 전구체로 역할도 한다. 최근 식물에서 많은 lncRNA들이 분리 동정되었지만, 이들 lncRNA들의 생리학적인 기능에 대한 현재의 이해는 여전히 제한적이고, 이들의 세부적인 조절 메커니즘 연구는 지속적으로 이루어져야 할 것이다. 이 총설에서는 식물 lncRNA들의 생합성 및 조절 메커니즘과 현재까지 밝혀진 분자수준에서의 중요한 기능들을 요약 정리하였다.