• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.12
• /
• pp.1223-1231
• /
• 2009

We derive a systematic and iterative calibration algorithm, and position and pose estimation algorithm for the mobile robots in formation system based on the vision system. In addition, we develop a coordinate matching algorithm which calculates matched sequence of order in both extracted image coordinates and object coordinates for non interactive calibration and pose estimation. Based on the results of calibration, we also develop a camera simulator to confirm the results of calibration and compare the results of simulations with those of experiments in position and pose estimation.

• ETRI Journal
• /
• v.43 no.2
• /
• pp.209-220
• /
• 2021

The filtered orthogonal frequency division multiplexing (F-OFDM) system has been recommended as a waveform candidate for fifth-generation (5G) communications. The suppression of out-of-band emission (OOBE) and asynchronous transmission are the distinctive features of the filtering-based waveform frameworks. Meanwhile, the high peak-to-average power ratio (PAPR) is still a challenge for the new waveform candidates. Partial transmit sequence (PTS) is an effective technique for mitigating the trend of high PAPR in multicarrier systems. In this study, the PTS technique is employed to reduce the high PAPR value of an F-OFDM system. Then, this system is compared with the OFDM system. In addition, the other related parameters such as frequency localization, bit error rate (BER), and computational complexity are evaluated and analyzed for both systems with and without PTS. The simulation results indicate that the F-OFDM based on PTS achieves higher levels of PAPR, BER, and OOBE performances compared with OFDM. Moreover, the BER performance of F-OFDM is uninfluenced by the use of the PTS technique.

• 한국신재생에너지학회:학술대회논문집
• /
• 2005.11a
• /
• pp.631-633
• /
• 2005

For biohydrogen production, hydrogenase is a key enzyme. In the present work we performed search of [NiFe]-hydrogenases from hydrogen producing microorganisms using degenerate polymerase chain reaction (PCR) strategy. Degenerate primers were designed from the conserved region of [NiFe]-hydrogenase group I especially on structural genes encoding for catalytic subunit of [NiFe]-hydrogenase from bacteria producing hydrogen. Most of [NiFe]-hydrogenase (group I) are expressed via complex mechanism with aid of auxiliary protein and localized through twin-arginine translocation pathway. [NiFe]-hydrogenase is composed of large and small subunits for catalytic activity. It is known that only small subunit has signal peptide for periplasmic localization and large & small subunitscome together before localization. During this process, large subunit is treated by endopeptidase for maturation. Based on these information we used signal peptide sequence and C-terminal of large subunit by recognized by endopeptidase as templates for degenerate primers. About 2,900 bp of PCR products were successfully amplified using the designed degenerate primers from genomic DNAs of several microorganisms. The amplified PCR products were inserted into T-vector and then sequenced to confirm.

• Animal cells and systems
• /
• v.11 no.2
• /
• pp.205-213
• /
• 2007

Nek6 belongs to NIMA1 (never in mitosis, gene A) related kinase, which was originally identified in Aspergillus nidulans as a serine/threonine kinase critical for cell cycle progression. We noticed that the putative SUMOylation site is localized on the $K^{252}$ residue in $^{251}FKsD^{254}$ of Nek6, based on the consensus sequence ${\Phi}KxE$; where ${\Phi}$ represents L, I, V or F and x is any amino acid. We observed that the Nek6 SUMO mutant (K252R) has decreased protein kinase activity, nuclear speckle localization and protein stability, compared with that of the Nek6 wild type. However, the Nek6 SUMO mutant increased the cell survival rate of COS-1 cells as determined by FACS analysis. Therefore, our data suggest that SUMOylation on the $K^{252}$ residue of Nek6 is required for its normal functions, such as proper nuclear localization, kinase activity and protein stability, to control cell cycle.

• The Journal of the Acoustical Society of Korea
• /
• v.16 no.3E
• /
• pp.50-55
• /
• 1997

Based on the anthropometric data of Korea male adults, a head and torso simulator(HATS) is constructed to measure its head related transfer functions (HRTFs) which can be used for three dimensional (3-D) sound localization. The HRTFs binaural impulse responses, are measured in an anechoic chamber using a burst maximum length sequence (MLS) signal of 65,535 samples and 32,768 samples acquisition at the sampling rate of 75.47kHz. Also measured are the impulse responses of a driving loudspeaker and some headphones for sound reproduction to get the exact HRTF of the HATS-alone. Through a post-processing procedure, the impulse-version HRTFs at the sampling frequency of 44.1 kHz, which have filter lengths of 512 points, are finally obtained. As an application of the measured HRTFs, a 3-D sound processor for headphone reproduction has been developed. The signal intervals to be processed can be selected and each interval is manipulated to have its diretionality and distance information by using corresponding HRTF and energy control.

• The KIPS Transactions:PartB
• /
• v.12B no.4 s.100
• /
• pp.387-394
• /
• 2005

This paper describes an idea for determining self-localization using visual landmark. The critical geometric dimensions of a pentagon are used here to locate the relative position of the mobile robot with respect to the pattern. This method has the advantages of simplicity and flexibility. This pentagon is also provided nth a unique identification, using invariant features and colors that enable the system to find the absolute location of the patterns. This algorithm determines both the correspondence between observed landmarks and a stored sequence, computes the absolute location of the observer using those correspondences, and calculates relative position from a pentagon using its (ive vortices. The algorithm has been implemented and tested. In several trials it computes location accurate to within 5 centimeters in less than 0.3 second.

• Proceedings of the Korea Contents Association Conference
• /
• 2007.11a
• /
• pp.12-16
• /
• 2007

The function of a protein is closely co-related with its subcellular location(s). Given a protein sequence, therefore, how to determine its subcellular location is a vitally important problem. We have developed a new prediction method for protein subcellular location(s), which is based on n-gram feature extraction and k-nearest neighbor (kNN) classification algorithm. It classifies a protein sequence to one or more subcellular compartments based on the locations of top k sequences which show the highest similarity weights against the input sequence. The similarity weight is a kind of similarity measure which is determined by comparing n-gram features between two sequences. Currently our method extract penta-grams as features of protein sequences, computes scores of the potential localization site(s) using kNN algorithm, and finally presents the locations and their associated scores. We constructed a large-scale data set of protein sequences with known subcellular locations from the SWISS-PROT database. This data set contains 51,885 entries with one or more known subcellular locations. Our method show very high prediction precision of about 93% for this data set, and compared with other method, it also showed comparable prediction improvement for a test collection used in a previous work.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2004.05a
• /
• pp.106-109
• /
• 2004

Many reported methods assume that the faces in an image or an image sequence have been identified and localization. Face detection from image is a challenging task because of variability in scale, location, orientation and pose. In this paper, we present an efficient linear discriminant for multi-view face detection. Our approaches are based on linear discriminant. We define training data with fisher linear discriminant to efficient learning method. Face detection is considerably difficult because it will be influenced by poses of human face and changes in illumination. This idea can solve the multi-view and scale face detection problem poses. Quickly and efficiently, which fits for detecting face automatically. In this paper, we extract face using fisher linear discriminant that is hierarchical models invariant pose and background. We estimation the pose in detected face and eye detect. The purpose of this paper is to classify face and non-face and efficient fisher linear discriminant..

• Proceedings of the Korea Information Processing Society Conference
• /
• 2012.04a
• /
• pp.950-952
• /
• 2012

음원 위치추정 시스템은 일반적으로 여러 개의 마이크에서 수집된 음원의 시간 간격을 이용해 음원의 위치를 추정하는 방식을 적용한다. 본 논문에서는 감시카메라에 적합한 4개의 마이크로폰을 이용한 음원 위치추정 시스템에서 마이크로폰에 수신된 음원의 도착순서를 이용해 음원의 위치를 추정하는 알고리즘을 제안하였다. 제안한 알고리즘을 시뮬레이션 프로그램을 통해 검증한 결과, 음원 추정각도의 오차는 $2^{\circ}{\sim}11.25^{\circ}$로 확인되었으며, 이는 실제각도의 오차범위인 $0^{\circ}{\sim}22.5^{\circ}$ 내에 해당하기 때문에 추정각도의 오차가 최대로 발생하더라도 음원이 발생한 위치를 파악 할 수 있음을 의미한다.

• Journal of Korean Society for Geospatial Information Science
• /
• v.21 no.3
• /
• pp.55-62
• /
• 2013

This paper aims to detect Speed Bump by using Omni-directional Camera and to suggest Real-time update scheme of Speed Bump through Vision Based Approach. In order to detect Speed Bump from sequence of camera images, noise should be removed as well as spot estimated as shape and pattern for speed bump should be detected first. Now that speed bump has a regular form of white and yellow area, we extracted speed bump on the road by applying erosion and dilation morphological operations and by using the HSV color model. By collecting huge panoramic images from the camera, we are able to detect the target object and to calculate the distance through GPS log data. Last but not least, we evaluated accuracy of obtained result and detection algorithm by implementing SLAMS (Simultaneous Localization and Mapping system).