• KSII Transactions on Internet and Information Systems (TIIS)
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• 제17권5호
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• pp.1339-1355
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• 2023

Localization is a hot research spot for many areas, especially in the mobile robot field. Due to the weak signal of the global positioning system (GPS), the alternative schemes in an indoor environment include wireless signal transmitting and receiving solutions, laser rangefinder to build a map followed by a re-localization stage and visual positioning methods, etc. Among all wireless signal positioning techniques, Wi-Fi is the most common one. Wi-Fi access points are installed in most indoor areas of human activities, and smart devices equipped with Wi-Fi modules can be seen everywhere. However, the localization of a mobile robot using a Wi-Fi scheme usually lacks orientation information. Besides, the distance error is large because of indoor signal interference. Another research direction that mainly refers to laser sensors is to actively detect the environment and achieve positioning. An occupancy grid map is built by using the simultaneous localization and mapping (SLAM) method when the mobile robot enters the indoor environment for the first time. When the robot enters the environment again, it can localize itself according to the known map. Nevertheless, this scheme only works effectively based on the prerequisite that those areas have salient geometrical features. If the areas have similar scanning structures, such as a long corridor or similar rooms, the traditional methods always fail. To address the weakness of the above two methods, this work proposes a coarse-to-fine paradigm and an improved localization algorithm that utilizes Wi-Fi to assist the robot localization in a geometrically similar environment. Firstly, a grid map is built by using laser SLAM. Secondly, a fingerprint database is built in the offline phase. Then, the RSSI values are achieved in the localization stage to get a coarse localization. Finally, an improved particle filter method based on the Wi-Fi signal values is proposed to realize a fine localization. Experimental results show that our approach is effective and robust for both global localization and the kidnapped robot problem. The localization success rate reaches 97.33%, while the traditional method always fails.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제17권12호
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• pp.3383-3397
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• 2023

Scene graphs serve as semantic abstractions of images and play a crucial role in enhancing visual comprehension and reasoning. However, the performance of Scene Graph Generation is often compromised when working with biased data in real-world situations. While many existing systems focus on a single stage of learning for both feature extraction and classification, some employ Class-Balancing strategies, such as Re-weighting, Data Resampling, and Transfer Learning from head to tail. In this paper, we propose a novel approach that decouples the feature extraction and classification phases of the scene graph generation process. For feature extraction, we leverage a transformer-based architecture and design an adaptive calibration function specifically for predicate classification. This function enables us to dynamically adjust the classification scores for each predicate category. Additionally, we introduce a Distribution Alignment technique that effectively balances the class distribution after the feature extraction phase reaches a stable state, thereby facilitating the retraining of the classification head. Importantly, our Distribution Alignment strategy is model-independent and does not require additional supervision, making it applicable to a wide range of SGG models. Using the scene graph diagnostic toolkit on Visual Genome and several popular models, we achieved significant improvements over the previous state-of-the-art methods with our model. Compared to the TDE model, our model improved mR@100 by 70.5% for PredCls, by 84.0% for SGCls, and by 97.6% for SGDet tasks.

• 생물환경조절학회지
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• 제10권1호
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• pp.1-9
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• 2001

참다래 과실의 생장은 2중 S자 곡선적으로 생장을 하지만, 그 곡선은 해에 불확실할 때가 있다. 이러한 원인을 과실조직의 수분상태에 의한 것으로 생각되어, 1995년과 1996년에 참다래 과실의 생장기간 중에 psychrometer를 사용하여 일중 과실조직의 수분상태 변화를 조사했다. 과실조직의 수분 포텐셀의 변화는 1996년의 과실생자의 제3기를 제외하고는 크지 않앗다. 1995년과 1995년 모두 과실의 수확기에 가까울수록 수분 포텐셜이 점진적으로 떨어졌다. 한편, 과실조직의 삼투 포텐셜은 수분 포텐셜과 비슷하게 변화를 했지만, 1995년 10월 14일의 동이 트기 전에 -1.5MPa로 급격히 떨어진 후, 3시간이 경과한 후 -1MPa로 회복되었고, 과실수확 적기에는 -1.7MPa까지 떨어졌다. 1996년의 과실은 1995년 과실보다 낮은 삼투 포텐셜을 나타냈다. 도관의 수분상태에 관계되는 잎의 수분 포텐셜은 1996년의 경우, 과실생장 제2깅 동이 트기 전에 불구하고 -1MPa 이하로 떨어졌다. 1995년은 과실수확 적기에만 1996년과 같이 -1MPa 이하로 떨어졌다. 1996년 과실은 과실생각 제2기에 과실의 삼투 포텐셜과 팽압의 상승이 1995년 과실보다 높았다. 이러한 요인들이 1996년 과실의 당 농도를 높게 하였다. 이들 parameter의 변화는 1996년 과실이 과실생장의 제3기에 수체가 수분 스트레스를 받았다는 사실을 암시하는 것이다. 따라서, 1995년 과실과 1996년 과실의 생장 차이는 기상변화에 따른 과실 조직의 수분상태에 의한 것으로 판단된다.

• Journal of Periodontal and Implant Science
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• 제35권1호
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• pp.53-63
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• 2005

Number of fixtures supporting prosthesis for rehabilitation of partial edentulism in distal area is an important factor in distal area to the bone tissue response around dental implant. Optimal number and optimal positioning of dental implant has leaded to the stable condition of bone tissue and successful long-term treatment outcome. This clinical and radiographic study was performed to document and evaluate the short-term result of occlusal rehabilitation by means of implant-supported fixed prostheses (ISPs) especially for partial edentulism in distal area in patients treated for advanced periodontal disease and to verify the number of fixture affecting the bone tissue response. A total of 30 consecutive patients referred because of advanced periodontal disease were included. Before the implant therapy was initiated, periodontal treatment was performed and the outcome evaluated during at least a 6-month period. An individual maintenance care program was designed for each patient. All 75 implants were placed using a 2-stage surgical approach. The patients were divided into 2 groups, in one of which two fixtures were placed and in the other of which three fixtures were placed with tripodal geometry. Following installation of the ISPs, all patients underwent a baseline examination including evaluation of i) oral hygiene, and ii) periodontal/ peri-implant conditions, and iii) radiographs. These examinations were repeated annually during the 1 or 2-year observation period. The results were as follows: 1.No single implant was lost during the observation follow-up period. 1.The percentage of plaque harboring surfaces and bleeding units upon probing were found to be low (<10%), and no soft tissue complications were recorded. 1.Two-fixture group showed bone destruction ranged from 0.0mm to 1.5mm and the mean was 0.31mm. Three-fixture group showed more bone destruction of 0.51mm. There was no statistically difference between two groups. These results suggested that the factor for success is not the number of fixture but the strict maintenance of peri-implant tissue health and initial stability of fixture.

• Journal of Microbiology and Biotechnology
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• 제27권11호
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• pp.1999-2009
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• 2017

The secretion efficiency of a protein in a Sec-type secretion system is mainly determined by an N-terminal signal peptide and its combination with its cognate protein. Five signal peptides, namely, two synthetic Sec-type and three Bacillus licheniformis alpha-amylase-derived signal peptides, were compared for periplasmic expression of the human growth hormone (hGH) in E. coli. Based on in silico predictions on the signal peptides' cleavage efficiencies and their corresponding mRNA secondary structures, a number of amino acid substitutions and silent mutations were considered in the modified signal sequences. The two synthetic signal peptides, specifically designed for hGH secretion in E. coli, differ in their N-terminal positively charged residues and hydrophobic region lengths. According to the mRNA secondary structure predictions, combinations of the protein and each of the five signal sequences could lead to different outcomes, especially when accessibility of the initiator ATG and ribosome binding sites were considered. In the experimental stage, the two synthetic signal peptides displayed complete processing and resulted in efficient secretion of the mature hGH in periplasmic regions, as was demonstrated by protein analysis. The three alpha-amylase-derived signal peptides, however, were processed partially from their precursors. Therefore, to achieve efficient secretion of a protein in a heterologous system, designing a specific signal peptide by using a combined approach of optimizations of the mRNA secondary structure and the signal peptide H-domain and cleavage site is recommended.

• Archives of Plastic Surgery
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• 제49권2호
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• pp.166-173
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• 2022

The introduction of acellular dermal matrix (ADM) to breast reconstruction has allowed surgeons to reexplore the prepectoral implant placement technique in postmastectomy breast reconstruction. Our institution adopted a novel approach using meshed ADM to lessen the financial burden of increased ADM utilization with the prepectoral breast reconstruction. This is a retrospective, single-center review of two-stage prepectoral breast reconstruction using meshed human-derived ADM for anterior prosthesis coverage. Patient demographics, oncologic data, perioperative characteristics, and complications were examined and reported as means with standard deviations. Cost-saving with the meshed technique was evaluated. Forty-eight patients (72 breasts) with a mean age of 48.5 ± 15.0 years (range 26-70 years) were included in the study. The mean follow-up time was 13.2 ± 4.4 months (range 4.1-25.8 months). Nineteen breasts (24.6%) experienced complications, with seromas being the most common complication (12.5%, n = 9). Expander removal and reoperation occurred at a rate of 8.3 and 9.7%, respectively. The average time to drain removal was 18.8 ± 6.6 days (range 8-32 days). Meshed ADM provided an average cost savings of $6,601 for unilateral and $13,202 for bilateral reconstructions. Our study found that human-derived meshed ADM can be safely used in two-staged prepectoral tissue expander-based breast reconstruction and can result in significant cost savings.

• 제어로봇시스템학회논문지
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• 제9권5호
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• pp.407-412
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• 2003

An effective methodology is .reported for determining the optimal capacity (lot-size) of batch processing and storage networks which include material recycle or reprocessing streams. We assume that any given storage unit can store one material type which can be purchased from suppliers, be internally produced, internally consumed and/or sold to customers. We further assume that a storage unit is connected to all processing stages that use or produce the material to which that storage unit is dedicated. Each processing stage transforms a set of feedstock materials or intermediates into a set of products with constant conversion factors. The objective for optimization is to minimize the total cost composed of raw material procurement, setup and inventory holding costs as well as the capital costs of processing stages and storage units. A novel production and inventory analysis formulation, the PSW(Periodic Square Wave) model, provides useful expressions for the upper/lower bounds and average level of the storage inventory hold-up. The expressions for the Kuhn-Tucker conditions of the optimization problem can be reduced to two subproblems. The first yields analytical solutions for determining batch sizes while the second is a separable concave minimization network flow subproblem whose solution yields the average material flow rates through the networks. For the special case in which the number of storage is equal to the number of process stages and raw materials storage units, a complete analytical solution for average flow rates can be derived. The analytical solution for the multistage, strictly sequential batch-storage network case can also be obtained via this approach. The principal contribution of this study is thus the generalization and the extension to non-sequential networks with recycle streams. An illustrative example is presented to demonstrate the results obtainable using this approach.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.444-448
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• 2005

This paper presents a developing procedure of the CAN-based real-time simulator for car body control, aiming at replacing the actual W/H (Wiring Harness) and J/B(Junction Box) couple eventually. The CAN protocol, as one kind of field-bus communication, defines the lowest 2 layers of the ISO/OSI standard, namely, the physical layer(PL) and the data link layer(DLL), for which the CSMA/NBA protocol is generally adopted. For CPU, two PIC18Fxx8x's are used because of their built-in integration of CAN controller, large internal FLASH memory (48K or 64K), and their costs. To control J/B's and actuators, 2 controller boards are separately implemented, between which CAN lines communicate through CAN transceivers MCP255. A power motor for washing windshield, 1 door lock motor, and 6 blink lamps are chosen for actuators of the simulator for the first stage. For the software architecture, a polling method is used for the fast global response time despite its slow individual response time. To improve the individual response time and to escape from some eventual trapped-function loops, High/Low ports of the CPU are simply used, which increases the stability of the actuator modules. The experimental test shows generally satisfactory results in normal transmitting / receiving function and message trace function. This simulator based on CAN shows a promising usefulness of lighter, more reliable and intelligent distributed body control approach than the conventional W/H and J/B couple. Another advantage of this approach lies in the distributed control itself, which gives better performance in hard real-time computing than centralized one, and in the ability of integrating different modules through CAN.

• 한국도로학회논문집
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• 제17권1호
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• pp.7-16
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• 2015

PURPOSES : This study was performed to determine a systematic approach for measuring the coefficient of thermal expansion (COTE) of concrete specimens. This approach includes the initial calibration of measurement equipment. Test variables include coarse aggregate types such as natural aggregate, job-site produced recycled concrete aggregate, and recycled aggregate processed from an intermediate waste treatment company. METHODS : First, two cylindrical SUS-304 specimens with a known COTE value of $17.3{\times}10^{-6}m/m/^{\circ}C$. were used as reference specimens for the calibration of each measurement system. The well-known AASHTO TP-60 COTE apparatus for concrete measurement was utilized in this study. Four different measurement apparatuses were used with each LVDT installed and a calibration value was determined using each measurement apparatus. RESULTS : In the initial experimental stage, calibration values for each measurement apparatus were assumed to be almost identical. However, using the SUS-304 samples as a reference, the calibration values for the four different measurement apparatuses were found to range from 3.49 to $8.86{\times}10^{-6}m/m/^{\circ}C$. Using different adjusted values for each measurement apparatuses, COTE values for the three different concrete specimens were obtained. The COTE value of concrete made with natural coarse aggregate was $9.91{\times}10^{-6}m/m/^{\circ}C$, that of job-site produced recycled coarse aggregate was $10.45{\times}10^{-6}m/m/^{\circ}C$, and that of recycled aggregate processed from the intermediate waste treatment company was $10.82{\times}10^{-6}m/m/^{\circ}C$. CONCLUSIONS : We observed that the COTE value of concrete made from recycled concrete aggregates (RCA) was higher than that of concrete made from natural coarse aggregate. This difference is due to the fact that the total volumetric mortar proportion in the RCA mix is higher than that in the concrete mix made with natural coarse aggregate.

• Tribology and Lubricants
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• 제33권2호
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• pp.37-44
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• 2017

A DE-side LBP tilting pad journal bearing of a 1-stage overhung heat-pump compressor in a propylene process exhibited abnormal high-temperature behavior. Its temperature had been relatively high at $78^{\circ}C$ from the beginning of operation. In 2014, after three years of operation, it increased suddenly and reached $103^{\circ}C$. Installing a varnish removal equipment and others managed to stabilize the temperature at $95^{\circ}C$. We undertook a troubleshooting approach for reviewing the comprehensive status and integrity of the temperature design of the bearing. We performed lubrication and heat-balance analysis, based on the design engineering data and documents supplied by the OEM. For the base design data of DE-side TPJB, evaluating the effects of key design variables on bearing metal temperature showed that firstly, increasing the bearing clearance and supply oil flow-rate, and next, changing the oil type, and finally, increasing the machined pad clearance and offset, are more effective in reducing the bearing metal temperature. Furthermore, a clarification meeting with the OEM revealed that an incorrect decision had been made to decrease the bearing clearance to eliminate the SSV harshness issue, while not maintaining a sufficient oil flow-rate. We conducted a detailed retrofit design analysis, wherein we increased the oil flow-rate and bearing clearance by decreasing the preload. We predicted that the bearing temperature would decrease to $63^{\circ}C$ from $75.7^{\circ}C$ even at the rerate condition. Finally, after installing and operating a retrofit replacement bearing in 2015, the bearing temperature stabilized at a low temperature of $65^{\circ}C$. Currently (January. 2017), two year later, the bearing metal temperature remains at $65^{\circ}C$. Therefore, we can conclude that the abnormal high-temperature behavior of the bearing has been resolved completely.