• Journal of Plant Biology
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• v.27 no.4
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• pp.233-239
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• 1984

Reproductives structures of Pachymeniopsis elliptica (Holmes) Yamade (Rhodophyta, Grateloupiaceae) are investigated. In female gametophyte the carpogonial branch and auxiliary cell are produced in separate accessory branch system, the primary ampullar filament originated from mid-cortical layer. After fertilization, auxiliary cell joined with connecting filament becomes a fusion cell by fusing with several neighboring ampullar cells. The fusion cell produces a gonimoblast initial. It divides into gonimoblast cells, which later convert to carposporangia. In male gametophyte superficial cortical cells of vegetative filament produce two spermatangial mother cells which cut off up to three spermatangia respectively. Tetrasporangial initials are formed from the 6th to 12th cells of the cortical layer in tetrasporophyte, and divided cruciately to form tetrasporangium. Some of the sporangia are, however, divided zonately.

• Mycobiology
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• v.44 no.1
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• pp.7-13
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• 2016

The genets of Suillus granulatus in a Pinus strobus stand ($13m{\times}60m$) were identified using random amplified polymorphic DNA molecular markers and the DNA of mushrooms that fruited for two years, and variations in genet size and distribution were analyzed. From a total of 116 mushrooms, 73 genets were identified and were grouped into three locations. The genets of mushrooms in close proximity differed from each other. The genet sizes varied at any of the three locations. The lengths of the identified genets in the pine stand ranged from 0.09 to 2.90 m. The average number of mushrooms per genet was 1.2 to 2.3, and the percentage of genets that were represented by a single mushroom was 44% to 94%. This variation in the genets of mushrooms in close proximity suggests that the ectomycorrhizal mycelial bodies of S. granulatus propagated sexually by fusing haploid spores derived from the mushrooms gills with below-ground mycelia. Therefore, it is necessary further to investigate the formation of new genets through spores in ectomycorrhizal fungal colonies.

• Animal cells and systems
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• v.2 no.3
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• pp.371-375
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• 1998

Twenty-one monoclonal anti-DNA autoantilndies were produced by fusing spleen cells from an autoimmune MRL/lpr mouse with SP2/0 myeloma cells. Hybridomas generated by the fusions were chosen for cloning on the basis of DNA binding by supernatant antibody. Each monoclonal antibody was purified to homogeneity and analyzed for the heavy and light chain isotypes and the binding specificity for single-stranded DNA, double-stranded DNA, and RNA. Sequence specificities and isoelectric points of the antibodies were also examined. All of the antibodies were lgG and tended to bind to both single-stranded and double-stranded DNA with a preference for the double-stranded form. Some of them also bound to RNA. Isoelectric points of the antibodies were shown to be high. The antibodies described in this report have characteristics of pathogenic anti-DNA antibodies.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.255-262
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• 2011

Many intelligent robots have to be given environmental information to perform tasks. In this paper an intelligent robot, that is, a cleaning robot used a sensor fusing method of two sensors: LRF and StarGazer, and then was able to obtain the information. Throughout wall following using laser displacement sensor, LRF, the working area is built during the robot turn one cycle around the area. After the process of wall following, a path planning which is able to execute the work effectively is established using flow network algorithm. This paper describes an algorithm for minimal turning complete coverage path planning for intelligent robots. This algorithm divides the whole working area by cellular decomposition, and then provides the path planning among the cells employing flow networks. It also provides specific path planning inside each cell guaranteeing the minimal turning of the robots. The proposed algorithm is applied to two different working areas, and verified that it is an optimal path planning method.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.205-211
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• 2020

In this paper, we propose a modified ORB-SLAM (Oriented FAST and Rotated BRIEF Simultaneous Localization And Mapping) for precise indoor navigation of a mobile robot. The exact posture and position estimation by the ORB-SLAM is not possible all the times for the indoor navigation of a mobile robot when there are not enough features in the environment. To overcome this shortcoming, additional IMU (Inertial Measurement Unit) and encoder sensors were installed and utilized to calibrate the ORB-SLAM. By fusing the global information acquired by the SLAM and the dynamic local location information of the IMU and the encoder sensors, the mobile robot can be obtained the precise navigation information in the indoor environment with few feature points. The superiority of the modified ORB-SLAM was verified to compared with the conventional algorithm by the real experiments of a mobile robot navigation in a corridor environment.

• ETRI Journal
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• v.35 no.2
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• pp.352-355
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• 2013

Common stereoscopic three-dimensional (3D) display has a convergence and accommodation conflict that violates the natural human cognitive process of viewing. This weakness exposes the challenge in supporting fun factors while eliminating safety problems in the 3D viewing experience. Thus, human factors have become a major research topic. In this letter, we propose a 3D stereoscopic visualization platform that can expand the sense of a 3D space by fusing organically mixed stereoscopic displays to provide a continuous feeling of 3D depth. In addition, we present pilot test results to show the possibility of the technical implementation of the proposed platform and note ongoing research issues to be addressed.

• ETRI Journal
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• v.41 no.6
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• pp.782-796
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• 2019

This paper presents a hierarchical framework for managing the sampling distribution of a particle filter (PF) that estimates the global positions of mobile robots in a large-scale area. The key concept is to gradually improve the accuracy of the global localization by fusing sensor information with different characteristics. The sensor observations are the received signal strength indications (RSSIs) of Wi-Fi devices as network facilities and the range of a laser scanner. First, the RSSI data used for determining certain global areas within which the robot is located are represented as RSSI bins. In addition, the results of the RSSI bins contain the uncertainty of localization, which is utilized for calculating the optimal sampling size of the PF to cover the regions of the RSSI bins. The range data are then used to estimate the precise position of the robot in the regions of the RSSI bins using the core process of the PF. The experimental results demonstrate superior performance compared with other approaches in terms of the success rate of the global localization and the amount of computation for managing the optimal sampling size.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.3
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• pp.273-283
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• 2008

This article describes a cooperative localization technique of multiple robots sharing position information of each robot. In case of conventional methods such as EKF, they need to linearization process. Consequently, they are not able to guarantee that their result is range containing true value. In this paper, we propose a method to merge the data of redundant sensors based on constraints propagation techniques on intervals. The proposed method has a merit guaranteeing true value. Especially, we apply the constraints propagation technique fusing wheel encoders, a gyro, and an inexpensive GPS receiver. In addition, we utilize the correlation between GPS data in common workspace to improve localization performance for multiple robots. Simulation results show that proposed method improve considerably localization performance of multiple robots.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.207-214
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• 2010

This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.639-645
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• 2010

This paper presents the sensor fusion algorithm that recognizes a primary vehicle by fusing radar and monocular vision data. In general, most of commercial radars may lose tracking of the primary vehicle, i.e., the closest preceding vehicle in the same lane, when it stops or goes with other preceding vehicles in the adjacent lane with similar velocity and range. In order to improve the performance degradation of radar, vehicle detection information from vision sensor and path prediction predicted by ego vehicle sensors will be combined for target classification. Then, the target classification will work with probabilistic association filters to track a primary vehicle. Finally the performance of the proposed sensor fusion algorithm is validated using field test data on highway.