• Journal of Drive and Control
• /
• v.20 no.4
• /
• pp.1-8
• /
• 2023

In recent years, robots have been utilized in various industries to reduce workload and enhance work efficiency. The following mobility offers users convenience by autonomously tracking specific locations and targets without the need for additional equipment such as forklifts or carts. In this paper, deep learning techniques were employed to recognize individuals and assign each of them a unique identifier to enable the recognition of a specific person even among multiple individuals. To achieve this, the distance and angle between the robot and the targeted individual are transmitted to respective controllers. Furthermore, this study explored the control methodology for mobility that tracks a specific person, utilizing Simultaneous Localization and Mapping (SLAM) and Proportional-Integral-Derivative (PID) control techniques. In the PID control method, a genetic algorithm is employed to extract the optimal gain value, subsequently evaluating PID performance through simulation. The SLAM method involves generating a map by synchronizing data from a 2D LiDAR and a depth camera using Real-Time Appearance-Based Mapping (RTAB-MAP). Experiments are conducted to compare and analyze the performance of the two control methods, visualizing the paths of both the human and the following mobility.

• Progress in Medical Physics
• /
• v.24 no.2
• /
• pp.127-132
• /
• 2013

The position of the internal organs can change continually and periodically inside the body due to the respiration. To reduce the respiration induced uncertainty of dose localization, one can use a respiratory gated radiotherapy where a radiation beam is exposed during the specific time of period. The main disadvantage of this method is that it usually requests a long treatment time, the massive effort during the treatment and the limitation of the patient selection. In this sense, the combination of the real-time position management (RPM) system and the volumetric intensity modulated radiotherapy (RapidArc) is promising since it provides a short treatment time compared with the conventional respiratory gated treatments. In this study, we evaluated the accuracy of the respiratory gated RapidArc treatment. Total sic patient cases were used for this study and each case was planned by RapidArc technique using varian ECLIPSE v8.6 planning machine. For the Quality Assurance (QA), a MatriXX detector and I'mRT software were used. The results show that more than 97% of area gives the gamma value less than one with 3% dose and 3 mm distance to agreement condition, which indicates the measured dose is well matched with the treatment plan's dose distribution for the gated RapidArc treatment cases.

• Science of Emotion and Sensibility
• /
• v.20 no.3
• /
• pp.13-22
• /
• 2017

Emotion has a direct influence such as decision-making, perception, etc. and plays an important role in human life. For the convenient and accurate recognition of high-arousal negative emotion, the purpose of this paper is to design an algorithm for analysis using the bio-signal. In this study, after two emotional induction using the 'normal' / 'fear' emotion types of videos, we measured the Galvanic Skin Response (GSR) signal which is the simple of bio-signals. Then, by decomposing Tonic component and Phasic component in the measured GSR and decomposing Skin Conductance Very Slow Response (SCVSR) and Skin Conductance Slow Response (SCSR) in the Phasic component associated with emotional stimulation, extracting the major features of the components for an accurate analysis, we used a discrete wavelet transform with excellent time-frequency localization characteristics, not the method used previously. The extracted features are maximum value of Phasic component, amplitude of Phasic component, zero crossing rate of SCVSR and zero crossing rate of SCSR for distinguishing high-arousal negative emotion. As results, the case of high-arousal negative emotion exhibited higher value than the case of low-arousal normal emotion in all 4 of the features, and the more significant difference between the two emotion was found statistically than the previous analysis method. Accordingly, the results of this study indicate that the GSR may be a useful indicator for a high-arousal negative emotion measurement and contribute to the development of the emotional real-time rating system using the GSR.

• The Journal of the Acoustical Society of Korea
• /
• v.43 no.4
• /
• pp.414-421
• /
• 2024

In this paper, we design and verify a system that can detect piping leakage noise in an environment with significant reverberation and reflection using a multi-channel acoustic sensor module as a technology to prevent major plant accidents caused by leakage. Four-channel microphones arranged in a tetrahedron are designed as a single sensor module to measure three-dimensional sound intensity vectors. In an environment with large effects of reverberation and reflection, the measurement error of each sensor module increases on average, so after placing multiple sensor modules in the field, measurement results showing locations with large errors due to effects such as reflection are excluded. Using the intersection between three-dimensional vectors obtained from several pairs of sensor modules, the coordinates where the sound source is located are estimated, and outliers (e.g., positions estimated to be outside the site, positions estimated to be far from the average position) are detected and excluded among the points. For achieving aforementioned goal, an excluding algorithm by deciding the outliers among the estimated positions was proposed. By visualizing the estimated location coordinates of the leakage sound on the site drawing within 1 second, we construct and verify a system that can detect the location of the leakage sound in real time and enable immediate response. This study is expected to contribute to improving accident response capabilities and ensuring safety in large plants.

• Reproductive and Developmental Biology
• /
• v.34 no.3
• /
• pp.135-141
• /
• 2010

Embryoid bodies (EBs) generated from human embryonic stem cells (hESCs) include spontaneously induced endodermal lineage cells (ELCs). Activin-A plays important roles in the endoderm differentiation of hESCs. Despite studies on the generation of ELCs from hESCs with treatment of Actvin-A, it was unclear for localization and pattern of ELCs by Activin-A during differentiation of hESCs. Accordingly in this study, we knew that Actvin-A increased the cystic EBs formation, including the highly enriched AFP (endoderm lineage specific marker)-expressing cells in the surface of cystic EBs. To induce the EBs formation from undifferentiated hESCs, cells were transferred onto petri-dish and cultured in suspension condition without bFGF removed hESC media (EB media) for 3 days. Next to investigate the effect of Activin-A, EBs were subsequently cultured in EB media supplement with 100 ng/ml Activin-A for 3 days. After 5~7 days of Activin-A treatment, cystic EBs began to appear which increased in numbers reaching ~60% of initially formed EBs over 5 days. Endoderm lineage marker, AFP were highly expressed and specifically localized at the surface region of cystic EBs comparison with normal EBs. We next attached the cystic EBs onto gelatin-coated plates and cultured for 5 days. In the results of real-time PCR and immunocytochemistry analysis, AFP-expressing cells migrated and localized at the outgrowth region of attached cystic EBs. To obtain the AFP-expressing cells of the outgrowth region, we manually isolated by using micro-dissection and cultured them. These cells strongly express AFP over 70% of isolated cells post re-plating. Here, we first showed an expression pattern of specifically localized ELCs by Activin-A during differentiation of hESCs. From this observation, we could highly purified ELCs from undifferentiated hESCs. Taken together, our system will provide a novel and efficient option to generate ELCs from hESCs.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.50 no.12
• /
• pp.277-284
• /
• 2013

The analysis of phase synchronization characteristics from EEG signals is important for the understanding of information processing functionality in the brain network. In this paper, wavelet transformation(WT), Hilbert tansformation (HT), complex demodulation (CD) methods having time localization characteristics were applied to real evoked potential data and noise added simulation data with center frequencies corresponding to EEG bands for the estimation performance analysis of phase offset, phase changing point, and interband crosstalk. The WT is the best both in ${\delta}$, ${\theta}$, and ${\alpha}$ band signal decomposition, and in analyzing phase synchronization performance. The CD can be efficiently used in changing point detection under tolerant noise condition because of its abrupt performance degradation over noise endurance level. From experimental observations, the WT is the most suitable in phase synchronization application of EEG signal, and the CD can be affordable in restricted application such as changing point detection for higher bands than ${\delta}$. Particularly, WT and CD can be used to detect the changing instant of brain function by indirectly estimating the phase changing point.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.37 no.1C
• /
• pp.1-7
• /
• 2012

At the industrial work site, the manufacturing process is being automated to improve work efficiency. However, it is often difficult to automate the entire manufacturing process, and there are spaces in which workers there are constantly exposed to danger. To protect such workers from the danger, this paper studied a worker safety management system for the industrial work site which uses a location recognition system and which is based on the Ubiquitous-Wireless Sensor Network (U-WSN). Using wireless signals, the distance between two devices can be measured and the location of a worker can be calculated using triangularization in 3-D. But at the industrial work sites where there are a lot of steel and structures, errors occur due to signal reflection and multi-path, etc., which makes it difficult to get the accurate location. To address this problem the following was done: first, a circular polarization patch antenna appropriate to the work site was used to reduce the degree of error that may occur from the antenna emission pattern and the particular Line of Sight (LOS); second, a 3-D localization technique and a filtering algorithm were used to improve the accuracy of location determination. The developed system was tested by using it on a wharf crane to validate its accuracy and effectiveness. The proposed location recognition system is expected to contribute greatly in ensuring the safety of workers at industrial work sites.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.32 no.2C
• /
• pp.141-149
• /
• 2007

Associating the shoulder line with head location of the human body is useful in verifying, localizing and tracking persons in an image. Since the head line and the shoulder line, what we call ${\Omega}$-shape, move together in a consistent way within a limited range of deformation, we can build a statistical shape model using Active Shape Model (ASM). However, when the conventional ASM is applied to ${\Omega}$-shape fitting, it is very sensitive to background edges and clutter because it relies only on the local edge or gradient. Even though appearance is a good alternative feature for matching the target object to image, it is difficult to learn the appearance of the ${\Omega}$-shape because of the significant difference between people's skin, hair and clothes, and because appearance does not remain the same throughout the entire video. Therefore, instead of teaming appearance or updating appearance as it changes, we model the discriminative appearance where each pixel is classified into head, torso and background classes, and update the classifier to obtain the appropriate discriminative appearance in the current frame. Accordingly, we make use of two features in fitting ${\Omega}$-shape, edge gradient which is used for localization, and discriminative appearance which contributes to stability of the tracker. The simulation results show that the proposed method is very robust to pose change, occlusion, and illumination change in tracking the head and shoulder line of people. Another advantage is that the proposed method operates in real time.

• Korean Journal of Remote Sensing
• /
• v.37 no.5_2
• /
• pp.1317-1328
• /
• 2021

This study analyzes the early satellite mission marine fog detection results from Geostationary Ocean Color Imager-II (GOCI-II). We investigate optical characteristics of the GOCI-II spectral bands for marine fog between October 2020 and March 2021 during the overlapping mission period of Geostationary Ocean Color Imager (GOCI) and GOCI-II. For Rayleigh-corrected reflection (R_rc) at 412 nm band available for the input of the GOCI-II marine fog algorithm, the inter-comparison between GOCI and GOCI-II data showed a small Root Mean Square Error (RMSE) value (0.01) with a high correlation coefficient (0.988). Another input variable, Normalized Localization Standard (NLSD), also shows a reasonable correlation (0.798) between the GOCI and GOCI-II data with a small RMSE value (0.007). We also found distinctive optical characteristics between marine fog and clouds by the GOCI-II observations, showing the narrower distribution of all bands' R_rc values centered at high values for cloud compared to marine fog. The GOCI-II marine fog detection distribution for actual cases is similar to the GOCI but more detailed due to the improved spatial resolution from 500 m to 250 m. The validation with the automated synoptic observing system (ASOS) visibility data confirms the initial reliability of the GOCI-II marine fog detection. Also, it is expected to improve the performance of the GOCI-II marine fog detection algorithm by adding sufficient samples to verify stable performance, improving the post-processing process by replacing real-time available cloud input data and reducing false alarm by adding aerosol information.

• Journal of Periodontal and Implant Science
• /
• v.49 no.3
• /
• pp.138-147
• /
• 2019

Purpose: Several studies have shown that the oral cavity is a secondary location for Helicobacter pylori colonization and that H. pylori is associated with the severity of periodontitis. This study investigated whether H. pylori had an effect on the periodontium. We established an invasion model of a standard strain of H. pylori in human periodontal ligament fibroblasts (hPDLFs), and evaluated the effects of H. pylori on cell proliferation and cell cycle progression. Methods: Different concentrations of H. pylori were used to infect hPDLFs, with 6 hours of co-culture. The multiplicity of infection in the low- and high-concentration groups was 10:1 and 100:1, respectively. The Cell Counting Kit-8 method and Ki-67 immunofluorescence were used to detect cell proliferation. Flow cytometry, quantitative real-time polymerase chain reaction, and western blots were used to detect cell cycle progression. In the high-concentration group, the invasion of H. pylori was observed by transmission electron microscopy. Results: It was found that H. pylori invaded the fibroblasts, with cytoplasmic localization. Analyses of cell proliferation and flow cytometry showed that H. pylori inhibited the proliferation of periodontal fibroblasts by causing G2 phase arrest. The inhibition of proliferation and G2 phase arrest were more obvious in the high-concentration group. In the low-concentration group, the G2 phase regulatory factors cyclin dependent kinase 1 (CDK1) and cell division cycle 25C (Cdc25C) were upregulated, while cyclin B1 was inhibited. However, in the high-concentration group, cyclin B1 was upregulated and CDK1 was inhibited. Furthermore, the deactivated states of tyrosine phosphorylation of CDK1 (CDK1-Y15) and serine phosphorylation of Cdc25C (Cdc25C-S216) were upregulated after H. pylori infection. Conclusions: In our model, H. pylori inhibited the proliferation of hPDLFs and exerted an invasive effect, causing G2 phase arrest via the Cdc25C/CDK1/cyclin B1 signaling cascade. Its inhibitory effect on proliferation was stronger in the high-concentration group.