• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.8
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• pp.703-710
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• 2016

In robotics research, accurate estimation of current robot position is important to achieve motion control of a robot. In this research, we focus on a sensor fusion method to provide improved position estimation for a wheeled mobile robot, considering two different sensor measurements. In this case, we fuse camera-based vision and encode-based odometry data using Kalman filter techniques to improve the position estimation of the robot. An external camera-based vision system provides global position coordinates (x, y) for the mobile robot in an indoor environment. An internal encoder-based odometry provides linear and angular velocities of the robot. We then use the position data estimated by the Kalman filter as inputs to the motion controller, which significantly improves performance of the motion controller. Finally, we experimentally verify the performance of the proposed sensor fused position estimation and motion controller using an actual mobile robot system. In our experiments, we also compare the Kalman filter-based sensor fused estimation with two different single sensor-based estimations (vision-based and odometry-based).

• Applied Microscopy
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• v.2 no.1
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• pp.7-15
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• 1972

The morphological and fine structural changes during the oogensis of Clonorchis sinensis were studied on the developing ovums in the ovary and ootype with electron microscope. Adult worms were removed from the hepar of the which and previously infected with metacercariae of Clonorchis sinensis. The ovary including the Mehlis' glands and an ootype from adult worm was prefixed for 1-2 hours in 1.25% glutaraldehyde buffered with 0.2M cacodylate at PH 7.2, secondarily fixed for 30 minutes in potassium bicromate and postfixed for an hour in 1% osmic acid buffered with 0.4M cacodylate at PH 7.2. After fixation tissues were dehydrated in an alcohol series, embedded in Epon 812 from propylene oxide and stained with saturated uranyl acetate and $Pn(NO_3)_2$ solution. Material was examined with a Hitachi HS-7S electron microscope. The periphery of the ovary, except for the posterior region, is made up of oogonia. As the oogonia divide they proliferate primary oocytes toward the central part of the ovary. After a period of growth the primary oocyte leaves the ovary and is penetrated by a sperm in the ootype. Sperm penetration immediately activates the primary oocyte to resume its meiotic activity. After the oocytes meiotic activity is completed, the pronuclei fuse to form a single cleavage nucleus which possesses two nucleoli. As the oocytes develop their cytoplamic materials are abundant; small mitochondria are abundant and often their profiles are more unmerous in one part of the cytoplasm than elsewhere; the granular endoplasmic reticulum becomes alveolar-sac form after it leaves the ovary it becomes stratified form. The reticulate Golgi apparatus is apparent in the developed oocyte. A little of cortical granules are distributed inside of the plasma membrane I oogonia and large quantity of cortical granules are arranged just inside of the plasma membrane of the primary oocyte and after fertilization they are disappeared with broken out.