• Journal of Crop Science and Biotechnology
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• v.11 no.2
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• pp.151-156
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• 2008

The objective of this study is to identify main-effect QTLs, epistatic QTLs, and the interactions between QTL and the environment associated with grain appearances of brown rice. A genetic linkage map was created with 172 DNA markers spanning 12 rice chromosomes based on 120 DH lines, which derived from a cross between 'Samgang'(Tongil) and 'Nagdong'(Japonica). One thousandgrain weight, length, width, length-to-width ratio, and thickness were evaluated regarding the DH population. Twenty independent QTLs and fourteen epistatic QTLs were identified in using CIM by two programs, known as WinQTLcart2.5 and QTLMAPPER. The QTLs of qgw9.1 in an interval of RM434-RM242 on chromosome 9 and qgw11.1 at a peak marker of RM287 on chromosome 11 for one thousand-grain weight, qgwi2.2 for grain width at a peak marker of RM450, qlw2.1 for length-to-width ratio flanked by RM492 and RM324, and qgt2.1 for thickness flanked by 2009 and RM492 on chromosome 2 were detected over two years, which can be considered as stable QTLs. The epistatic effect might be an important component for genetic basis of one thousand-grain weight and width. The main-effect QTLs of grain width and length to width ratio were easily influenced by environments.

• Journal of Advanced Navigation Technology
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• v.15 no.5
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• pp.696-704
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• 2011

In this paper, we propose a mobile robot navigation algorithm using data fusion of a monocular camera and ultrasonic sensors. Threshold values for binary image processing are generated by a fuzzy inference method using image data and data of ultrasonic sensors. Threshold value variations improve obstacle detection for mobile robot to move to the goal under poor illumination environments. Obstacles detected by data fusion of camera and ultrasonic sensors are expressed on the grid map and avoided using the circular planning algorithm. The performance of the proposed method is evaluated by experiments on the Pioneer 2-DX mobile robot in the indoor room with poor lights and a narrow corridor.

• Journal of KIISE:Information Networking
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• v.36 no.1
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• pp.24-33
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• 2009

In patch-and-stitch localization algorithms, a flip error refers to the kind of error in which a patch is stitched to the map as being wrongly reflected. In this paper, we present an anchor-free localization algorithm which tries to detect and prevent flip errors. The flip error prevention is achieved by two filtering mechanisms: the flip-ambiguity test and the flip-conflict detection. We evaluate the performances of proposed techniques though simulations and show that they achieve significant performance improvements.

• KIISE Transactions on Computing Practices
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• v.23 no.10
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• pp.588-593
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• 2017

In this paper, we propose a LiDAR driver that virtualizes multiple inexpensive LiDARs (Light Detection and Ranging) with a smaller number of scan channels on an autonomous vehicle to replace a single expensive LiDAR with a larger number of scan channels. As a result, existing SLAM (Simultaneous Localization And Mapping) algorithms can be used with no modifications developed assuming a single LiDAR. In the paper, the proposed driver was implemented on the Robot Operating System and was evaluated with an existing SLAM algorithm. The results show that the proposed driver, combined with a filter to control the density of points in a 3D map, is compatible with the existing algorithm.

• The KIPS Transactions:PartB
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• v.10B no.4
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• pp.359-366
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• 2003

We propose a real-time stereoscopic image conversion method that can generate stereoscopic image with different perspective depth using motion parallax from 2-D image and offer realistic 3-D effect regardless of the direction and velocity of the moving object in the 2-D image. The stereoscopic image is generated by computing the motion parallax between adjacent two 2-D images using the proposed method for motion detection, region segmentation and depth map generation. The proposed method is suitable for real-time stereoscopic conversion processing on various image formats. It has been verified the proposed method by comparing between the stereoscopic image of the proposed method and that of MTD.

• Proceedings of the Korean Society of Plant Pathology Conference
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• 2004.10a
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• pp.48-52
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• 2004

We have found the role of rice mitogen-activated protein kinase kinase kinase (MAPKKK), OsEDR1, as controling hypersensitive response (HR) and increased disease resistance to rice blast fungus Magnaporthe grisea. Generation of transgenic rice plants through introduction of the over-expression construct of OsEDR1 using Agrobacterium-mediated transformation results in lesion mimic phenotype. Up-regulation of defense mechanism was detected through detection of increased transcription level of rice PBZ1 and PR1a. Inoculation of rice blast fungus on the lesion mimic transgenic lines displayed significantly increased resistance. The disease symptoms were arrested like HR responses which are commonly detected in the incompatible interactions. High accumulation of phenolic compounds around developing lesions was detected under UV light. There was variation among transgenic lines on the timing of lesion progression as well as the lesion numbers on the rice leaves. Transgenic lines with few lesions also show increased resistance as well as equal amount of grain yields compared to that of wild type rice cultivar Nipponbare. This is the first report of the MAPKKK as a positive regulator molecule on defense mechanism through inducing HR-like cell death lesion mimic phenotype. The application of OsEDR1 is highly expected for the development of resistant cultivars against rice pathogens.

• Toxicological Research
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• v.17
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• pp.59-69
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• 2001

Arsenic exposure is associated with several human diseases, including cancers, atherosclerosis, hypertension, and cerebrovascular diseases. In cultured cells, arsenite, an inorganic arsenic com-pound, was demonstrated to interfere with many physiological functions, such as enhancement of oxidative stress, delay of cell cycle progression, and induction of structural and numerical changes of chromosomes. The objective of this study is to investigate the effects of arsenic exposure on gene expression profiles by colorimetric cDNA microarray technique. HFW (normal human diploid skin fibroblasts), CL3 (human lung adenocarcinoma cell line), and HaCaT (immortalized human keratinocyte cell line) were treated with 5 $\mu\textrm{M}$ or 10 $\mu\textrm{M}$ sodium arsenite for 6 or 16 h, respectively. By a dual-color detection system, the expression profile of arsenite-treated cultures was compared to that of control cultures. Several genes expressed differentially were identified on the microarray membranes. For example, MDM2, SWI/SNF, ubiquitin specific protease 4, MAP3K11, RecQ protein-like 5, and Ribosomal protein Ll0a were consistently induced in all three cell types by arsenite, whereas prohibitin, cyclin D1, nucleolar protein 1, PCNA, Nm23, and immediate early protein (ETR101) were apparently inhibited. The present results suggest that arsenite insults altered the expression of several genes participating in cellular responses to DNA damage, stress, transcription, and cell cycle arrest.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.2
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• pp.42-53
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• 2014

Robust voice recognition (RVR) is essential for a robot to communicate with people. One of the main problems with RVR for robots is that robots inevitably real environment noises. The noise is captured with strong power by the microphones, because the noise sources are closed to the microphones. The signal-to-noise ratio of input voice becomes quite low. However, it is possible to estimate the noise by using information on the robot's own motions and postures, because a type of motion/gesture produces almost the same pattern of noise every time it is performed. In this paper, we propose an RVR system which can robustly recognize voice by adults and children in noisy environments. We evaluate the RVR system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. Navigation Strategy is shown Obstacle detection and local map, Design of Goal-seeking Behavior and Avoidance Behavior, Fuzzy Decision Maker and Lower level controller. The final hypothesis is selected based on posterior probability. We then select the task in the motion task library. In the motion control, we also integrate the obstacle avoidance control using ultrasonic sensors. Those are powerful for detecting obstacle with simple algorithm.

• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.92-100
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• 2012

A map of complex environment can be generated using a robot carrying sensors. However, representation of environments directly using the integration of sensor data tells only spatial existence. In order to execute high-level applications, robots need semantic knowledge of the environments. This research investigates the design of a system for recognizing objects in 3D point clouds of urban environments. The proposed system is decomposed into five steps: sequential LIDAR scan, point classification, ground detection and elimination, segmentation, and object classification. This method could classify the various objects in urban environment, such as cars, trees, buildings, posts, etc. The simple methods minimizing time-consuming process are developed to guarantee real-time performance and to perform data classification on-the-fly as data is being acquired. To evaluate performance of the proposed methods, computation time and recognition rate are analyzed. Experimental results demonstrate that the proposed algorithm has efficiency in fast understanding the semantic knowledge of a dynamic urban environment.

• The Journal of Korea Robotics Society
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• v.9 no.3
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• pp.154-159
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• 2014

The Global Positioning System (GPS) is widely used to aid the navigation of aerial vehicles. However, the GPS cannot be used indoors, so alternative navigation methods are needed to be developed for micro aerial vehicles (MAVs) flying in GPS-denied environments. In this paper, a real-time three-dimensional (3-D) indoor navigation system and closed-loop control of a quad-rotor aerial vehicle equipped with an inertial measurement unit (IMU) and a low-cost light detection and ranging (LIDAR) is presented. In order to estimate the pose of the vehicle equipped with the two-dimensional LIDAR, an octree-based grid map and Monte-Carlo Localization (MCL) are adopted. The navigation results using the MCL are then evaluated by making a comparison with a motion capture system. Finally, the results are used for closed-loop control in order to validate its positioning accuracy during procedures for stable hovering and waypoint-following.