• Journal of the Korean Institute of Intelligent Systems
• /
• v.19 no.3
• /
• pp.408-414
• /
• 2009

A GPS/INS system is widely used in the UGV to estimate position during the mission. However, there are few restrictions when a GPS/INS system used alone. For example, GPS provides precise location information but easily interrupted by external factors like weather, environment, etc. INS provides continuous location data but positioning errors grew very rapidly with time. Therefore, it is necessary to integrating multi-sensors for more continuous and correct position estimation. In this paper, we propose location estimation algorithm of the UGV for GPS/INS integrated system that combines Fuzzy Inference and Unscented Particle Filter(UPF) to improve navigation. Fuzzy inference provides the simplest method integrating GPS/INS and UPF is non-linear estimation filter well suited to the correction of errors. The performance of the proposed algorithm was tested to compare with other algorithms. the results show that the proposed algorithm is more accuracy in position estimation and ensures continuous position tracking.

• Structural Engineering and Mechanics
• /
• v.36 no.6
• /
• pp.759-783
• /
• 2010

In this paper, compressive strength of carbon fiber reinforced polymer (CFRP) confined concrete cylinders is formulated using a hybrid method coupling genetic programming (GP) and simulated annealing (SA), called GP/SA, and a robust variant of GP, namely multi expression programming (MEP). Straightforward GP/SA and MEP-based prediction equations are derived for the compressive strength of CFRP-wrapped concrete cylinders. The models are constructed using two sets of predictor variables. The first set comprises diameter of concrete cylinder, unconfined concrete strength, tensile strength of CFRP laminate, and total thickness of CFRP layer. The most widely used parameters of unconfined concrete strength and ultimate confinement pressure are included in the second set. The models are developed based on the experimental results obtained from the literature. To verify the applicability of the proposed models, they are employed to estimate the compressive strength of parts of test results that were not included in the modeling process. A sensitivity analysis is carried out to determine the contributions of the parameters affecting the compressive strength. For more verification, a parametric study is carried out and the trends of the results are confirmed via some previous studies. The GP/SA and MEP models are able to predict the ultimate compressive strength with an acceptable level of accuracy. The proposed models perform superior than several CFRP confinement models found in the literature. The derived models are particularly valuable for pre-design purposes.

• Journal of Microbiology and Biotechnology
• /
• v.32 no.4
• /
• pp.522-530
• /
• 2022

In this study we aimed to develop novel ZnO-NP/chitosan/β-glycerophosphate (ZnO-NP/CS/β-GP) antibacterial hydrogels for biomedical applications. According to the mass fraction ratio of ZnO-NPs to chitosan, mixtures of 1, 3, and 5% ZnO-NPs/CS/β-GP were prepared. Using the test-tube inversion method, scanning electron microscopy and Fourier-transform infrared spectroscopy, the influence of ZnO-NPs on gelation time, chemical composition, and cross-sectional microstructures were evaluated. Adding ZnO-NPs significantly improved the hydrogel's antibacterial activity as determined by bacteriostatic zone and colony counting. The hydrogel's bacteriostatic mechanism was investigated using live/dead fluorescent staining and scanning electron microscopy. In addition, crystal violet staining and MTT assay demonstrated that ZnO-NPs/CS/β-GP exhibited good antibacterial activity in inhibiting the formation of biofilms and eradicating existing biofilms. CCK-8 and live/dead cell staining methods revealed that the cell viability of gingival fibroblasts (L929) cocultured with hydrogel in each group was above 90% after 24, 48, and 72 h. These results suggest that ZnO-NPs improve the temperature sensitivity and bacteriostatic performance of chitosan/β-glycerophosphate (CS/β-GP), which could be injected into the periodontal pocket in solution form and quickly transformed into hydrogel adhesion on the gingiva, allowing for a straightforward and convenient procedure. In conclusion, ZnO-NP/CS/β-GP thermosensitive hydrogels could be expected to be utilized as adjuvant drugs for clinical prevention and treatment of peri-implant inflammation.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.7 no.2
• /
• pp.381-389
• /
• 2012

This paper proposes a method which corrects location data of GPS for navigation of outdoor mobile robot. The method uses a Bayesian filter approach called the particle filter(PF). The method iterates two procedures: prediction and correction. The prediction procedure calculates robot location based on translational and rotational velocity data given by the robot command. It incorporates uncertainty into the predicted robot location by adding uncertainty to translational and rotational velocity command. Using the sensor characteristics of the GPS, the belief that a particle assumes true location of the robot is calculated. The resampling from the particles based on the belief constitutes the correction procedure. Since usual GPS data includes abrupt and random noise, the robot motion command based on the GPS data suffers from sudden and unexpected change, resulting in jerky robot motion. The PF reduces corruption on the GPS data and prevents unexpected location error. The proposed method is used for navigation of a mobile robot in the 2011 Robot Outdoor Navigation Competition, which was held at Gwangju on the 16-th August 2011. The method restricted the robot location error below 0.5m along the navigation of 300m length.

• Journal of Korean Society for Geospatial Information Science
• /
• v.2 no.1 s.3
• /
• pp.121-129
• /
• 1994

A number of existing cadastral control stations have been destroyed and shifted by a long lapse of time and careless management. Also, results of them are partly poor owing to dependence on conventional survey method. Because of these, it is very difficult in use of results. Hereupon, correction of cadastral results is necessary in level of government. But it is very consumable to check and adjust results with existing equipments and related techniques only. It is required that this problem can be resolved efficiently. This study analyzed the conformability for cadastral control network to GPS, GPS, which determine precise 3-D coordinates on a short time, to positioning of cadastral stations. We chose DaeJon city for the test area of this study and analyzed the precision of network composed of sixteen cadastral control stations. We made comparision the old result and the new outcome which obtained from coordinate transformation method and horizontal network adjustment method. As a result of this, we detected the blunder of cadastral stations. Furthermore, we suggested effective network type according to precision analysis of GPS observation network. Therefore, there is no doubt that GPS surveying can be applied to checking and adjustment of cadastral control network. Hereafter, it is expected that the practical use of GPS is advanced in a field of cadastration.

• Acute and Critical Care
• /
• v.33 no.4
• /
• pp.246-251
• /
• 2018

Background: Target temperature management (TTM) improves neurological outcomes for comatose survivors of out-of-hospital cardiac arrest. We compared the efficacy and safety of a gel pad cooling device (GP) and a water blanket (WB) during TTM. Methods: We performed a retrospective analysis in a single hospital, wherein we measured the time to target temperature ($<34^{\circ}C$) after initiation of cooling to evaluate the effectiveness of the cooling method. The temperature farthest from $33^{\circ}C$ was selected every hour during maintenance. Generalized estimation equation analysis was used to compare the absolute temperature differences from $33^{\circ}C$ during the maintenance period. If the selected temperature was not between $32^{\circ}C$ and $34^{\circ}C$, the hour was considered a deviation from the target. We compared the deviation rates during hypothermia maintenance to evaluate the safety of the different methods. Results: A GP was used for 23 patients among of 53 patients, and a WB was used for the remaining. There was no difference in baseline temperature at the start of cooling between the two patient groups (GP, $35.7^{\circ}C$ vs. WB, $35.6^{\circ}C$; P=0.741). The time to target temperature (134.2 minutes vs. 233.4 minutes, P=0.056) was shorter in the GP patient group. Deviation from maintenance temperature (2.0% vs. 23.7%, P<0.001) occurred significantly more frequently in the WB group. The mean absolute temperature difference from $33^{\circ}C$ during the maintenance period was $0.19^{\circ}C$ (95% confidence interval [CI], $0.17^{\circ}C$ to $0.21^{\circ}C$) in the GP group and $0.76^{\circ}C$ (95% CI, $0.71^{\circ}C$ to $0.80^{\circ}C$) in the WB group. GP significantly decreased this difference by $0.59^{\circ}C$ (95% CI, $0.44^{\circ}C$ to $0.75^{\circ}C$; P<0.001). Conclusions: The GP was superior to the WB for strict temperature control during TTM.

• Korean Journal of Microbiology
• /
• v.55 no.2
• /
• pp.103-111
• /
• 2019

DNA methylation is involved in diverse processes in bacteria, including maintenance of genome integrity and regulation of gene expression. CcrM, the DNA methyltransferase conserved in Alphaproteobacterial species, carries out $N^6$-adenine or $N^4$-cytosine methyltransferase activities using S-adenosyl methionine as a co-substrate. Celeribacter marinus IMCC12053 from the Alphaproteobacterial group was isolated from a marine environment. Single molecule real-time sequencing method (SMRT) was used to detect the methylation patterns of C. marinus IMCC12053. Gibbs motif sampler program was used to observe the conversion of adenosine of 5'-GANTC-3' to $N^6$-methyladenosine and conversion of $N^4$-cytosine of 5'-GpC-3' to $N^4$-methylcytosine. Exocyclic DNA methyltransferase from the genome of strain IMCC12053 was chosen using phylogenetic analysis and $N^4$-cytosine methyltransferase was cloned. IPTG inducer was used to confirm the methylation activity of DNA methylase, and cloned into a pQE30 vector using dam-/dcm- E. coli as the expression host. The genomic DNA and the plasmid carrying methylase-encoding sequences were extracted and cleaved with restriction enzymes that were sensitive to methylation, to confirm the methylation activity. These methylases protected the restriction enzyme site once IPTG-induced methylases methylated the chromosome and plasmid, harboring the DNA methylase. In this study, cloned exocyclic DNA methylases were investigated for potential use as a novel type of GpC methylase for molecular biology and epigenetics.

• Journal of Internet of Things and Convergence
• /
• v.2 no.4
• /
• pp.35-39
• /
• 2016

This paper is about IoT(Internet of Things)-based indoor localization scheme. GPS and WiFi are widely used to estimate the location of things. However, GPS has drawback of poor reception and radio disturbance in doors. To estimate the location in WiFi-based method, the user collects the information by scanning nearby WiFi(s) and transferring the information to WiFi database server. This is a fingerprint method with disadvantage of having an additional DB server. IoT is the internetworking of things, and this is on rapid rise. I propose the IoT-based indoor localization scheme. Under the proposed method, a device internetworking with another device with its own location information like GPS coordinate can estimate its own location through RSSI. With more devices localizing its own, the localization accuracy goes high. The proposed method allows the user to estimate the location without GPS and WiFi DB server.

• Journal of Institute of Control, Robotics and Systems
• /
• v.4 no.5
• /
• pp.624-629
• /
• 1998

Evolutionary computation techniques can solve search problems using simulated evolution based on the ‘survival of the fittest’. Recently, the genetic programming (GP) which evolves computer programs using the genetic algorithm was introduced. In this paper, the genetic programming technique is used in order to design a rule based controller consisting of condition-action rules for an unknown system. No a priori knowledge about the structure of the controller is needed. Representation of a solution, functions and terminals in GP are analyzed, and a method of constructing a fuzzy logic controller using the obtained rule based controller is described. A simulation example using a nonlinear system shows the validity and efficiency of the proposed method.

• IE interfaces
• /
• v.11 no.1
• /
• pp.183-190
• /
• 1998

This paper is concerned with the bicriteria vehicle routing problems with time window constraints(BVRPTW). The BVRPTW is to determine the most favorable vehicle routes that minimize the total vehicle travel time and the total customer wait time which are, more often than not, conflicting. We construct a linear goal programming (GP) model for the BVRPTW and propose a heuristic algorithm to relieve a computational burden inherent to the application of the GP model. The heuristic algorithm consists of a parallel insertion method for clustering and a sequential linear goal programming procedure for routing. The results of computational experiments showed that the proposed algorithm finds successfully more favorable solutions than the Potvin an Rousseau's method that is known as a very good heuristic for the VRPs with time window constraints, through the change of target values and the decision maker's goal priority structure.