• Journal of Electrical Engineering and Technology
• /
• v.8 no.3
• /
• pp.658-665
• /
• 2013

While the chirp signal is extensively used in radar and sonar systems for target decision in wireless communication systems, it has not been widely used for positioning in indoor environments. Recently, the IEEE 802.15.4a standard has adopted the chirp spread spectrum (CSS) as an underlying technique for low-power and low-complexity precise localization. Chirp signal based ranging solutions have been established and deployed but their ranging performance has not been analyzed in multipath environments. This paper presents a ranging performance analysis of a chirp signal and suggests a method to suppress multipath error by using a type of non-linear chirp signal. Multipath ranging performance is evaluated using a conventional linear chirp signal and the proposed non-linear chirp signal. We verify the feasibility of both methods using two-ray multipath model simulation. Our results demonstrate that the proposed non-linear chirp signal can successfully suppress the multipath error.

• Proceedings of the Korean Society of Broadcast Engineers Conference
• /
• 2009.01a
• /
• pp.136-141
• /
• 2009

This paper proposed a framework for handover method in continuously tracking a person of interest across cooperative pan-tilt-zoom (PTZ) cameras. The algorithm here is based on a robust non-parametric technique for climbing density gradients to find the peak of probability distributions called the mean shift algorithm. Most tracking algorithms use only one cue (such as color). The color features are not always discriminative enough for target localization because illumination or viewpoints tend to change. Moreover the background may be of a color similar to that of the target. In our proposed system, the continuous person tracking across cooperative PTZ cameras by mean shift tracking that using color and shape histogram to be feature distributions. Color and shape distributions of interested person are used to register the target person across cameras. For the first camera, we select interested person for tracking using skin color, cloth color and boundary of body. To handover tracking process between two cameras, the second camera receives color and shape cues of a target person from the first camera and using linear color calibration to help with handover process. Our experimental results demonstrate color and shape feature in mean shift algorithm is capable for continuously and accurately track the target person across cameras.

• BMB Reports
• /
• v.50 no.1
• /
• pp.37-42
• /
• 2017

The tubby protein (Tub), a putative transcription factor, plays important roles in the maintenance and function of neuronal cells. A splicing defect-causing mutation in the 3'-end of the tubby gene, which is predicted to disrupt the carboxy-terminal region of the Tub protein, causes maturity-onset obesity, blindness, and deafness in mice. Although this pathological Tub mutation leads to a loss of function, the precise mechanism has not yet been investigated. Here, we found that the mutant Tub proteins were mostly localized to puncta found in the perinuclear region and that the C-terminus was important for its solubility. Immunocytochemical analysis revealed that puncta of mutant Tub co-localized with the aggresome. Moreover, whereas wild-type Tub was translocated to the nucleus by extracellular signaling, the mutant forms failed to undergo such translocation. Taken together, our results suggest that the malfunctions of the Tub mutant are caused by its misfolding and subsequent localization to aggresomes.

• Proceedings of the Korean Society of Fisheries Technology Conference
• /
• 2000.05a
• /
• pp.145-146
• /
• 2000

The presence of cross-reacting muramidase in Lactobacillus delbrueckii ssp. bulgaricus ULl2 was shown by using monoclonal antibodies raised against an muramidase-2 of Enterococcus hirae ATCC 9790. The separation of protein by sodium dodecyl sulfate-polyacrylamide gel electrophoresis followed by Western immunoblot confirmed the presence of one cross-reacting band in Enterococcus hirae with an estimated molecular mass of 80 kDa, L. bulgaricus cultured cells harvested after 4 and 12 h were submitted to different autolysin releasing procedures and the liberated products were allowed to cross-react with muramidase-2 antibodies in order to estimate the efficiency of each treatment. Although the cultured cells harvested after 4 h yielded only a slight immune-reaction in Western immunoblots against these enzyme monoclonal antibodies, a strong signal was observed for the cell walls obtained from the same experimental conditions and treated with Triton X-100 surfactant. The same phenomenon was also observed by light fluorescence microscopy. Immune-labelling followed by optical and electron microscopy have shown that the muramidase-2 of L. bulgaricus ULl2 was essentially localized in the innermost part of the cell wall.(omitted)

• Journal of the Korean Wood Science and Technology
• /
• v.24 no.1
• /
• pp.68-74
• /
• 1996

Present work was undertaken to investigate the origin of milled wood lignin(MWL) in the wood cell wall using immunocytochemical techniques, which can provide the information on the localization of specific antigens(MWL in the present study) to be examined. Spruce MWL dissolved in DMSO and emulsified with Freund adjuvant was injected directly into the mouse spleen. The animals were boostered at two-week intervals after the initial immunization. Blood samples were purified in standard procedures. The characteristics of antibodies against MWL were tested by indirect ELISA. Visualization of MWL was carried out using conventional indirect immunogold-labelling methods on the ultrathin sections of spruce wood. Immuno-TEM observations showed that the immunogold probes were selectively attached to secondary cell walls of spruce wood. The most intense labelling was frequently observed in the S2 layer. In contrast, gold labelling in the lignin-rich regions, such as middle lamella and cell corner was not found. The immuno-TEM provides an indication that spruce MWL originates from the S2 layer.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.10
• /
• pp.907-914
• /
• 2013

A FastSLAM is an algorithm for SLAM (Simultaneous Localization and Mapping) using a Rao-Blackwellized particle filter and its performance is known to degenerate over time due to the loss of particle diversity, mainly caused by the particle depletion problem in the resampling phase. In this paper, the GeSPIR (Geographically Stratified Particle Information-based Resampling) technique is proposed to solve the particle depletion problem. The proposed algorithm consists of the following four steps : the first step involves the grouping of particles divided into K regions, the second obtaining the normal weight of each region, the third specifying the protected areas, and the fourth resampling using regional equalization weight. Simulations show that the proposed algorithm obtains lower RMS errors in both robot and feature positions than the conventional FastSLAM algorithm.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.12
• /
• pp.1021-1026
• /
• 2016

The graph-based SLAM (Simultaneous Localization and Mapping) approach has been gaining much attention in SLAM research recently thanks to its ability to provide better maps and full trajectory estimations when compared to the filtering-based SLAM approach. Even though graph-based SLAM requires batch processing causing it to be computationally heavy, recent advancements in optimization and computing power enable it to run fast enough to be used in real-time. However, data association problems still require large amount of computation when building a pose graph. For example, to find loop closures it is necessary to consider the whole history of the robot trajectory and sensor data within the confident range. As a pose graph grows, the number of candidates to be searched also grows. It makes searching the loop closures a bottleneck when solving the SLAM problem. Our approach to alleviate this bottleneck is to sample a limited number of pose nodes in which loop closures are searched. We propose a heuristic for sampling pose nodes that are most advantageous to closing loops by providing a way of ranking pose nodes in order of usefulness for closing loops.

• Korean Journal of Food Science and Technology
• /
• v.19 no.5
• /
• pp.441-445
• /
• 1987

The subcellular distribution of lipoxygenase in germinating soybean seeds (Glycine max[L.] AmSoy) was investigated by using differential centrifugation and sucrose density gradient fractionation. Most of lipoxygenase -1 and -2/3 activities was present in the supernatant fraction after differential centrifugation of homogenates prepared from three-day-old seedlings; only 1.5% of lipoxygenase activity remained in particulate fractions. The results of a sucrose density gradient fractionation (three-day-old) showed that the lipoxygenase activity coincided with acid phosphatase at the densities of 1.19, 1.23, $1.25g/cm^3$, even though most of lipoxygenase and acid phosphatase activities appeared in supernatant fractions. There was no indication that mitochondria contained any lipoxygenase activity, and it does not appear that glyoxysomes and ER contained any lipoxygenase activity either.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.5 no.2
• /
• pp.169-184
• /
• 2002

In order to extract bearing information from the directional sensors of DIFAR(directional frequency analysis and recording) that is a kind of passive sonobuoy, the cardioid beamforming algorithm applicable to DIFAR system was studied in the frequency domain. the algorithm uses narrow-band signals propagated though the media from the acoustic sources such as ship machineries. The proposed algorithm is expected to give signal to noise ratio of 6dB when it uses the maximum response axis(MRA) among the Cardioid beams. The estimated bearings agree very well with those from GPS data. Assuming the bearings from GPS data to be real values, the estimation errors are analyzed statistically. The histogram of estimation errors in each frequency have Gaussian shape, the mean and standard deviation dropping in the ranges -1.1~$6.7^{\circ}$ and 13.3~$43.6^{\circ}$, respectively. Estimation errors are caused by SMR degradation due to propagation loss between the source and receiver, daily fluctuating geo-magnetic fields, and non-stationary background noises. If multiple DIFAR systems are employed, in addition to bearing, range information could be estimated and finally localization or tracking of a target is possible.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.21 no.2
• /
• pp.158-165
• /
• 2018

Recently there is a great interest in the bi-static sonar. However, since the transmitter and the receiver operate on different platforms, it may be necessary to operate the system in a non-cooperative mode. In this situation, the detection and localization performance are limited. Therefore, it is necessary to classify the received pulse from the transmitter to overcome the performance limitation. In this paper, we proposed a robust automatic pulse classification method that can be applied to real systems. The proposed method eliminates the effects of noise and multipath propagation through post-processing and improves the pulse classification performance. We also verified the proposed method through the sea experimental data.