International Journal of Advanced Culture Technology
/
v.7
no.4
/
pp.313-320
/
2019
Nowadays, as the availability of tiny, low-cost microcomputer increases at a high level, mobile robots are experiencing remarkable enhancements in hardware design, software performance, and connectivity advancements. In order to control Turtlebot 2, several algorithms have been developed using the Robot Operating System(ROS). However, ROS requires to be run on a high-cost computer which increases the hardware cost and the power consumption to the robot. Therefore, design an algorithm based on low-cost hardware is the most innovative way to reduce the unnecessary costs of the hardware, to increase the performance, and to decrease the power consumed by the computer on the robot. In this paper, we present a path-finding algorithm for TurtleBot 2 based on low-cost hardware. We implemented the algorithm using Raspberry pi, Windows 10 IoT core, and RPLIDAR A2. Firstly, we used Raspberry pi as the alternative to the computer employed to handle ROS and to control the robot. Raspberry pi has the advantages of reducing the hardware cost and the energy consumed by the computer on the robot. Secondly, using RPLIDAR A2 and Windows 10 IoT core which is running on Raspberry pi, we implemented the path-finding algorithm which allows TurtleBot 2 to navigate from the starting point to the destination using the map of the area. In addition, we used C# and Universal Windows Platform to implement the proposed algorithm.
Aim: To establish a pancreatic cancer stem cell model using human pancreatic cancer cells in nude mice to provide a platform for pancreatic cancer stem cell research. Materials and Methods: To establish pancreatic cancer xenografts using human pancreatic cancer cell line SW1990, nude mice were randomly divided into control and gemcitabine groups. When the tumor grew to a volume of $125mm^3$, they treated with gemcitabine at a dose of 50mg/kg by intraperitoneal injection of 0.2ml in the gemcitabine group, while the mice in control group were treated with the same volume of normal saline. Gemcitabine was given 2 times a week for 3 times. When the model was established, the proliferation of pancreatic cancer stem cells was observed by clone formation assay, and the protein and/or mRNA expression of pancreatic stem cell surface markers including CD24, CD44, CD133, ALDH, transcription factors containing Oct-4, Sox-2, Nanog and Gli, the key nuclear transcription factor in Sonic Hedgehog signaling pathway was detected by Western blot and/or RT-PCR to verify the reliability of this model. Results: This model is feasible and safe. During the establishment, no mice died and the weight of nude mice maintained above 16.5g. The clone forming ability in gemcitabine group was stronger than that of the control group (p<0.01). In gemcitabine group, the protein expression of pancreatic cancer stem cell surface markers including CD44, and ALDH was up-regulated, the protein and mRNA expression of nuclear transcription factor including Oct-4, Sox-2 and Nanog was also significantly increased (P<0.01). In addition, the protein expression of key nuclear transcription factor in Sonic Hedgehog signaling pathway, Gli-1, was significantly enhanced (p<0.01). Conclusions: The pancreatic cancer stem cell model was successfully established using human pancreatic cancer cell line SW1990 in nude mice. Gemcitabine could enrich pancreatic cancer stem cells, simultaneously accompanied by the activation of Sonic Hedgehog signaling pathway.
Curvularia lunata is an important maize foliar fungal pathogen that distributes widely in maize growing area in China, and several key pathogenic factors have been isolated. An yeast two-hybrid (Y2H) library is a very useful platform to further unravel novel pathogenic factors in C. lunata. To construct a high-quality full length-expression cDNA library from the C. lunata for application to pathogenesis-related protein-protein interaction screening, total RNA was extracted. The SMART (Switching Mechanism At 5' end of the RNA Transcript) technique was used for cDNA synthesis. Double-stranded cDNA was ligated into the pGADT7-Rec vector with Herring Testes Carrier DNA using homologous recombination method. The ligation mixture was transformed into competent yeast AH109 cells to construct the primary cDNA library. Eventually, a high qualitative library was successfully established according to an evaluation on quality. The transformation efficiency was about $6.39{\times}10^5$ transformants/$3{\mu}g$ pGADT7-Rec. The titer of the primary cDNA library was $2.5{\times}10^8cfu/mL$. The numbers for the cDNA library was $2.46{\times}10^5$. Randomly picked clones show that the recombination rate was 88.24%. Gel electrophoresis results indicated that the fragments ranged from 0.4 kb to 3.0 kb. Melanin synthesis protein Brn1 (1,3,8-hydroxynaphthalene reductase) was used as a "bait" to test the sufficiency of the Y2H library. As a result, a cDNA clone encoding VelB protein that was known to be involved in the regulation of diverse cellular processes, including control of secondary metabolism containing melanin and toxin production in many filamentous fungi was identified. Further study on the exact role of the VelB gene is underway.
This study was conducted to determine what effects would the midsole hardness of running shoes have on shoe flex angle and maximum propulsive force. Furthermore, the relationship between the shoes flex angle and maximum propulsive force was elucidated in order to provide basic data for developing running shoes to improve sports performances and prevent injuries. The subjects employed in the study were 10 college students majoring in physical education who did not have lower limbs injuries for the last one year and whose running pattern was rearfoot strike pattern of normal foot. The shoes used in this study had 3different hardness, shore A 40(soft), 50(medium) and 60(hard). The subjects were asked to run at a speed of $4{\pm}0.08m/sec$, and their movements were videotaped with 2 S-VHS video-cameras and measured with a force platform. And the following results were obtained after analyzing and comparing the variables. 1. Although the minimum angle of shoes flex angle was estimated to appear at SFA4, it appeared at SFA2 except in those shoes with the hardness of 40. 2. The minimum angle of shoes flex angle was $145.1^{\circ}$ with barefoot. Among the shoes with different hardness, it was the smallest when the hardness was 50 at $149.9^{\circ}$. The time to the minimum angle was 70.7% of the total ground contact time. 3. Maximum propulsive force according to midsole hardness was the largest when the hardness was 50 at $1913.9{\pm}184.3N$. There was a low correlation between maximum propulsive force and shoes flex angle.
Cho, Steve S.;Teng, Clare W.;Ravin, Emma De;Singh, Yash B.;Lee, John Y.K.
Journal of Korean Neurosurgical Society
/
v.65
no.4
/
pp.572-581
/
2022
Objective : Compared to microscopes, exoscopes have advantages in field-depth, ergonomics, and educational value. Exoscopes are especially well-poised for adaptation into fluorescence-guided surgery (FGS) due to their excitation source, light path, and image processing capabilities. We evaluated the feasibility of near-infrared FGS using a 3-dimensional (3D), 4 K exoscope with near-infrared fluorescence imaging capability. We then compared it to the most sensitive, commercially-available near-infrared exoscope system (3D and 960 p). In-vitro and intraoperative comparisons were performed. Methods : Serial dilutions of indocyanine-green (1-2000 ㎍/mL) were imaged with the 3D, 4 K Olympus Orbeye (system 1) and the 3D, 960 p VisionSense Iridium (system 2). Near-infrared sensitivity was calculated using signal-to-background ratios (SBRs). In addition, three patients with brain tumors were administered indocyanine-green and imaged with system 1, with two also imaged with system 2 for comparison. Results : Systems 1 and 2 detected near-infrared fluorescence from indocyanine green concentrations of >250 ㎍/L and >31.3 ㎍/L, respectively. Intraoperatively, system 1 visualized strong near-infrared fluorescence from two, strongly gadolinium-enhancing meningiomas (SBR=2.4, 1.7). The high-resolution, bright images were sufficient for the surgeon to appreciate the underlying anatomy in the near-infrared mode. However, system 1 was not able to visualize fluorescence from a weakly-enhancing intraparenchymal metastasis. In contrast, system 2 successfully visualized both the meningioma and the metastasis but lacked high resolution stereopsis. Conclusion : Three-dimensional exoscope systems provide an alternative visualization platform for both standard microsurgery and near-infrared fluorescent guided surgery. However, when tumor fluorescence is weak (i.e., low fluorophore uptake, deep tumors), highly sensitive near-infrared visualization systems may be required.
Park, Yo-Sup;Lee, Shin-Je;Lee, Yong-Kuk;Jung, Seom-Kyu;Jang, Nam-Do;Lee, Ha-Woong
The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
/
v.17
no.2
/
pp.130-137
/
2012
The underwater glider using conception of Lagrangian method, is a new observation platform to understand the properties of the ocean vertically. In 2011 March, KORDI made a first successful autonomous trip from Hupo to west coast of Uleungdo piloting Littoral Glider of Alaska Native Technology LLC. The journey considered many environmental variables and route vigilantly selected, the glider covered 177 km horizontally and took approximately 6 days (153 hours). Despite the existence of 1 kt eddy current, Sound velocity sampling was conducted from 5 meters and reaching maximum of 200 meters depth at each dive. It successfully collected sound velocity and temperature profile at every 5 seconds totaling up to 1408 profiles using SVT&P sensor. During the flight it was also a mission to check the diverse modes of the glider i.e. spiral, waypoints, heading, drift and hover could function without a defect in a given situation. These modes were thoroughly monitored and it could be considered that the glider handled it well during the flight. As a result of this test flight, it was evident that the given underwater glider could operate under 2kt current environment with users defined heading and depth, also with the payload up to 5 kg without changing internal buoyancy.
This study is to estimate soil moisture (SM) using Sentinel-1A/B C-band SAR (synthetic aperture radar) images and Multiple Linear Regression Model(MLRM) in the Yongdam-Dam watershed of South Korea. Both the Sentinel-1A and -1B images (6 days interval and 10 m resolution) were collected for 5 years from 2015 to 2019. The geometric, radiometric, and noise corrections were performed using the SNAP (SentiNel Application Platform) software and converted to backscattering coefficient of VV and VH polarization. The in-situ SM data measured at 6 locations using TDR were used to validate the estimated SM results. The 5 days antecedent precipitation data were also collected to overcome the estimation difficulty for the vegetated area not reaching the ground. The MLRM modeling was performed using yearly data and seasonal data set, and correlation analysis was performed according to the number of the independent variable. The estimated SM was verified with observed SM using the coefficient of determination (R2) and the root mean square error (RMSE). As a result of SM modeling using only BSC in the grass area, R2 was 0.13 and RMSE was 4.83%. When 5 days of antecedent precipitation data was used, R2 was 0.37 and RMSE was 4.11%. With the use of dry days and seasonal regression equation to reflect the decrease pattern and seasonal variability of SM, the correlation increased significantly with R2 of 0.69 and RMSE of 2.88%.
Most research materials (data), which are used for the study of digital mapping and digital elevation model (DEM) in the field of Remote Sensing and Aerial Photogrammetry are aerial photographs and satellite images. Additionally, they are also used for National land mapping, National land management, environment management, military purposes, resource exploration and Earth surface analysis etc. Although aerial photographs have high resolution, the data, which they contain, are not used for environment exploration that requires continuous observation because of problems caused by its coastline, as well as single - spectral and long-term periodic image. In addition to this, they are difficult to interpret precisely because Satellite Images are influenced by atmospheric phenomena at the time of photographing, and have by far much lower resolution than existing aerial photographs, while they have a great practical usability because they are mulitispectral images. The PKNU 2 is an aerial photographing system that is made to compensate with the weak points of existing aerial photograph and satellite images. It is able to take pictures of very high resolution using a color digital camera with 6 million pixels and a color infrared camera, and can take perpendicular photographs because PKNU 2 system has equipment that makes the cameras stay level. Moreover, it is very cheap to take pictures by using super light aircraft as a platform. It has much higher resolution than exiting aerial photographs and satellite images because it flies at a low altitude about 800m. The PKNU 2 can obtain multispectral images of visible to near infrared band so that it is good to manage environment and to make a classified diagram of vegetation.
Purpose: The aim of this study was to investigate the association of telomere length with breast cancer risk. We simultaneously explored the association between telomerase reverse transcriptase gene polymorphisms and telomere length. Methods: We used real-time quantitative polymerase chain reaction to measure relative telomere length (RTL) in genomic DNA extracted from peripheral blood from 183 breast cancer cases and 191 healthy controls. Genotyping was performed using the Sequenom MassARRAY platform. Results: Our results show that breast cancer patients had significantly shorter RTLs than control subjects (p<0.05). When the RTLs were categorized into tertiles, we found that the lowest RTL was significantly associated with increased breast cancer risk compared with the highest RTL (odds ratio [OR], 2.33; 95% confidence interval [CI], 1.40-3.90; p=0.001). Subgroup analyses indicated that risk of breast cancer was also significantly increased in the lowest RTL compared with the highest RTL in age >40 years (OR, 2.41; 95% CI, 1.31-4.43;p=0.005), body mass index ${\leq}24kg/m^2$ (OR, 2.81; 95% CI, 1.55-5.10; p=0.001), and postmenopausal women (OR, 3.94; 95% CI, 1.63-9.51; p=0.002), respectively. In addition, individuals with the AA genotype of rs2853677 have longer telomeres than those of breast cancer patients with the AG genotype (p=0.011). Conclusion: Our results suggest that shorter RTL was associated with an increased risk of breast cancer. An association was found between the AA genotype of rs2853677 and longer RTLs in the case group. Functional studies are warranted to validate this association and further investigate our findings.
Orthogonal pairs of rollers on concave beds (OPRCB) are a low-cost, low-tech rolling-based isolating system, whose high efficiency has been shown in a previous study. However, seismic performance of OPRCB isolators has only been studied in the two-dimensional (2D) state so far. This is while their performance in the three-dimensional (3D) state differs from that of the 2D state, mainly since the vertical accelerations due to rollers' motion in their beds, simultaneously in two orthogonal horizontal directions, are added up and resulting in bigger vertical inertia forces and higher rolling resistance. In this study, first, Lagrange equations were used to derive the governing equations of motion of the OPRCB-isolated buildings in 3D. Then, some regular shear-type OPRCB-isolated buildings were considered subjected to three-component excitations of far- and near-source earthquakes, and their responses were compared to those of their fixed-base counterparts. Finally, the effects of more realistic modeling and analysis were examined by comparing the responses of isolated buildings in 2D and 3D states. Response histories were obtained by the fourth-order Runge-Kutta-Nystrom method, considering the geometrical nonlinearity of isolators. Results reveal that utilizing the OPRCB isolators effectively reduces the acceleration response, however, depending on the system specifications and earthquake characteristics, the maximum responses of isolated buildings in the 3D state can be up to 40% higher than those in the 2D state.
본 웹사이트에 게시된 이메일 주소가 전자우편 수집 프로그램이나
그 밖의 기술적 장치를 이용하여 무단으로 수집되는 것을 거부하며,
이를 위반시 정보통신망법에 의해 형사 처벌됨을 유념하시기 바랍니다.
[게시일 2004년 10월 1일]
이용약관
제 1 장 총칙
제 1 조 (목적)
이 이용약관은 KoreaScience 홈페이지(이하 “당 사이트”)에서 제공하는 인터넷 서비스(이하 '서비스')의 가입조건 및 이용에 관한 제반 사항과 기타 필요한 사항을 구체적으로 규정함을 목적으로 합니다.
제 2 조 (용어의 정의)
① "이용자"라 함은 당 사이트에 접속하여 이 약관에 따라 당 사이트가 제공하는 서비스를 받는 회원 및 비회원을
말합니다.
② "회원"이라 함은 서비스를 이용하기 위하여 당 사이트에 개인정보를 제공하여 아이디(ID)와 비밀번호를 부여
받은 자를 말합니다.
③ "회원 아이디(ID)"라 함은 회원의 식별 및 서비스 이용을 위하여 자신이 선정한 문자 및 숫자의 조합을
말합니다.
④ "비밀번호(패스워드)"라 함은 회원이 자신의 비밀보호를 위하여 선정한 문자 및 숫자의 조합을 말합니다.
제 3 조 (이용약관의 효력 및 변경)
① 이 약관은 당 사이트에 게시하거나 기타의 방법으로 회원에게 공지함으로써 효력이 발생합니다.
② 당 사이트는 이 약관을 개정할 경우에 적용일자 및 개정사유를 명시하여 현행 약관과 함께 당 사이트의
초기화면에 그 적용일자 7일 이전부터 적용일자 전일까지 공지합니다. 다만, 회원에게 불리하게 약관내용을
변경하는 경우에는 최소한 30일 이상의 사전 유예기간을 두고 공지합니다. 이 경우 당 사이트는 개정 전
내용과 개정 후 내용을 명확하게 비교하여 이용자가 알기 쉽도록 표시합니다.
제 4 조(약관 외 준칙)
① 이 약관은 당 사이트가 제공하는 서비스에 관한 이용안내와 함께 적용됩니다.
② 이 약관에 명시되지 아니한 사항은 관계법령의 규정이 적용됩니다.
제 2 장 이용계약의 체결
제 5 조 (이용계약의 성립 등)
① 이용계약은 이용고객이 당 사이트가 정한 약관에 「동의합니다」를 선택하고, 당 사이트가 정한
온라인신청양식을 작성하여 서비스 이용을 신청한 후, 당 사이트가 이를 승낙함으로써 성립합니다.
② 제1항의 승낙은 당 사이트가 제공하는 과학기술정보검색, 맞춤정보, 서지정보 등 다른 서비스의 이용승낙을
포함합니다.
제 6 조 (회원가입)
서비스를 이용하고자 하는 고객은 당 사이트에서 정한 회원가입양식에 개인정보를 기재하여 가입을 하여야 합니다.
제 7 조 (개인정보의 보호 및 사용)
당 사이트는 관계법령이 정하는 바에 따라 회원 등록정보를 포함한 회원의 개인정보를 보호하기 위해 노력합니다. 회원 개인정보의 보호 및 사용에 대해서는 관련법령 및 당 사이트의 개인정보 보호정책이 적용됩니다.
제 8 조 (이용 신청의 승낙과 제한)
① 당 사이트는 제6조의 규정에 의한 이용신청고객에 대하여 서비스 이용을 승낙합니다.
② 당 사이트는 아래사항에 해당하는 경우에 대해서 승낙하지 아니 합니다.
- 이용계약 신청서의 내용을 허위로 기재한 경우
- 기타 규정한 제반사항을 위반하며 신청하는 경우
제 9 조 (회원 ID 부여 및 변경 등)
① 당 사이트는 이용고객에 대하여 약관에 정하는 바에 따라 자신이 선정한 회원 ID를 부여합니다.
② 회원 ID는 원칙적으로 변경이 불가하며 부득이한 사유로 인하여 변경 하고자 하는 경우에는 해당 ID를
해지하고 재가입해야 합니다.
③ 기타 회원 개인정보 관리 및 변경 등에 관한 사항은 서비스별 안내에 정하는 바에 의합니다.
제 3 장 계약 당사자의 의무
제 10 조 (KISTI의 의무)
① 당 사이트는 이용고객이 희망한 서비스 제공 개시일에 특별한 사정이 없는 한 서비스를 이용할 수 있도록
하여야 합니다.
② 당 사이트는 개인정보 보호를 위해 보안시스템을 구축하며 개인정보 보호정책을 공시하고 준수합니다.
③ 당 사이트는 회원으로부터 제기되는 의견이나 불만이 정당하다고 객관적으로 인정될 경우에는 적절한 절차를
거쳐 즉시 처리하여야 합니다. 다만, 즉시 처리가 곤란한 경우는 회원에게 그 사유와 처리일정을 통보하여야
합니다.
제 11 조 (회원의 의무)
① 이용자는 회원가입 신청 또는 회원정보 변경 시 실명으로 모든 사항을 사실에 근거하여 작성하여야 하며,
허위 또는 타인의 정보를 등록할 경우 일체의 권리를 주장할 수 없습니다.
② 당 사이트가 관계법령 및 개인정보 보호정책에 의거하여 그 책임을 지는 경우를 제외하고 회원에게 부여된
ID의 비밀번호 관리소홀, 부정사용에 의하여 발생하는 모든 결과에 대한 책임은 회원에게 있습니다.
③ 회원은 당 사이트 및 제 3자의 지적 재산권을 침해해서는 안 됩니다.
제 4 장 서비스의 이용
제 12 조 (서비스 이용 시간)
① 서비스 이용은 당 사이트의 업무상 또는 기술상 특별한 지장이 없는 한 연중무휴, 1일 24시간 운영을
원칙으로 합니다. 단, 당 사이트는 시스템 정기점검, 증설 및 교체를 위해 당 사이트가 정한 날이나 시간에
서비스를 일시 중단할 수 있으며, 예정되어 있는 작업으로 인한 서비스 일시중단은 당 사이트 홈페이지를
통해 사전에 공지합니다.
② 당 사이트는 서비스를 특정범위로 분할하여 각 범위별로 이용가능시간을 별도로 지정할 수 있습니다. 다만
이 경우 그 내용을 공지합니다.
제 13 조 (홈페이지 저작권)
① NDSL에서 제공하는 모든 저작물의 저작권은 원저작자에게 있으며, KISTI는 복제/배포/전송권을 확보하고
있습니다.
② NDSL에서 제공하는 콘텐츠를 상업적 및 기타 영리목적으로 복제/배포/전송할 경우 사전에 KISTI의 허락을
받아야 합니다.
③ NDSL에서 제공하는 콘텐츠를 보도, 비평, 교육, 연구 등을 위하여 정당한 범위 안에서 공정한 관행에
합치되게 인용할 수 있습니다.
④ NDSL에서 제공하는 콘텐츠를 무단 복제, 전송, 배포 기타 저작권법에 위반되는 방법으로 이용할 경우
저작권법 제136조에 따라 5년 이하의 징역 또는 5천만 원 이하의 벌금에 처해질 수 있습니다.
제 14 조 (유료서비스)
① 당 사이트 및 협력기관이 정한 유료서비스(원문복사 등)는 별도로 정해진 바에 따르며, 변경사항은 시행 전에
당 사이트 홈페이지를 통하여 회원에게 공지합니다.
② 유료서비스를 이용하려는 회원은 정해진 요금체계에 따라 요금을 납부해야 합니다.
제 5 장 계약 해지 및 이용 제한
제 15 조 (계약 해지)
회원이 이용계약을 해지하고자 하는 때에는 [가입해지] 메뉴를 이용해 직접 해지해야 합니다.
제 16 조 (서비스 이용제한)
① 당 사이트는 회원이 서비스 이용내용에 있어서 본 약관 제 11조 내용을 위반하거나, 다음 각 호에 해당하는
경우 서비스 이용을 제한할 수 있습니다.
- 2년 이상 서비스를 이용한 적이 없는 경우
- 기타 정상적인 서비스 운영에 방해가 될 경우
② 상기 이용제한 규정에 따라 서비스를 이용하는 회원에게 서비스 이용에 대하여 별도 공지 없이 서비스 이용의
일시정지, 이용계약 해지 할 수 있습니다.
제 17 조 (전자우편주소 수집 금지)
회원은 전자우편주소 추출기 등을 이용하여 전자우편주소를 수집 또는 제3자에게 제공할 수 없습니다.
제 6 장 손해배상 및 기타사항
제 18 조 (손해배상)
당 사이트는 무료로 제공되는 서비스와 관련하여 회원에게 어떠한 손해가 발생하더라도 당 사이트가 고의 또는 과실로 인한 손해발생을 제외하고는 이에 대하여 책임을 부담하지 아니합니다.
제 19 조 (관할 법원)
서비스 이용으로 발생한 분쟁에 대해 소송이 제기되는 경우 민사 소송법상의 관할 법원에 제기합니다.
[부 칙]
1. (시행일) 이 약관은 2016년 9월 5일부터 적용되며, 종전 약관은 본 약관으로 대체되며, 개정된 약관의 적용일 이전 가입자도 개정된 약관의 적용을 받습니다.