• International Journal of Advanced Culture Technology
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• v.7 no.4
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• pp.313-320
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• 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.

• Asian Pacific Journal of Cancer Prevention
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• v.16 no.2
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• pp.437-442
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• 2015

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.

• The Plant Pathology Journal
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• v.31 no.2
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• pp.108-114
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• 2015

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.

• Korean Journal of Applied Biomechanics
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• v.14 no.2
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• pp.85-103
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• 2004

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.

• Journal of Korean Neurosurgical Society
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• v.65 no.4
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• pp.572-581
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• 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.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.17 no.2
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• pp.130-137
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• 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.

• Korean Journal of Remote Sensing
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• v.37 no.3
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• pp.515-530
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• 2021

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%.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.453-454
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• 2003

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.

• Journal of Breast Cancer
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• v.21 no.4
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• pp.391-398
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• 2018

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.

• Earthquakes and Structures
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• v.24 no.3
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• pp.217-235
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• 2023

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.