• The KIPS Transactions:PartB
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• v.11B no.7 s.96
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• pp.769-778
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• 2004

Object segmentation is a challenging Problem when the background is cluttered and the objects are overlapped one another. Recent develop-ment using snake algorithms proposed to segment objects from a 2-D Image presents a higher possibilityfor getting better contours. However, the performance of those snake algorithms degrades rapidly when the background is cluttered and objects are overlapped one another, Moreover, the initial snake point placement is another difficulty to be resolved. Here, we propose a novel snake algorithm for object segmentation using disparity information taken from a set of stereo images. By applying our newly designed snake energy function defined in the disparity space, our algorithmeffectively circumvents the limitations found in the previous methods. The performance of the proposed algorithm has been verified by computer simulation using various stereo image sets. The experiment results have exhibited a better performance over the well-known snake algorithm in terms of segmentation accuracy.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.740-745
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• 2003

Motion tracking and object segmentation are the most fundamental and critical problems in vision tasks suck as motion analysis. An active contour model, snake, was developed as a useful segmenting and tracking tool for rigid or non-rigid objects. Snake is designed no the basis of snake energies. Segmenting and tracking can be executed successfully by energy minimization. In this research, two new paradigms for segmentation and tracking are suggested. First, because the conventional method uses only intensity information, it is difficult to separate an object from its complex background. Therefore, a new energy and design schemes should be proposed for the better segmentation of objects. Second, conventional snake can be applied in situations where the change between images is small. If a fast moving object exists in successive images, conventional snake will not operate well because the moving object may have large differences in its position or shape, between successive images. Snakes's nodes may also fall into the local minima in their motion to the new positions of the target object in the succeeding image. For robust tracking, the condensation algorithm was adopted to control the parameters of the proposed snake model called "adaptive color snake model(SCSM)". The effectiveness of the ACSM is verified by appropriate simulations and experiments.

• KIPS Transactions on Software and Data Engineering
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• v.4 no.8
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• pp.309-314
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• 2015

One of typical methods for extracting facial features from face images may be snake. Although snake is simple and fast, performance is very much affected by the initial contour and the shape of object to be extracted. In this paper, the enhanced snake is proposed to extract better facial features from 6 lip and mouth images as snake point is added to the midpoint of snake segment. It is shown that RSD of the proposed method is about 2.8% to 5.8% less than that of Greedy snake about 6 test face images. Since lesser RSD is especially obtained for contours with highly concavity, the contour is more accurately extracted.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.1
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• pp.70-75
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• 2003

There come various types of robot with researches for mobile robot. This paper introduces the multi-joint snake robot having 16 degree of freedom and composing of eight-axis. The biological snake robot uses the forward movement friction and the proposed artificial snake robot uses the un-powered wheel instead of the body of snake. To determine the enable joint angle of each joint, the controller inputs are considered such as color and distance using PC Camera and ultra-sonic sensor module, respectively. The movement method of snake robot is sequential moving from head to tail through body. The target for movement direction is decided by a certain article be displayed in the PC Camera. In moving toward that target, if there is any obstacle then the snake robot can avoid by itself. In this paper, we show the method of snake robot for tracing the target with experiment.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.139-148
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• 2024

In this paper, we propose a two-degree-of-freedom snake robot head system and an I-PID (Intelligent Proportional-Integral-Derivative)-based controller utilizing RBF (Radial Basis Function) neural network and adaptive robust terms as a control strategy to reduce rotation occurring in the snake robot head. This study proposes a two-degree-of-freedom snake robot head system to avoid complex snake robot dynamics. This system has a control system independent of the snake robot. Subsequently, it utilizes an I-PID controller to implement a control system that can effectively manage rotation at the snake robot head, the robot's nonlinearity, and disturbances. To compensate for the time delay estimation errors occurring in the I-PID control system, an RBF neural network is integrated. Additionally, an adaptive robust term is designed and integrated into the control system to enhance robustness and generate control inputs responsive to signal changes. The proposed controller satisfies stability according to Lyapunov's theory. The proposed control strategy was tested using a 9-degreeof-freedom snake robot. It demonstrates the capability to reduce rotation in Lateral undulation, Rectilinear, and Sidewinding locomotion.

• Journal of Acupuncture Research
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• v.33 no.2
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• pp.1-9
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• 2016

Objectives : I investigated whether snake venom can synergistically strengthen the cytotoxic effects of NK-92 cells, and enhance the inhibition of the growth of lung cancer cells including NCI-H358 through the induction of death receptor dependent extrinsic apoptosis. Methods : Snake venom toxin inhibited cell growth of NCI-H358 Cells and exerted non influence on NK-92 cell viability. Moreover, when they were co-cultured with NK cells and concomitantly treated with $4{\mu}g/m{\ell}$ of snake venom toxin, more influence was exerted on the inhibition of growth of NCI-H358 cells than BV or NK cell co-culture alone. Results : The expression of Fas, TNFR2 and DR3 and in NCI-H358 lung cancer cells was significantly increased by co-culture of NK-92 cells and treatment of $4{\mu}g/m{\ell}$ of snake venom toxin, compared to co-culture of NK-92 cells alone. Coincidentally, Bax, caspase-3 and caspase-8 - expressions of pro-apoptotic proteins in the extrinsic apoptosis pathway, demonstrated significant increase. However, in anti-apoptotic NF-${\kappa}B$ activities, activity of the signal molecule was significantly decreased by co-culture of NK-92 cells and treatment of $4{\mu}g/m{\ell}$ of snake venom toxin, compared to co-culture of NK-92 cells or snake venom toxin treated by NCIH358 alone. Meanwhile, in terms of NO generation, there is a significant increase, in co-culture of NK-92 cells with NCI-H358 cells as well as the co-culture of NK-92 cells and concomitant treatment of $4{\mu}g/m{\ell}$ of snake venom toxin. However, no synergistic increase of NO generation was shown in co-culture of NK-92 cells and treatment of $4{\mu}g/m{\ell}$ of snake venom toxin, compared to co-culture of NK-92 cells with NCI-H358 cells. Conclusion : Consequently, this data provides that snake venom toxin could be useful candidate compounds to suppress lung cancer growth along with the cytotoxic effect of NK-92 cells through extrinsic apoptosis.

• Journal of Pharmacopuncture
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• v.2 no.1 s.2
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• pp.73-91
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• 1999

This study was carried out to invastigate the researches of Snake Venom and snakes which used in treatment 1. The fist literature that used the snake for treatment is Shin Nong Ben Cao Jing 2. Composition of Snake Venom is consist of Enzymatic proteins ; Phospholipase A(A1-2), Protease, L-amino acid oxidase etc, and Non-enzymatic proteins ; Crotamine(Cytolysin), Proteolytic factor(Hematoxin), Crotoxin(Neurotoxin) etc. 3. Main toxins in Snake Venom are Hematoxin, Cytolysin, Neurotoxin and Cardiotoxin. Lethal dose 50 value of Agkistrodon brevicaudus is $45.87{\mu}g$/18g, Agkistrodon saxatilis is $10.28{\mu}g$/18g, Agkistrodon ussuriensis is $8.68{\mu}g$/18g, therefore Agkistrodon ussuriensis has strongist Snake Venom of all in Korea. 4. Pharmacological actions of Snake Venom are anticoagulation, thrombolytic function, hypotensor etc. 5. Systemic syndromes and signs after snakebite are Dizziness(25.7%), Vomitting(23.1%), Fever(22%), Visual disturbance(18%), Headache(17.7%) and Dyspnea(17.6%), etc. 6. Local syndrome and sign after snakebite is Discoloration(54.2%), Bleeding(20.2%), Bullae(10.7%), Skinulcer(10.8%), etc. 7. Pathological syndromes after snakebite are WBC increase, Urine protein, Urine sugar, Haematuria and elevation of S-GDT, S-GPT etc. These syndromes are leaded by Hematoxin and Cytolysin. 8. Complication signs after snakebite are Cellulitis, Gastritis, Lympoma, Abscess etc. 9. Common function of Viperidae(Agkistrodon acutus or Zaocys dhumnades etc) is expelling the wind(祛風), removing obstruction in the channels(通絡), antipastic function(止痙). And it is used in order to cure hemiparesis, hemiplegia, facial palsy and CVA disease, etc. 10. Using way of snake for medical treatment is various like Herbal alchol therapy, pill, powder and injection etc. The Study on the Snake Venom should be carried out continuously for using of medical treatment.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.697-703
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• 2011

This article describes a snake robot with 2-DOF actuator modules. The 2-DOF actuator modules make the snake robot move in the 3D space so that the snake robot can cross obstacles and rough terrain. Each 2-DOF actuator module is designed to have high torque output and an embedded controller. A cross bracket connecting the modules is designed be able to support the weight of two actuator modules. The developed snake robot shows 3-D motions such as side winding, standing/monitoring, and can climb in a narrow pipe with high torque modules. The snake robot moves fast with passive wheels in a plane while crossing obstacles.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.13-16
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• 1999

An active contour model, Snake, was developed as a useful segmenting and tracking tool lot rigid or non-rigid (i.e. deformable) objects by Kass in 1987 In this research, Snake is newly designed to cover this large moving case. Image flow energy is proposed to give Snake the motion information of the target object. By this image flow energy Snake's nodes can move uniformly along the direction of the target motion in spite of the existences of local minima. Furthermore, when the motion is too large to apply image flow energy to tracking, a jump mode is proposed for solving the problem. The vector used to make Snake's nodes jump to the new location can be obtained by processing the image flow. The effectiveness of the proposed Snake is confirmed by some simulations.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.708-713
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• 2000

This paper reviews the concepts of the snake motion which can be often observed on the bodies moving along guide rails. A simple modelling is proposed in order to analyze the snake motion of the cross head assembly and force and moment equilibrium equations are established. It is determined the critical conditions at which snake motion just brings about. Some possible methods to reduce or prevent snake motion are discussed in detail.