• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.433-439
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• 2010

This paper proposes a beacon color code scheduling algorithm for the localization of multiple robots in a multi-block workspace. With the developments of intelligent robotics and ubiquitous technology, service robots are applicable for the wide area such as airports and train stations where multiple indoor GPS systems are required for the localization of the mobile robots. Indoor localization schemes using ultrasonic sensors have been widely studied due to its cheap price and high accuracy. However, ultrasonic sensors have some shortages of short transmission range and interferences with other ultrasonic signals. In order to use multiple robots in wide workspace concurrently, it is necessary to resolve the interference problem among the multiple robots in the localization process. This paper proposes an indoor localization system for concurrent multiple robots localization in a wide service area which is divided into multi-block for the reliable sensor operation. The beacon color code scheduling algorithm is developed to avoid the signal interferences and to achieve efficient localization with high accuracy and short sampling time. The performance of the proposed localization system is verified through the simulations and the real experiments.

• Journal of Ship and Ocean Technology
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• v.9 no.4
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• pp.23-34
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• 2005

Increased usage of AUVs has led to the development of alternative navigational methods that use the acoustic beacons and dead reckoning. This paper describes a concurrent mapping and localization (CML) scheme that uses range sonars mounted on SNUUV­I, which is a small test AUV developed by Seoul National University. The CML is one of such alternative navigation methods for measuring the environment that the vehicle is passing through. In addition, it is intended to provide relative position of AUV by processing the data from sonar measurements. A technique for CML algorithm which uses several ranging sonars is presented. This technique utilizes an extended Kalman filter to estimate the location of the AUV. In order for the algorithm to work efficiently, the nearest neighbor standard filter is introduced as the algorithm of data association in the CML for associating the stored targets the sonar returns at each time step. The proposed CML algorithm is tested by simulations under various conditions. Experiments in a towing tank for one dimensional navigation are conducted and the results are presented. The results of the simulation and experiment show that the proposed CML algorithm is capable of estimating the position of the vehicle and the object and demonstrates that the algorithm will perform well in the real environment.

• Journal of Mechanical Science and Technology
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• v.16 no.3
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• pp.302-309
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• 2002

This paper presents a technique for localization of a mobile robot using sonar sensors. Localization is the continual provision of knowledges of position that are deduced from its a priori position estimation. The environment of a robot is modeled by a two-dimensional grid map. We define a physically based sonar sensor model and employ an extended Kalman filter to estimate positions of the robot. Since the approach does not rely on an exact geometric model of an object, it is very simple and offers sufficient generality such that integration with concurrent mapping and localizing can be achieved without major modifications. The performance and simplicity of the approach are demonstrated with the results produced by sets of experiments using a mobile robot equipped with sonar sensors.

• Sleep Medicine and Psychophysiology
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• v.10 no.1
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• pp.26-31
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• 2003

Restless leg syndrome (RLS) and periodic limb movement of sleep (PLMS), often concurrent, come under diagnosed disorders of sleep and treatable condition. RLS symptoms are evoked in the limbs at rest and increase in the evening and during the night. PLMS is characterized by periodic episodes of repetitive limb movements caused by muscle contractions during sleep. RLS is often associated with a sleep complaint and PLMS. Both RLS and PLMS represent one of the most commonly encountered sleep disorders in a primary care setting. The circadian rhythm and the presence of PLMS cause sleep disturbances in RLS. The emphasis on pathophysiology includes consideration of central nervous system localization, neurotransmitter, and the role of iron metabolism. Dopaminergic agents are considered the treatment of choice for RLS and PLMS. With proper diagnosis and effective treatment patients' ability to fall asleep and maintain sleep improves, and their sense of well being increases.

• Structural Engineering and Mechanics
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• v.65 no.3
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• pp.223-231
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• 2018

A numerical investigation of the impact of steel ductility on the strength and ductility of two-way corner and edge-supported concrete slabs containing low ductility welded wire fabric is presented. A finite element model was developed for the investigation and the results of a series of concurrent laboratory experiments were used to validate the numerical solution. A parametric investigation was conducted using the numerical model to investigate the various factors that influence the structural behavior at the strength limit state. Different values of steel uniform elongation and ultimate to yield strength ratios were considered. The results are presented and evaluated, with emphasis on the strength, ductility, and failure mode of the slabs. It was found that the ductility of the flexural reinforcement has a significant impact on the ultimate load behavior of two-way corner-supported slabs, particularly when the reinforcement was in the form of cold drawn welded wire fabric. However, the impact of the low ductility WWF has showed to be less prominent in structural slabs with higher levels of structural indeterminacy. The load-deflection curves of corner-supported slabs containing low ductility WWF are brittle, and the slabs have little ability to undergo plastic deformation at peak load.

• Journal of Korean Neurosurgical Society
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• v.56 no.1
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• pp.71-74
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• 2014

Cancer-related facial pain refractory to pharmacologic management or nondestructive means is a major indication for destructive pain surgery. Stereotactic mesencephalotomy can be a valuable procedure in the management of cancer pain involving the upper extremities or the face, with the assistance of magnetic resonance imaging (MRI) and electrophysiologic mapping. A 72-year-old man presented with a 3-year history of intractable left-sided facial pain. When pharmacologic and nondestructive measures failed to provide pain alleviation, he was reexamined and diagnosed with inoperable hard palate cancer with intracranial extension. During the concurrent chemoradiation treatment, his cancer-related facial pain was aggravated and became medically intractable. After careful consideration, MRI-based stereotactic mesencephalotomy was performed at a point 5 mm behind the posterior commissure, 6 mm lateral to and 5 mm below the intercommissural plane using a 2-mm electrode, with the temperature of the electrode raised to $80^{\circ}C$ for 60 seconds. Up until now, the pain has been relatively well-controlled by intermittent intraventricular morphine injection and oral opioids, with the pain level remaining at visual analogue scale 4 or 5. Stereotactic mesencephalotomy with the use of high-resolution MRI and electrophysiologic localization is a valuable procedure in patients with cancer-related facial pain.

• Korean Journal of Audiology
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• v.24 no.1
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• pp.1-9
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• 2020

Auditory scene analysis is defined as a listener's ability to segregate a meaningful message from meaningless background noise in a listening environment. To gain better understanding of auditory perception in terms of message integration and segregation ability among concurrent signals, we aimed to systematically review the size of auditory scenes among individuals. A total of seven electronic databases were searched from 2000 to the present with related key terms. Using our inclusion criteria, 4,507 articles were classified according to four sequential steps-identification, screening, eligibility, included. Following study selection, the quality of four included articles was evaluated using the CAMARADES checklist. In general, studies concluded that the size of auditory scene increased as the number of sound sources increased; however, when the number of sources was five or higher, the listener's auditory scene analysis reached its maximum capability. Unfortunately, the score of study quality was not determined to be very high, and the number of articles used to calculate mean effect size and statistical significance was insufficient to draw significant conclusions. We suggest that study design and materials that consider realistic listening environments should be used in further studies to deep understand the nature of auditory scene analysis within various groups.

• Journal of Audiology & Otology
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• v.24 no.1
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• pp.1-9
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• 2020

Auditory scene analysis is defined as a listener's ability to segregate a meaningful message from meaningless background noise in a listening environment. To gain better understanding of auditory perception in terms of message integration and segregation ability among concurrent signals, we aimed to systematically review the size of auditory scenes among individuals. A total of seven electronic databases were searched from 2000 to the present with related key terms. Using our inclusion criteria, 4,507 articles were classified according to four sequential steps-identification, screening, eligibility, included. Following study selection, the quality of four included articles was evaluated using the CAMARADES checklist. In general, studies concluded that the size of auditory scene increased as the number of sound sources increased; however, when the number of sources was five or higher, the listener's auditory scene analysis reached its maximum capability. Unfortunately, the score of study quality was not determined to be very high, and the number of articles used to calculate mean effect size and statistical significance was insufficient to draw significant conclusions. We suggest that study design and materials that consider realistic listening environments should be used in further studies to deep understand the nature of auditory scene analysis within various groups.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.47 no.2
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• pp.85-94
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• 2002

Antibodies raised against the purified p-subunit of $\beta$-conglycinin were used in immunohistochemical studies to monitor the pattern of $\beta$-conglycinin mobilization in the cotyledons during soybean [Glycine max (L.) Merr.] seed germination. Western blot analysis revealed that the break down of the $\beta$-subunit of $\beta$-conglycinin commenced as early as 2 days after seed imbibition (DAI). Concurrent with the degradation of the $\beta$-subunit of $\beta$-conglycinin, accumulation of 48, 28, and 26 kD proteolytic intermediates was observed from 2 to 6 DAI. Western blot analysis also revealed that the acidic subunit of glycinin was mobilized earlier than the basic subunit. The basic glycinin subunit was subjected to proteolysis within 2 DAI resulting in the appearance of an intermediate product approximately 2 kD smaller than the native basic glycinin subunit. In contrast to the major seed storage proteins, lipoxygenase was subjected to limited proteolysis and was detected even after 8 DAI. The first sign of $\beta$-conglycinin breakdown was observed near the vascular strands and proceeded from the vascular strands towards the epidermis. Protein A-gold localization studies using thin sections of soybean cotyledons and antibodies raised against the $\beta$-subunit of $\beta$-conglycinin revealed intense labeling over protein bodies. A pronounced decrease in the protein A-gold labeling intensity over protein bodies was observed at later stages of seed germination. The protein bodies, which were converted into a large central vacuole by 8 DAI, contained very little 7S protein as evidenced by sparse protein A-gold labeling in the vacuoles.

• Asian Pacific Journal of Cancer Prevention
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• v.14 no.7
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• pp.4223-4228
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• 2013

Background: The purpose of this study was to determine the clinical and dosimetric factors associated with acute esophagitis (AE) in lung cancer patients treated with conformal radiotherapy (RT) in Turkey. Materials and Methods: In this retrospective review 104 lung cancer patients were examined. Esophagitis grades were verified weekly during treatment, and at 1 week, and 1 and 2 months afterwards. The clinical parameters included patient age, gender, tumor pathology, number of chemotherapy treatments before RT, concurrent chemotherapy, radiation dose, tumor response to RT, tumor localization, interruption of RT, weight loss, tumor and nodal stage and tumor volume. The following dosimetric parameters were analyzed for correlation of AE: The maximum ($D_{max}$) and mean ($D_{mean}$) doses delivered to the esophagus, the percentage of esophagus volume receiving ${\geq}10$ Gy ($V_{10}$), ${\geq}20$ Gy ($V_{20}$), ${\geq}30$ Gy ($V_{30}$), ${\geq}35$ Gy ($V_{35}$), ${\geq}40$ Gy ($V_{40}$), ${\geq}45$ Gy ($V_{45}$), ${\geq}50$ Gy ($V_{50}$) and ${\geq}60$ Gy ($V_{60}$). Results: Fifty-five patients (52.9%) developed AE. Maximum grades of AE were recorded: Grade 1 in 51 patients (49%), and Grade 2 in 4 patients (3.8%). Clinical factors had no statistically significant influence on the incidence of AE. In terms of dosimetric findings, correlation analyses demonstrated a significant association between AE and $D_{max}$ (>5117 cGy), $D_{mean}$ (>1487 cGy) and $V_{10-60}$ (percentage of volume receiving >10 to 60 Gy). The most significant relationship between RT and esophagitis were in $D_{max}$ (>5117 cGy) (p=0.002) and percentage of esophageal volume receiving >30 Gy ($V_{30}$ >31%) (p=0.008) in the logistic regression analysis. Conclusions: The maximum dose esophagus greater than 5117 cGy and approximately one third (31%) of the esophageal volume receiving >30 Gy was the most statistically significant predictive factor associated with esophagitis due to RT.