• Journal of Korean Neurosurgical Society
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• v.42 no.3
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• pp.205-210
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• 2007

Objective : Hyperpolarization-activated cyclic nucleotide-gated (HCN) channels mediate the hyperpolarization-activated currents (Ih) that participate in regulating neuronal membrane potential and contribute critically to pacemaker activity, promoting synchronization of neuronal networks. However, distinct regional and cellular localization of HCN channels in the brain have not been precisely defined. Aim of this study was to verify the precise cellular location of HCN1 channels in rat cerebellum to better understand the physiological role these channels play in synaptic transmission between CNS neurons. Methods : HCN1 expression in rat brain was analyzed using immunohistochemistry and electron-microscopic observations. Postsynaptic density-95 (PSD-95), otherwise known as locating and clustering protein, was also examined to clarify its role in the subcellular location of HCN1 channels. In addition, to presume the binding of HCN1 channels with PSD-95, putative binding motifs in these channels were investigated using software-searching method. Results : HCN1 channels were locally distributed at the presynaptic terminal of basket cell and exactly corresponded with the location of PSD-95. Moreover, nine putative SH3 domain of PSD-95 binding motifs were discovered in HCN1 channels from motif analysis. Conclusion : Distinct localization of HCN1 channels in rat cerebellum is possible, especially when analyzed in conjunction with the SH3 domain of PSD-95. Considering that HCN1 channels contribute to spontaneous rhythmic action potentials, it is suggested that HCN1 channels located at the presynaptic terminal of neurons may play an important role in synaptic plasticity.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2435-2437
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• 2004

In this paper, an obstacle avoidance algorithm is proposed for a network-based robot considering network delay by distribution. The proposed algorithm is based on the VFH(Vector Field Histogram) algorithm, and for the network-based robot system, in which it is assumed robot localization information is transmitted through network communication. In this paper, target vector for the VFH algorithm is estimated through the robot localization information and the measurement of its delay by distribution. The delay measurement is performed by time-stamp method. To synchronize all local clocks of the nodes distributed on the network, a global clock synchronization method is adopted. With the delay measurement, the robot localization estimation is performed by calculating the kinematics of the robot. The validation of the proposed algorithm is performed through the performance comparison of the obstacle avoidance between the proposed algorithm and the existing VFH algorithm on the network-based autonomous mobile robot.

• Journal of IKEEE
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• v.22 no.3
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• pp.558-564
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• 2018

In distributed estimation where each node can collect only partial information on the parameter of interest without communication between nodes and quantize it before transmission to a fusion node which conducts estimation of the parameter, we consider a novel quantization technique employed at local nodes. It should be noted that the performance can be greatly improved if each node can transmit its measurement to one designated node (namely, head node) which can quantize its estimate using the total rate available in the system. For this case, the best strategy at the head node would be simply to partition the parameter space using the generalized Lloyd algorithm, producing the global codewords, one of which is closest to the estimate is transmitted to a fusion node. In this paper, we propose an iterative design algorithm that seeks to efficiently assign the codewords into each of quantization partitions at nodes so as to achieve the performance close to that of the system with the head node. We show through extensive experiments that the proposed algorithm offers a performance improvement in rate-distortion perspective as compared with previous novel techniques.

• The Journal of the Acoustical Society of Korea
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• v.16 no.1
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• pp.60-66
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• 1997

Most research on the estimation of direction of arrival has been accomplished based on the assumption that the signal sources are point sources. In some real surroundings, signal source localization can more adequately be accomplished with distributed source models. When the signal sources are distributed over an area, we cannot directly use well-known DOA estimation methods, In this paper, we represent an source by the center angle and degree of dispersion. Then, we address the estimation of the elevation and azimuth angles of distributed sources based on the parametric distributed source modeling in the 3-dimensional space.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.204-216
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• 2006

Latest advances in hardware technology and state of the art of mobile robot and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. And mobile service robot requires the perception of its present position to coexist with humans and support humans effectively in populated environments. To realize these abilities, robot needs to keep track of relevant changes in the environment. This paper proposes a localization of mobile robot using the images by distributed intelligent networked devices (DINDs) in intelligent space (ISpace) is used in order to achieve these goals. This scheme combines data from the observed position using dead-reckoning sensors and the estimated position using images of moving object, such as those of a walking human, used to determine the moving location of a mobile robot. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Using the a priori known path of a moving object and a perspective camera model, the geometric constraint equations that represent the relation between image frame coordinates of a moving object and the estimated position of the robot are derived. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot, and the Kalman filtering scheme is used to estimate the location of moving robot. The proposed approach is applied for a mobile robot in ISpace to show the reduction of uncertainty in the determining of the location of the mobile robot. Its performance is verified by computer simulation and experiment.

• Applied Microscopy
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• v.27 no.4
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• pp.403-416
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• 1997

In order to observe the localization of the specific antigenic protein in the tissue of Paragonimus westermani metacercaria, immunogoldlabeling method was applied using IgG of the dog which were infected with Paragonimus westermani metacercaria and IgG of rabbits which were immunized with purified 23 kDa protein from metacercaria of the Paragenimus westermani. The metacercaria worm tissues obtained from Cambaroides similis were embedded in Lowicryl HM20 medium, treated with infected and immunized IgG and protein A gold complex (particle size; 12 nm) and observed by electron microscope. In the tissue antigen of Paragonimus westermani metacercaria, the content of excretory bladder which was highly dense electron density was constituted in the excretory bladder of the parenchymal tissue. In the metacercaria tissues antigen reacted with IgG of infected dog. Labeled gold particles distributed on the interstitial matrix of parenchymal cells, fibrous granules of parenchymal tissue and the content of excretory bladder. High antigenicity was observed on content of excretory bladder. It was found to be specifically distributed at the tissue of Paragonimus westermani metacercaria. In the tissues antigen reacted with IgG of immunized rabbit. Labeled gold particles randomly distributed on the interstitial matrix and fibrous granules of parenchymal tissue but in the content of excretory bladder of Paragonimus westermani metacercaria, gold particles were richly labeled. Therefore, the 23 kDa protein contained with Paragonimus westermani metacercaria was found protein which was specifically constituted at the content of excretory bladder of Paragonimum westermani metacercaria. The 23 kDa protein was commonly contained from of Paragonimus westermani metacercaria to adult and showed strong antigenicity against the immunized and infected IgG.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.774-779
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• 2004

This paper addresses the way in which we can find where impact noise sources are. Specifically, we have an interest in the case that the signal is embedded in noise. We propose a signal processing method that can identify impulsive sources’location. The method is robust with respect to noise; spatially distributed noise. This has been achieved by a beamforming method with regard to cepstrum domain is used. It is noteworthy that the cepstrum has the ability to detect periodic pulse signal in noise. Numerical simulation and experiments are performed to verify the method. Results show that the proposed technique is quite powerful for localizing the faults in noisy environments. The method also required less microphones than conventional beamforming method.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.9 s.90
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• pp.877-883
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• 2004

This paper addresses the way in which we can find where impulsive noise sources are. Specifically, we have an interest in the case that the signal is embedded in noise. We propose a signal processing method that can identify impulsive sources' location. The method is robust with respect to spatially distributed noise. This has been achieved by the modified beamforming method with regard to cepstrum domain is used. It is noteworthy that the cepstrum has the ability to detect periodic pulse signal in noise. Numerical simulation and experiments are performed to verify the method. Results show that the proposed technique is quite powerful for localizing the faults in noisy environments. The method also required less microphones than conventional beamforming method.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.898-904
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• 2010

Unmanned autonomous forklifts have a great potential to enhance the productivity of material handling in various applications because these forklifts can pick up and deliver loads without an operator and any fixed guide. There are, however, many technical difficulties in developing such forklifts including localization, map building, sensor fusion, control and so on. Implementation, which is often neglected, is one of practical issues in developing such an autonomous device. This is because the system requires numerous sensors, actuators, and controllers that need to be connected with each other, and the number of connections grows very rapidly as the number of devices grows. Another requirement on the integration is that the system should allow changes in the system design so that modification and addition of system components can be accommodated without too much effort. This paper presents a network-based distributed approach where system components are connected to a shared CAN network, and control functions are divided into small tasks that are distributed over a number of microcontrollers with a limited computing capacity. This approach is successfully applied to develop an unmanned forklift.

• Geophysics and Geophysical Exploration
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• v.10 no.4
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• pp.285-292
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• 2007

Magnetotelluric data recorded in the middle part of the Korean Peninsula are contaminated by severe noises at dead-band frequencies. In this study, we estimated the location of noise source using a source localization method. Since conventional beamforming techniques were not adequate for the localization of electromagnetic sources, we used the matched field processing and a genetic algorithm. The solutions for the strong noise signals tend to be localized in a narrow area, whereas those for natural MT signals shows randomly distributed patterns. The strong noise sources are mainly located in the western part of Kyonggi-do.