• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.7
• /
• pp.693-699
• /
• 2006

An accurate and compact map is essential to an autonomous mobile robot system. For navigation, it is efficient to use an occupancy grid map because the environment is represented by probability distribution. But it is difficult to apply it to the large environment since it needs a large amount of memory proportional to the environment size. As an alternative, a topological map can be used to represent it in terms of the discrete nodes with edges connecting them. It is usually constructed by the Voronoi-like graphs, but in this paper the topological map is incrementally built based on the local grid map using the thinning algorithm. This algorithm can extract only meaningful topological information by using the C-obstacle concept in real-time and is robust to the environment change, because its underlying local grid map is constructed based on the Bayesian update formula. In this paper, the position probability is defined to evaluate the quantitative reliability of the end nodes of this thinning-based topological map (TTM). The global TTM can be constructed by merging each local TTM by matching the reliable end nodes determined by the position probability. It is shown that the proposed TTM can represent the environment accurately in real-time and it is readily extended to the global TTM.

• Toxicological Research
• /
• v.17
• /
• pp.251-256
• /
• 2001

The expression of phase II detoxifying enzymes is affected by a variety of compounds and the induction of the enzymes plays an essential role in chemoprevention. A variety of phytochemicals such as sulfur-containing chemoprotective agents (SCC) may trigger cellular signals and activate phase II gene expression through ARE activation. see induces glutathione S-transferases. Studies were conducted to investigate the role of mitogen-activated protein (MAP) kinase and phosphatidylinositol 3-kinase (PI3-kinase) in the induction of GST (e.g. rGSTA2) by sec. We also studied the MAP kinase pathway responsible for the GST expression by see and compared that with the pathway activated by oxidative stress as a result of sulfur amino acids deprivation (SAAD). see inhibited phosphorylation of ERK1/2 although the effect of see on JNK and p38 MAP kinase was minimal. Wortmannin and LY294002. PI3-kinase inhibitors. abolished the increases in rGSTA2 mRNA and protein levels by SCC. Deprivation of cystine and methionine caused oxidative stress in H4IIE cells. as evidenced by a decrease in the reduced glutathione and an increase in prooxidant production. Electrophoretic mobility shift assay revealed that the ARE complex consisting of Nrf-1/2 and Maf proteins was activated 12~48 h. The rGSTA2 mRNA and protein levels were increased by SAAD. Activation of ARE and induction of rGSTA2 were both completely inhibited by PI3-kinase inhibitors. Inhibition of p38 MAP kinase by SB203580 prevented the ARE-mediated rGSTA2 induction. The results of this study showed that PI3-kinase might play an essential role in the ARE-mediated rGSTA2 induction by see or SAAD and that the dual MAP kinase pathways were responsible for the enzyme induction.

• Communications of the Korean Mathematical Society
• /
• v.28 no.2
• /
• pp.361-369
• /
• 2013

We introduce a Nielsen type number of a fibre preserving map, and show that it is a lower bound for the number of $n$-orbits in the homotopy class. Under suitable conditions we show that it is equal to the Nielsen type relative essential $n$-orbit number. We also give necessary and sufficient conditions for it and the essential $n$-orbit number to coincide.

• Journal of Korea Multimedia Society
• /
• v.13 no.12
• /
• pp.1855-1862
• /
• 2010

In virtual reality, there are increasing qualitative development in service technologies for realtime interaction system development, 3- dimensional contents, 3D TV and augment reality services. These services experience difficulties to generate depth value that is essential to recover 3D space to form solidity on existing contents. Hence, research for the generation of effective depth-map using 2D is necessary. This thesis will describe a shortcoming of an existing depth-map generation for the recovery of 3D space using 2D image and will propose an enhanced depth-map generation algorithm that complements a shortcoming of existing algorithms and utilizes the definition of depth direction based on the vanishing point within image.

• Journal of Korean Society for Geospatial Information Science
• /
• v.18 no.3
• /
• pp.67-74
• /
• 2010

The aim of this paper is to come up with a methodology of migration for current transportation digital map in order to construct NDRM, which is the most essential map data for car navigation system. The model suggested through our study is able to efficiently produce navigable service map for route finding and guidance as well as to make the best of general road network developed by KOTI.

• Journal of Electrical Engineering and Technology
• /
• v.6 no.4
• /
• pp.573-579
• /
• 2011

To meet the scalability and performance requirements of data analyses, which often involve voluminous data, efficient parallel or concurrent algorithms and frameworks are essential. We present a high-performance Korean morphological analyzer which employs the MapReduce framework on the graphics processing unit (GPU). MapReduce is a programming framework introduced by Google to aid the development of web search applications on a large number of central processing units (CPUs). GPUs are designed as a special-purpose co-processor. Their programming interfaces are typically formulated for graphics applications. Compared to CPUs, GPUs have greater computation power and memory bandwidth; however, GPUs are more difficult to program because of the design of their architectures. The performance of the Korean morphological analyzer using the MapReduce framework on the GPU is evaluated in comparison with the CPU-based model. The proposed Korean Morphological analyzer shows promising scalable performance on distributed computing with the GPU.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.20 no.6
• /
• pp.515-520
• /
• 2010

The noise map has been applied to predicting the effect of noise and establishing the noise abatement measure for several years overseas. However the introduction of the noise map in Korea is at the initial stage. Thus, we surveyed the several prediction models for road traffic noise used in EU, and the method of applying the noise map in noise impact assessment. In order to improve the noise impact assessment we have to apply the noise map, and propose the guideline of predicting the road traffic noise. We intend to obtain coherency and accuracy of prediction results. As a result of this study, we know that the prediction guideline is an essential prerequisite in order to predict the unified and accurate road traffic noise.

• Journal of Information Processing Systems
• /
• v.16 no.5
• /
• pp.1183-1195
• /
• 2020

Visual saliency detection is an essential task because it is an important part of various vision-based applications. There are many techniques for saliency detection in color images. However, the number of methods for saliency detection in infrared images is limited. In this paper, we introduce a simple approach for saliency detection in infrared images based on the thresholding technique. The input image is thresholded into several Boolean maps, and an initial saliency map is calculated as a weighted sum of the created Boolean maps. The initial map is further refined by using thresholding, morphology operation, and a Gaussian filter to produce the final, high-quality saliency map. The experiment showed that the proposed method has high performance when applied to real-life data.

• Physical Therapy Korea
• /
• v.14 no.2
• /
• pp.11-20
• /
• 2007

The development of neonatal neuromuscular system is accomplished by the functional interaction between the spinal neurons and its target cells, skeletal muscle cells, and the intrinsic and extrinsic factors affecting this process. The aim of this study was to identify the effect of suspension unloading (SU) and neuromuscular electrical stimulation (NMES) upon the development of the neonatal spinal cord. For this study, the neonatal rats were randomly divided into three groups: a control group, an experimental group I, and an experimental group II. The SU for experimental group I and II was applied from postnatal day (PD) 5 to PD 30, and the NMES for experimental group II was applied from PD 16 to PD 30 using NMES that gave isometric contraction with 10 Hz for 30 minutes twice a day. In order to observe the effect of SU and NMES, this study observed neutrophin-3 (NT-3) and microtubule associated protein 2 (MAP2) immunoreactivity in the lumbar spinal cord (L4-5) at the PD 15 and PD 30. The results are as follows. At PD 15, lumbar spinal cord of experimental group I and II had significantly lower NT-3 and MAP2 immunoreactivity than control group. It proved that a microgravity condition restricted the spinal development. At PD 30, lumbar spinal cord of control group and experimental group II had significantly higher NT-3 and MAP2 immunoreactivity than experimental group I. It proved that the NMES facilitated the spinal development by spinal cord-skeletal muscle interaction. These results suggest that weight bearing during the neonatal developmental period is essential for the development of neuromuscular development. Also, the NMES on its target skeletal muscle can encourage the development of the spinal cord system with a full supplementation of the effect of weight bearing, which is an essential factor in neonatal developmental process.

• Honam Mathematical Journal
• /
• v.28 no.4
• /
• pp.533-541
• /
• 2006

let E be a Finsler modules over $C^*$-algebras. A with norm-map $\rho$ and L(E) set of all A-linear bonded operators on E. We show that the canonical homomorphism ${\phi}:L(E){\rightarrow}L(E_I)$ sending each operator T to its restriction $T|E_I$ is injective if and only if I is an essential ideal in the underlying $C^*$-algebra A. We also show that $T{\in}L(E)$ is a bounded below if and only if ${\mid}{\mid}x{\mid}{\mid}={\mid}{\mid}{\rho}{\prime}(x){\mid}{\mid}$ is complete, where ${\rho}{\prime}(x)={\rho}(Tx)$ for all $x{\in}E$. Also, we give a necessary and sufficient condition for the equivalence of the norms generated by the norm map.