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Type-2 퍼지셋을 이용한 스테레오 비전기반 휴먼로이드 로봇의 움직임 추정
장화진(HuaZhen Zhang),강태구(Tae-Koo Kang),박귀태(Gwi-Tae Park) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.5
휴머노이드 로봇에서 스스로 환경을 인식하는 기술은 필수적으로 필요하다. 그러나 정확하게 환경을 인식하기 위해서는 휴머노이드 움직임을 추정하여 보정해야 한다. 따라서 본 논문에서는 type-2 퍼지셋을 이용하여 휴머노이드 로봇의 움직임을 스테레오 비전기반으로 추정하는 방법을 제안하고자 한다. 본 연구에서는 우선 스테레오 비전으로 얻은 Disparity Map을 Type-2 퍼지셋을 이용하여 추적할 대상을 추출한다. 추출된 대상은 보다 정확한 계산을 위하여 Wavelet Transform 을 이용하여 정보량을 확장하였으며, 그 결과로 얻어진 결과영상들은 다시 Least suqare approximation과 Type-2 퍼지셋을 이용하여 하나의 결과값으로 나타내어진다. 연속된 두 이미지의 움직임을 추정함으로써 로봇의 움직임을 추정하게 된다. 제안된 방법은 실험을 통하여 그 추정 정확도나 연산속도 면에서 효율적임을 알 수 있었다.
Enhanced SIFT Descriptor Based on Modified Discrete Gaussian-Hermite Moment
강태구,Huazhen Zhang,김동원,박귀태 한국전자통신연구원 2012 ETRI Journal Vol.34 No.4
The discrete Gaussian-Hermite moment (DGHM) is a global feature representation method that can be applied to square images. We propose a modified DGHM (MDGHM) method and an MDGHM-based scale-invariant feature transform (MDGHM-SIFT) descriptor. In the MDGHM, we devise a movable mask to represent the local features of a non-square image. The complete set of non-square image features are then represented by the summation of all MDGHMs. We also propose to apply an accumulated MDGHM using multi-order derivatives to obtain distinguishable feature information in the third stage of the SIFT. Finally, we calculate an MDGHM-based magnitude and an MDGHM-based orientation using the accumulated MDGHM. We carry out experiments using the proposed method with six kinds of deformations. The results show that the proposed method can be applied to non-square images without any image truncation and that it significantly outperforms the matching accuracy of other SIFT algorithms.
A Binary Based HMAX Model for Object Recognition
Tae-Koo Kang,Huazhen Zhang,Dong-Sung Pae,Myo-Taeg Lim 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In this paper, we propose a fast binary based HMAX model (B-HMAX). In our method, we detect corner based interest points after the second layer C1 to extract fewer numbers of features with better distinctiveness, and use binary string to describe the image patches extracted around detected corners, then use hamming distance for matching between two patches in the third layer S2, which is much faster than Euclidean method. Experimental results demonstrate that our proposed B-HMAX model can significantly reduce the total process time, while keeping the accuracy performance as the same with or better than standard HMAX.
Zhaowei Cai,Zhilan Xiao,Yufang Wang,Huazhen Liu,Kangdi Zhang,Xiaoning Zhen,Xiaoling Jiang 한국유전학회 2020 Genes & Genomics Vol.42 No.11
Background Down syndrome (DS), caused by trisomy 21, is the most common human chromosomal disorder. Hippocampalabnormalities have been believed to be responsible for the DS developmental cognitive deficits. Cumulative evidences indicatedthat non-coding RNAs (ncRNAs) participated in brain development and function. Currently, few was known whetherdysregulated ncRNAs existed in DS whether the dysregulated ncRNAs played important pathology roles in DS. Objective The purpose of this study was generating an overview map of the dysregulated ncRNAs in DS, including themicroRNA (miRNA), long ncRNA (lncRNA) and circular RNA (circRNAs). DS mouse models are invaluable tools forfurther mechanism and therapy studies. Methods The well-studied DS mouse model Dp(16)1/Yey was used in this study as it contains the trisomy of the whole humanchromosome 21 syntenic region on mouse chromosomes 16. Hippocampi were isolated from pups of seven-days-old. Librariesfor miRNA, lncRNA and circRNAs were constructed separately, and the next generation sequencing method was utilized. Results Differentially expressed (DE) miRNAs, lncRNAs and circRNAs were reported. Relative few regulating relationshipwere found between the DE miRNAs and DE mRNAs. LncRNAs originated from the trisomic regions expressed in clusters,but not all of them were 1.5-fold increased expressed. Dramatic DE circular RNAs were found in the DS hippocampus. The host genes of the DE circRNAs were enriched on functions which were well-known impaired in DS, e.g. long-termpotentiation,glutamatergic synapse, and GABAergic synapse. Conclusions We generated the first DS developmental hippocampal ncRNA transcriptome map. This work laid foundationsfor further investigations on role of ncRNAs in hippocampal functions.
Maltol Inhibits Apoptosis of Human Neuroblastoma Cells Induced by Hydrogen Peroxide
Yang, Yang,Wang, Jian,Xu, Caimin,Pan, Huazhen,Zhang, Zinan Korean Society for Biochemistry and Molecular Biol 2006 Journal of biochemistry and molecular biology Vol.39 No.2
To analyze the effect of Maltol on the apoptosis of Human Neuroblastoma Cells (SH-SY5Y) treated by free radical which was generated from Hydrogen Peroxide ($H_2O_2$), flow cytometry analysis on Phosphatidylserine (PS) inverting percentage was applied to determine the apoptosis. MTT (3-(4,5-dimethythiazol-2-yl)-2,5-diphenyl-tetrazolium bromide) assay was employed to analyze the cell viability. DNA electrophoresis was used to detect DNA fragmentation. Moreover intracellular calcium of concentration ($[Ca^{2+}]_i$) was measured by fluorescence emission. Flow cytometry analysis on the function of mitochondria and Western blto analysis of NF-${\kappa}B$. The results showed that the pretreatment with maltol for 2 hours could prevent the $H_2O_2$-induced apoptosis. Maltol could reduce the inverting percentage of PS, DNA fragmentation and $[Ca^{2+}]_i$, and enhance the cellular function of mitochondria. NF-${\kappa}B$ activated by $H_2O_2$ is reduced. The experiments suggest that maltol could effectively inhibit the apoptosis induced by $H_2O_2$. As a novel anti-oxidant, maltol is a new promising drug in protecting the neurological cells from the damage by free radical.