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Study on Object Recognition by Active Stereo Camera for Clean-up Robot
Takafumi Kijima,Naoki Sekiguchi,Hun-ok Lim 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper describes a clean-up robot that is composed of a mobile base and a manipulator. An object recognition algorithm that is based on an active stereo camera system is also proposed for the clean-up robot. In order for the robot to clear a dining table, the stereo camera system must identify the objects on the dining table and evaluate their positions. For localizing and detecting objects, a convolutional neural network (CNN) that requires a large amount of image data and numerous computations is generally employed. In this study, we use a transfer learning method that is capable of omitting the huge data and the sliding window method that can extract the object area. The SUEF (speeded up robust features) feature points that are extracted by the right camera are compared with those obtained by the left camera, and the area where the number of matched points is the largest is outputted as the object that is to be identified by the left and right cameras. The effectiveness of the object recognition algorithm is verified through clean-up experiments.
Optical properties of conjugated polymers having linear carbon moieties
M.Kijima,I.Kinoshita,K.Hiroki,H.Shirakawa,K.Yoshikawa,Y.Mishima,N.Sasaki 한국물리학회 2002 Current Applied Physics Vol.2 No.4
Alternate conjugated copolymers consisting of phenylene or biphenylylene unit and linear carbons unit such as cumulene andpolyyne were synthesized. The optical property of these polymers was investigated by UVVis and uorescence spectroscopies.Among cumulene-type polymers, the polymer having allene moiety showed a unique hypsochromic shift and intense blue uo-rescence in solution, while poly(phenylenebutadiynylene)s, typical of polyyne-type linear conjugated polymers, showed uorescencepolymers on optical property as well as the band structure were evaluated on the basis of Hammet parameters, which was utilizedfor designing of the polymers. The poly(arylenebutadiynylenes)s were applied in polymer LED. The devices consisting of ITO/PEDOT-PSS/emitting polymer/Ca/Al realized EL emissions in the region covering RGB colors.. 2002 Elsevier Science B.V. All rights reserved.
RFLP Analysis of the mtDNA COI Region in Four Abalone Species
Park, Choul-Ji,Kijima, Akihiro The Korean Society of Fisheries and Aquatic Scienc 2006 Fisheries and Aquatic Sciences Vol.9 No.3
The cytochrome c oxidase subunit I (COI) gene region of mitochondrial DNA (mtDNA) was examined in four abalone species to estimate its utility as a genetic marker using restriction fragment length polymorphism (RFLP) analysis. The utility was evaluated in terms of genetic divergence and relationships among Haliotis discus hannai, H. rufescens, H. rubra, and H. midae in both hemispheres of the world. There was clear genetic divergence in the mtDNA COI region between all pairs of the four species. Moreover, relationships among the abalone species were reflected in their geographical distributions and morphological characteristics. Therefore, RFLP analysis of the mtDNA COI region is a suitable genetic marker for the estimation of genetic divergence and relationships among abalone species. However, it is not effective for the evaluation of genetic differences within abalone species.
일본 해역에 서식하고 있는 도다리, Pleuronichthys cornutus, 2형간의 유전적 분기
박중연,목도명박,강용주,PARK Jung-Youn,KIJIMA Akihiro,KANG Yong-Joo 한국수산과학회 1994 한국수산과학회지 Vol.27 No.3
일본에서 상업적으로 중요한 어종 중의 하나인 도다리 2형간 유전적 분기의 정도를 측정하기 위하여 전분 gel 전기영동법에 의한 isozyme분석을 행하였다. 도다리 2형간에 있어서 14종의 효소를 지배하는 22유전자좌가 검출되었으며 2형간에 있어서 공통의 대림유전자를 가지고 있지 않은 완전분기는 3유전자좌(Acp, Idh-2 및 Mdh-2)에서 관찰되었다. 2형간에 있어서 측정된 Nei의 유전적거리는 0.46592이었으며 2형간에 있어서 유전적 변이성의 차이를 나타내는 평균 이형 접합체율의 기대치는 A type에서 0.120, B type에서는 0.095로 나타났다. 이상의 결과로부터 2형간에 있어서 유전적으로 상호 분기되어 있었으며 그들의 분기 년도는 대략 $2.3{\times}10^6$년 전으로 추정된다. In order to estimate the degree of genetic divergence between the two types of finespotted flounder, Pleuronichthys cornutus which is important commercially in Japan, isozyme analysis was carried out by starch gel electrophoresis. Twenty two loci coding for fourteen enzymes were scored in two types of finespotted flounder and three completely divergent loci (Acp, Idh-2 and Mdh-2), with no common alleles, were observed between these two types. Nei's genetic distance between two types was 0.46592. However, the expected average heterozygosity was 0.120 in type A (Hon meitagarei) and 0.095 in type B (Bake meitagarei) These results mean that the existence of two types of finespotted flounder was established in this study which may have had genetic divergence and the divergence time of these two types may have been about $2.3{\times}10^6$ years ago.
No Effect of High Fat Diet-Induced Obesity on Spontaneous Reporter Gene Mutations in gpt Delta Mice
Takasu, Shinji,Ishii, Yuji,Matsushita, Kohei,Kuroda, Ken,Kijima, Aki,Kodama, Yukio,Ogawa, Kumiko,Umemura, Takashi Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.17
A large number of epidemiological studies have demonstrated that obesity is a risk factor for several human cancers. Several animal studies using rodents with diet-induced or genetic obesity have also demonstrated that obesity can promote tumor development. However, the effects of obesity on the early stages of carcinogenesis, and especially on the spontaneous occurrence of somatic gene mutations, remain unclear. To investigate the effects of obesity on the rate of spontaneous gene mutations, we performed reporter gene mutation assays in liver, kidney, and colon, organs in which obesity appears to be associated with cancer development on the basis of epidemiological or animal studies, in mice with high fat diet (HFD)-induced obesity. Six-week-old male and female C57BL/6 gpt delta mice were fed HFD or standard diet (STD) for 13 or 26 weeks. At the end of the experiments, reporter gene mutation assays of liver, kidney, and colon were performed. Final body weights and serum leptin levels of male and female mice fed HFD for 13 or 26 weeks were significantly increased compared with corresponding STD-fed groups. Reporter gene mutation assays of liver, kidney, and colon revealed that there were no significant differences in gpt or $Spi^-$ mutant frequencies between STD- and HFD-fed mice in either the 13-week or 26-week groups. These results indicate that HFD treatment and consequent obesity does not appear to influence the spontaneous occurrence of somatic gene mutations.