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Adaptive planar vision marker composed of LED arrays for sensing under low visibility
Kim, Kyukwang,Hyun, Jieum,Myung, Hyun Techno-Press 2018 Advances in robotics research Vol.2 No.2
In image processing and robotic applications, two-dimensional (2D) black and white patterned planar markers are widely used. However, these markers are not detectable in low visibility environment and they are not changeable. This research proposes an active and adaptive marker node, which displays 2D marker patterns using light emitting diode (LED) arrays for easier recognition in the foggy or turbid underwater environments. Because each node is made to blink at a different frequency, active LED marker nodes were distinguishable from each other from a long distance without increasing the size of the marker. We expect that the proposed system can be used in various harsh conditions where the conventional marker systems are not applicable because of low visibility issues. The proposed system is still compatible with the conventional marker as the displayed patterns are identical.
Calibration of the Drift Error in GPS using Optical Flow and Fixed Reference Station
Kyukwang Kim,Whimin Kim,Duckyu Choi,Hyun Myung 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In this paper, a sensor system using feature point tracking and optical flow to measure visual odometry is proposed to remove the GPS drift error of the hovering or landed UAVs without using an expensive INS sensor. A method of feature point tracking closest to the center of the field of view is used to reduce computational load. Measured pixel difference from the center and tracking point is converted to real displacement distance with aid of the ultrasonic range sensor. Tracking single point at a fixed position is done to measure internal error of the sensor. Whole system fully operates with low error range under a meter scale with average of 31 fps on ARM Coretex-A7 CPU-based commercial low-cost embedded Linux board. Sensor fusion with the GPS and the reference station installed at a fixed, known point helps initialization of the visual odometry, which successfully removes GPS drift errors.
Kim, Jihyo,Seo, Moon-Hyeong,Lee, Sangsik,Cho, Kyukwang,Yang, Aerin,Woo, Kyunghwa,Kim, Hak-Sung,Park, Hee-Sung American Chemical Society 2013 ANALYTICAL CHEMISTRY - Vol.85 No.3
<P>Analysis of protein dynamics using single-molecule fluorescence resonance energy transfer (smFRET) is widely used to understand the structure and function of proteins. Nonetheless, site-specific labeling of proteins with a pair of donor and acceptor dyes still remains a challenge. Here we present a general and facile method for site-specific dual labeling of proteins by incorporating two different, readily available, unnatural amino acids (<I>p</I>-acetylphenylalanine and alkynyllysine) for smFRET. We used newly evolved alkynyllysine-specific aminoacyl-tRNA synthetase/tRNA<SUB>UCA</SUB> and <I>p</I>-acetylphenylalanyl-tRNA synthetase/tRNA<SUB>CUA</SUB>. The utility of our approach was demonstrated by analyzing the conformational change of dual-labeled calmodulin using smFRET measurements. The present labeling approach is devoid of major limitations in conventional cysteine-based labeling. Therefore, our method will significantly increase the repertoire of proteins available for FRET study and expand our ability to explore more complicated molecular dynamics.</P><P><B>Graphic Abstract</B> <IMG SRC='http://pubs.acs.org/appl/literatum/publisher/achs/journals/content/ancham/2013/ancham.2013.85.issue-3/ac303089v/production/images/medium/ac-2012-03089v_0008.gif'></P><P><A href='http://pubs.acs.org/doi/suppl/10.1021/ac303089v'>ACS Electronic Supporting Info</A></P>
Characterization of Structural Variations in the Context of 3D Chromatin Structure
Kim, Kyukwang,Eom, Junghyun,Jung, Inkyung Korean Society for Molecular and Cellular Biology 2019 Molecules and cells Vol.42 No.7
Chromosomes located in the nucleus form discrete units of genetic material composed of DNA and protein complexes. The genetic information is encoded in linear DNA sequences, but its interpretation requires an understanding of three-dimensional (3D) structure of the chromosome, in which distant DNA sequences can be juxtaposed by highly condensed chromatin packing in the space of nucleus to precisely control gene expression. Recent technological innovations in exploring higher-order chromatin structure have uncovered organizational principles of the 3D genome and its various biological implications. Very recently, it has been reported that large-scale genomic variations may disrupt higher-order chromatin organization and as a consequence, greatly contribute to disease-specific gene regulation for a range of human diseases. Here, we review recent developments in studying the effect of structural variation in gene regulation, and the detection and the interpretation of structural variations in the context of 3D chromatin structure.
Bio-inspired robot swarm control algorithm for dynamic environment monitoring
Kim, Kyukwang,Kim, Hyeongkeun,Myung, Hyun Techno-Press 2018 Advances in robotics research Vol.2 No.1
To monitor the environment and determine the source of a pollutant gradient using a multiple robot swarm, we propose a hybrid algorithm that combines two bio-inspired algorithms mimicking chemotaxis and pheromones of bacteria. The algorithm is implemented in virtual robot agents in a simulator to evaluate their feasibility and efficiency in gradient maps with different sizes. Simulation results show that the chemotaxis controller guided robot agents to the locations with higher pollutant concentrations, while the pheromone marked in a virtual field increased the efficiency of the search by reducing the visiting redundancy. The number of steps required to reach the target point did not increase proportionally as the map size increased, but were less than those in the linear whole-map search method. Furthermore, the robot agents could function with simple sensor composition, minimum information about the map, and low calculation capacity.
내수해역에서의 선박통항과 관련한 쯔나미 재난 경감을 위한 기초연구
김규광(KyuKwang Kim),이중우(JoongWoo Lee),강석진(SugJ in Kang),권소현(SoHyun Kwon),이형하(HyungHa Lee) 한국항해항만학회 2011 한국항해항만학회 학술대회논문집 Vol.2011 No.추계
최근 해저지진의 활동에 따른 극한 쯔나미 파랑이 해안도시와 항만에 어마어마한 손상을 가져오고 있다. 전세계에 걸쳐 특정 해역에서는 강한 정진형태의 부진동과 처오름이 관측되고 있다. 한반도에서는 그렇게 빈번한 발생을 나타내고 있지는 않으나, 과거기록을 보면 동해에서 몇 개의 중요한 발생사례도 존재한다. 본 연구에서는 특히 만이나 내수해역에서 최근 해저지진의 발생 추이를 분석하고 이에 따른 쯔나미 발생 메카니즘을 해석하여 새롭게 내수역에서의 수치모델에의 적용을 통해 공진을 통한 쯔나미 파랑의 변환을 다루어 통항선박에 대한 안정성 확보에 기초자료를 제공하고자 하였다. 내수역에서의 쯔나미 파랑에 대한 반응을 정합성 및 웨이블릿 해석으로 탁월 주기와 지속시간에 대한 분석으로 파악하였으며, 쯔나미파의 입사와 독립적인 공진모드의 도출은 쯔나미 재해의 경감을 위한 시설물 및 재난지역을 식별하는데 도움을 주고, 나아가서는 장래 재난에 대한 적절한 대비에 기여할 수 있을 것으로 본다.
Spike-inspired Deep Neural Network Design Using Binary Weight
Seunghee Lee,Kyukwang Kim,Jinki Kim,Yeeun Kim,Hyun Myung 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
Recently, deep learning has achieved great results in many fields such as image classification. However, most general artificial neural networks with deep learning require graphics processing unit (GPUs) because of hard workload and it requires a large amount of power consumption. When we think about humans, we can do a lot of things without consuming a lot of power compared to computers or electric appliances. Human beings or organisms transmit and recognize information through signal transmission between neurons. This study aims to develop a novel deep neural network architecture which simulates the signaling system between biological neurons, unlike conventional neural networks. We propose a novel spike-inspired deep neural network structure with the spike-inspired block using binary weight motivated by spike’s on and off mechanism. We have also designed a modified DenseNet architecture consisting of spike-inspired blocks. Our proposed method was tested and validated with MNIST datasets. The obtained results show the potential of a spike-inspired deep neural network.
Analysis of Tsunami Resonance and Impact in Coastal Waters
JoongWoo Lee,KyuKwang Kim,Yoshiki Yamazaki 한국항해항만학회 2011 한국항해항만학회지 Vol.35 No.9
Recently, extreme tsunami waves generated by submarine earthquake have caused tremendous damages to the coastal cities and ports. Strong seiche oscillations and runups are observed in specific sea areas around the world. Although no frequent impacts to the coast of Korean peninsula, there exist some important events in the east of Korea in the past. This study focuses on two historical events and recalculate with different fault and rupture mechanism for prediction considering the recent trend of submarine earthquake. The present study of the 1983 Akita tsunamis demonstrates the multi-scale resonance along continental coasts. Together with the Nankai tsunami for inland sea, we have confirmed the inland sea resonance surrounded by islands in defining the impact along the coast. Coherence and wavelet analyses for deducing a predominant period and time frequency are useful in reasoning the inundation. The resonance modes, which are largely independent of the tsunami source, allow identification of at-risk communities and infrastructure for mitigation of tsunami hazards. Furthermore, understanding of the resonance and the predicted runups for the site of power plant and industrial complex in the east coast of Korea would allow better preparation for the future disasters.