A Study on Development of Kobuki 2’s Remote Control Program based on Windows 10 IoT Core and RaspberryPi

Ingabire Onesphore(인가바어 원스포어),Minyoung Kim(김민영),Jongwook Jang(장종욱) 한국통신학회 2019 한국통신학회 학술대회논문집 Vol.2019 No.6

An Implementation of the path-finding algorithm for TurtleBot 2 based on low-cost embedded hardware

Ingabire, Onesphore,Kim, Minyoung,Lee, Jaeung,Jang, Jong-wook The International Promotion Agency of Culture Tech 2019 International Journal of Advanced Culture Technolo Vol.7 No.4

Nowadays, as the availability of tiny, low-cost microcomputer increases at a high level, mobile robots are experiencing remarkable enhancements in hardware design, software performance, and connectivity advancements. In order to control Turtlebot 2, several algorithms have been developed using the Robot Operating System(ROS). However, ROS requires to be run on a high-cost computer which increases the hardware cost and the power consumption to the robot. Therefore, design an algorithm based on low-cost hardware is the most innovative way to reduce the unnecessary costs of the hardware, to increase the performance, and to decrease the power consumed by the computer on the robot. In this paper, we present a path-finding algorithm for TurtleBot 2 based on low-cost hardware. We implemented the algorithm using Raspberry pi, Windows 10 IoT core, and RPLIDAR A2. Firstly, we used Raspberry pi as the alternative to the computer employed to handle ROS and to control the robot. Raspberry pi has the advantages of reducing the hardware cost and the energy consumed by the computer on the robot. Secondly, using RPLIDAR A2 and Windows 10 IoT core which is running on Raspberry pi, we implemented the path-finding algorithm which allows TurtleBot 2 to navigate from the starting point to the destination using the map of the area. In addition, we used C# and Universal Windows Platform to implement the proposed algorithm.

Human Papillomavirus Genotype-Specific Persistence and Potential Risk Factors among Korean Women: Results from a 2-Year Follow-up Study

Cecile Ingabire,임민경,원영주,오진경 대한암학회 2018 Cancer Research and Treatment Vol.50 No.3

Purpose High-risk human papillomavirus (HPV) infection progression should be considered a critical factor for preventing cervical cancer, although most infections are transient and rarely persist. This study aimed to examine the specific types of HPV infections, their change patterns, and the potential risk factors among Korean women. Materials and Methods We included 4,588 women who visited hospitals in Busan and Suwon for cervical cancer screening, and 1,224 of these women attended a 2-year follow-up. Infection status was evaluated using HPV DNA testing (Hybrid Capture 2) and genotyping testing (Linear Array). Data regarding the potential risk factors for HPV infection were collected by trained nurses using structured questionnaires. Results Among the 1,224 women (mean age, 47 years), 105 women (8.6%) were HPV-positive at baseline. HPV infections had been cleared among 92 women (87.6%) within 2 years. Only 13 infections (12.4%) were remained, and the 10 cases of them are high-risk HPV types including genotype 33, 45, 16, 35, and 52. Among women who were negative at baseline, the HPV incidence was 4.8%. The HPV incidence was marginally associated with having multiple sexual partners (odds ratio, 2.0; 95% confidence interval, 1.0 to 3.9), although it was not significantly associated with HPV persistence. Conclusion Most HPV infections (88%) among Korean women were cleared within 2 years, with only a small number of persistent infections. The persistent HPV genotypes were different in our study, compared to those from previous studies. Having multiple sexual partners was associated with acquiring a HPV infection, but not with persistence.

Implementation of an Autonomous Navigation algorithm for TurtleBot 2 based Windows 10 IoT Core and Low-cost Hardware

Onesphore Ingabire,Minyoung Kim,Donggyu Choi,Jongwook Jang 한국정보통신학회 2021 2016 INTERNATIONAL CONFERENCE Vol.12 No.1

Over the past decade, Robot Operating System (ROS) platform has been widely used to develop robot application. TurtleBot 2 is one of the mobile robots which using ROS, knows several successes in navigating in indoor or outdoor environment. However, all the achievements have come at the very expensive robot hardware. TurtleBot comes with a high cost computer used to handle the full-fledged ROS which makes it very expensive and less performant. As the availability of tiny, low-cost, and compact microcomputer increases, some hardware and software enhancements could be done. In this paper, we propose a study and implementation of autonomous navigation algorithm for TurtleBot 2 based on Windows 10 IoT core and low-cost hardware. In the first part, we design the proposed algorithm using Windows 10 IoT core running on raspberry pi and the Rplidar A2 used in avoiding obstacles. Raspberry pi is used as the main interface between the robot and the computer. Secondarily, we present the implementation of the proposed algorithm developed using Universal Windows Platform (UWP) framework and C# programming language. The result of this implementation has been done in indoor environment.

An Implementation of the path-finding algorithm for TurtleBot 2 based on low-cost embedded hardware

Onesphore Ingabire,김민영,이재웅,장종욱 국제문화기술진흥원 2019 International Journal of Advanced Culture Technolo Vol.7 No.4

Nowadays, as the availability of tiny, low-cost microcomputer increases at a high level, mobile robots are experiencing remarkable enhancements in hardware design, software performance, and connectivity advancements. In order to control Turtlebot 2, several algorithms have been developed using the Robot Operating System(ROS). However, ROS requires to be run on a high-cost computer which increases the hardware cost and the power consumption to the robot. Therefore, design an algorithm based on low-cost hardware is the most innovative way to reduce the unnecessary costs of the hardware, to increase the performance, and to decrease the power consumed by the computer on the robot. In this paper, we present a path-finding algorithm for TurtleBot 2 based on low-cost hardware. The algorithm is implemented using Raspberry pi, Windows 10 IoT core, and RPLIDAR A2. Firstly, we used Raspberry pi as the alternative to the computer employed to handle ROS and to control the robot. Raspberry pi has the advantages of reducing the hardware cost and the energy consumed by the computer on the robot. Secondly, using RPLIDAR A2 and Windows 10 IoT core which is running on Raspberry pi, we implemented the path-finding algorithm which allows TurtleBot 2 to navigate from the starting point to the destination using the map of the area. In addition, C# and Universal Windows Platform have been used to implement the proposed algorithm.

Titanium oxide/graphitic carbon nitride nanocomposites as fillers for enhancing the performance of SPAES membranes for fuel cells

Providence Buregeya Ingabire,Alphonse Haragirimana,Yue Liu,Na Li,Zhaoxia Hu,Shouwen Chen 한국공업화학회 2020 Journal of Industrial and Engineering Chemistry Vol.91 No.-

Our work deals with the fabrication of nanocomposite membranes by reinforcing sulfonated poly(arylether sulfone)s (SPAES) properties through incorporating various titanium oxide/graphitic carbon nitride(TiO2/g-C3N4) nanocomposite contents. They reveal promising results for applications in protonexchange membrane fuel cells. The nanocomposites introduction provides the membranes withnoticeable proton conductivity, mechanical and dimensional stability improvements in comparison withthe control SPAES membrane. The SPAES-TiO2/g-C3N4-1.0 nanocomposite membrane demonstrates theprominent proton conductivity of 325.3 mS cm 1 at 80 C and 258.4 mS cm 1 at 94.1% RH, as well asoutstanding oxidative stability of only weight loss of 4.6% after the Fenton’s accelerating aging at 80 C for1 h. For the single fuel cell performance, it reaches the highest power density of 525.6 mW cm-2 at1150.8 mA cm-2. These results suggest the good prospect of the dual compositing strategy for membranemodification in the fuel cell applications.

장편 애니메이션 극적전환점에서 주인공의 갈등 정서에 대한 다학제적 분석

이태린(Tae Rin Lee),김종대(Jong Dae Kim),류궈시(Liu Guoxu),잉가비르 제시(Ingabire Jesse),김재호(Jae Ho Kim) 한국전시산업융합연구원 2018 한국과학예술융합학회 Vol.34 No.-

해당 연구는 극장용 애니메이션을 서사를 중심으로 갈등을 분석하기 위해 영상에서 갈등을 분류하는 객관적이고 타당한 방법이 필요함을 인식하면서 시작되었다. 아울러 갈등을 효과적으로 비주얼 스토리텔링 하는 요소로 주인공의 정서에 주목하고, 갈등에서 나타나는 주인공의 정서를 연구하려 한다. 연구의 목적은 갈등강도와 갈등에 나타나는 정서를 분석하는 것이다. 연구결과 및 내용은 다음과 같다. 첫째, 서사의 이론적 고찰을 통해 극적전환점을 찾아 내고, 갈등 분류 모델(Conflict 6B Model)을 제안하였다. 둘째, 갈등 분류 모델을 이용하여 이론에 기반한 갈등 샷(shot) DB를 추출하였다. 셋째, 내적, 초개인적 갈등에서 강도와 정서를 찾아내었다. 넷째, 내적, 초개인적 갈등에서 강도와 정서의 전문가 실험 및 검증을 실시하였다. 본 연구는 애니메이션에서 갈등에 대한 주인공 정서의 서사적, 시각적, 심리학적인 다학제적 연구로 추출된 메타데이터(Metadata)는 애니메이션 서사에서 갈등의 비데오 인덱싱(Video Indexing)에 적용 될 것으로 기대한다. The study began with the recognition that the animations movie need objective and reasonable methods to classify conflicts in visual to analyze conflicts centering on narratives. Study the emotions of the hero in conflict. The purpose of the study is to analyze conflict intensity and emotion. The results and contents of the study are as follows. First, we found a Turning Point and suggested a conflict classification model (Conflict 6B Model). Second, Based on the conflict classification model, the conflict based shot DB was extracted. Third, I found strength and emotion in inner and super personal conflicts. Fourth, Experiments and tests of strength and emotion were conducted in internal and super personal conflicts. The results of this study are metadata extracted from the emotional research on conflict. It is expected to be applied to video indexing of conflicts.

Nationwide statistical analysis of myeloid malignancies in Korea: incidence and survival rate from 1999 to 2012

Eun-Hye Park,Hyewon Lee,Young-Joo Won,Hee Young Ju,오창모,Cecile Ingabire,Hyun-Joo Kong,박병규,Ju Young Yoon,Hyeon-Seok Eom,Eunyoung Lee,Hyeon Jin Park 대한혈액학회 2015 Blood Research Vol.50 No.4

BackgroundLarge-scale epidemiologic analysis for hematologic malignancies will be helpful to under-stand the trends in incidence and survival.MethodsThe Korea Central Cancer Registry (KCCR) updated the nationwide analysis on the in-cidence and survival of myeloid malignancies, from the Korean National Cancer Incidence Database between 1999 and 2012. Myeloid malignancies were classified based on the International Classification of Diseases for Oncology 3rd edition (ICD-O-3). ResultsOverall 3,771 cases of myeloid diseases, which was 1.7% of all cancers, were identified in 2012. The highest incidence of myeloid malignancies was observed in age 70s and male predominance was noted (1.3:1). Acute myeloid leukemia (AML) was the most frequent subtype, followed by myeloproliferative neoplasms (MPN), myelodysplastic syndrome (MDS) and MDS/MPN: age-standardized incidence rates (ASR) in 2012 for each disease were 2.02, 1.95, 1.13, and 0.12 per 100,000 persons, respectively. The ASR for all myeloid malignancies was increased from 3.31 in 1999 to 5.70 in 2012 with the annual percentage change (APC) of 5.4 %. Five-year relative survival rate (RS) for myeloid malignancies has gradually improved for decades. RS changed from 26.3% to 34.8% in AML, specifically from 51.6% to 69.6% in acute promyelocytic leukemia (APL) and from 23.8% to 29.9% in non-APL AML, between 1996‒2000 and 2008‒2012. RS also increased from 81.8% to 87.1% in MPN, with a significant improvement in CML (from 74.5% to 85.5%), and from 27.3% to 31.7% in MDS/MPN between 2001‒2005 and 2008‒2012. However, there was no survival improvement in MDS during the study period (45.6% in 2001‒2005 to 44.4% in 2008‒2012). ConclusionThis report updated the nationwide statistical analysis on myeloid malignancies since 2008, showing increasing incidence and improving trends in survival.

Nationwide statistical analysis of myeloid malignancies in Korea: incidence and survival rate from 1999 to 2012

Eun-Hye Park,Hyewon Lee,Young-Joo Won,Hee Young Ju,오창모,Cecile Ingabire,Hyun-Joo Kong,박병규,Ju Young Yoon,Hyeon-Seok Eom,Eunyoung Lee,Hyeon Jin Park 대한혈액학회 2015 Blood Research Vol.50 No.4

BackgroundLarge-scale epidemiologic analysis for hematologic malignancies will be helpful to under-stand the trends in incidence and survival.MethodsThe Korea Central Cancer Registry (KCCR) updated the nationwide analysis on the in-cidence and survival of myeloid malignancies, from the Korean National Cancer Incidence Database between 1999 and 2012. Myeloid malignancies were classified based on the International Classification of Diseases for Oncology 3rd edition (ICD-O-3). ResultsOverall 3,771 cases of myeloid diseases, which was 1.7% of all cancers, were identified in 2012. The highest incidence of myeloid malignancies was observed in age 70s and male predominance was noted (1.3:1). Acute myeloid leukemia (AML) was the most frequent subtype, followed by myeloproliferative neoplasms (MPN), myelodysplastic syndrome (MDS) and MDS/MPN: age-standardized incidence rates (ASR) in 2012 for each disease were 2.02, 1.95, 1.13, and 0.12 per 100,000 persons, respectively. The ASR for all myeloid malignancies was increased from 3.31 in 1999 to 5.70 in 2012 with the annual percentage change (APC) of 5.4 %. Five-year relative survival rate (RS) for myeloid malignancies has gradually improved for decades. RS changed from 26.3% to 34.8% in AML, specifically from 51.6% to 69.6% in acute promyelocytic leukemia (APL) and from 23.8% to 29.9% in non-APL AML, between 1996‒2000 and 2008‒2012. RS also increased from 81.8% to 87.1% in MPN, with a significant improvement in CML (from 74.5% to 85.5%), and from 27.3% to 31.7% in MDS/MPN between 2001‒2005 and 2008‒2012. However, there was no survival improvement in MDS during the study period (45.6% in 2001‒2005 to 44.4% in 2008‒2012). ConclusionThis report updated the nationwide statistical analysis on myeloid malignancies since 2008, showing increasing incidence and improving trends in survival.