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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.
일본 해역에 서식하고 있는 도다리 , Pleuronichthys cornutus , 2형간의 유전적 분기박
박중연,강용주,목도명박 한국수산학회 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 대립유전자를 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 2.3×10^6년 前으로 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 2.3×10^6 years ago.
Ken Sasaki,Michio Hongo,Naohisa Miyakoshi,Toshiki Matsunaga,Shin Yamada,Hiroaki Kijima,Yoichi Shimada 대한척추외과학회 2017 Asian Spine Journal Vol.11 No.4
Study Design: In vivo biomechanical study using a three-dimensional (3D) musculoskeletal model for elderly individuals with or without pelvic retroversion. Purpose: To evaluate the effect of pelvic retroversion on the sagittal alignment of the spine, pelvis, and lower limb in elderly females while standing and walking. Overview of Literature: Patients with hip–spine syndrome have concurrent hip-joint and spine diseases. However, the dynamic sagittal alignment between the hip joint and spine has rarely been investigated. We used a 3D musculoskeletal model to evaluate global spinopelvic parameters, including spinal inclination and pelvic tilt (PT). Methods: A total of 32 ambulant females (mean age=78 years) without assistance were enrolled in the study. On the basis of the radiographic measurement for PT, participants were divided into the pelvic retroversion group (R-group; PT≥20°) and the normal group (N-group; PT<20°). A 3D musculoskeletal motion analysis system was used to analyze the calculated value for the alignment of spine, pelvis, and lower limb, including calculated (C)-PT, sagittal vertical axis (C-SVA), pelvic incidence, lumbar lordosis, T1 pelvic angle (CTPA), as well as knee and hip flexion angles while standing and walking. Results: While standing, C-PT and C-TPA in the R-group were significantly larger than those in the N-group. Hip angle was significantly smaller in the R-group than in the N-group, unlike knee angle, which did not show difference. While walking, C-SVA and C-TPA were significantly increased, whereas C-PT decreased compared with those while standing. The maximum hip-flexion angle was significantly smaller in the R-group than in the N-group. There was a significant correlation between the radiographic and calculated parameters. Conclusions: The 3D musculoskeletal model was useful in evaluating the sagittal alignment of the spine, pelvis, and leg. Spinopelvic sagittal alignment showed deterioration while walking. C-PT was significantly decreased while walking in the R-group, indicating possible compensatory mechanisms attempting to increase coverage of the femoral head. The reduction in the hip flexion angle in the R-group was also considered as a compensatory mechanism.