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Environment Recognition from A Spherical Camera Image Based on DeepLab v3+
Yuta Nishida,Yujie Li,Tohru Kamiya 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
The number of users of electric wheelchairs has been increasing in recent years because it is easy to operate the electric wheelchair and do not require physical strength. However, the traffic accidents are also increasing because of the large number of wheelchairs. The development of autonomous electric wheelchairs is expected to reduce the risk of accidents and improve the convenience of electric wheelchairs. Environmental recognition is essential for the development of autonomous electric wheelchairs. In this paper, we propose a method for recognizing roads, sidewalks, buildings, electric wheelchair drivers, poles, electric wheelchairs, vegetation, curbs, sky, pedestrians, lanes, cars, steps, and bicycles. For recognizing those objects, we use a panoramic image acquired from a spherical camera. As the machine techniques, we use DeepLab v3+, a semantic segmentation algorithm based on Convolutional Neural Network (CNN). In the proposed method, a new CNN model is constructed by adding deformable convolution, SE-block, and MobileNet v2 to DeepLab v3+ into the original DeepLab v3+. In the experiment, IoU 38.8% and Dice of 46.7% were obtained.
Abstract : Soil washing for rice paddy soils contaminated with cadmium
( Tomoyuki Makinoa ),( Takashi Kamiya ),( Naoki Sekiya ),( Yuji Maejima ),( Ikuko Akahane ),( Hiroyuki Takano ) 한국환경농학회 2012 한국환경농학회 워크샵자료 Vol.2012 No.2
Codex Alimentarius Commission (Codex) has adopted the maximum permissible concentration of cadmium (Cd) in polished rice and other relevant crops, which requires an alleviation of the Cd contamination in rice grain. Various chemicals were tested for their Cd extraction efficiency by using three paddy soils, selecting ferric chloride (FeCl3) as a promising chemical for on-site soil washing. The comparison of FeCl3 extraction ability to that of various iron, manganese, and zinc salts revealed the primary extraction mechanism of FeCl3 to be proton release coupled with hydroxide generation (hydrolysis). This indicates that proton release from FeCl3 is controlled by the chemical equilibrium of hydroxide formation, and minimizes the negative effect on soil properties and environment, which are different from hydrochloric acid (HCl). Washing with FeCl3 led to the formation of Cd?chloride complexes, enhancing Cd extraction from the soils. We also developed in situ three-step washing method for Cd-contaminated paddy fields with FeCl3. The method was comprised of 1) chemically washing the field soil with a FeCl3 solution; 2) washing the treated soil with water to eliminate residual Cd and FeCl3; and 3) on-site treatment of wastewater using a portable wastewater treatment system. Concentrations of Cd in the treated water were below Japan`s environmental quality standard (0.01 mg L-1). The on-site soil washing confirmed the effectiveness of FeCl3 for decreasing Cd in soil and rice grains without negative effect on rice yield.
Oh, Eunkyoo,Yamaguchi, Shinjiro,Kamiya, Yuji,Bae, Gabyong,Chung, Won-Il,Choi, Giltsu Blackwell Publishing Ltd 2006 The Plant journal Vol.47 No.1
<P>Summary</P><P>Angiosperm seeds integrate various environmental signals, such as water availability and light conditions, to make a proper decision to germinate. Once the optimal conditions are sensed, gibberellin (GA) is synthesized, triggering germination. Among environmental signals, light conditions are perceived by phytochromes. However, it is not well understood how phytochromes regulate GA biosynthesis. Here we investigated whether phytochromes regulate GA biosynthesis through PIL5, a phytochrome-interacting bHLH protein, in Arabidopsis. We found that <I>pil5</I> seed germination was inhibited by paclobutrazol, the <I>ga1</I> mutation was epistatic to the <I>pil5</I> mutation, and the inhibitory effect of <I>PIL5</I> overexpression on seed germination could be rescued by exogenous GA, collectively indicating that <I>PIL5</I> regulates seed germination negatively through GA. Expression analysis revealed that PIL5 repressed the expression of GA biosynthetic genes (<I>GA3ox1</I> and <I>GA3ox2</I>), and activated the expression of a GA catabolic gene (<I>GA2ox</I>) in both PHYA- and PHYB-dependent germination assays. Consistent with these gene-expression patterns, the amount of bioactive GA was higher in the <I>pil5</I> mutant and lower in the <I>PIL5</I> overexpression line. Lastly, we showed that red and far-red light signals trigger PIL5 protein degradation through the 26S proteasome, thus releasing the inhibition of bioactive GA biosynthesis by PIL5. Taken together, our data indicate that phytochromes promote seed germination by degrading PIL5, which leads to increased GA biosynthesis and decreased GA degradation.</P>