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Learning-based Localization of AUV with Outlier Sensor Data
Gwonsoo Lee,Phil-Yeob Lee,Ho Sung Kim,Hansol Lee,Jihong Lee 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
This paper describes localization of autonomous underwater vehicles(AUV) in case of some navigation sensor data are an outlier. In that situation, using existing navigation algorithms causes problems in long-range localization including integration. All the integration-based existing navigation algorithms can estimate exact position, only if the integration is performed under the assumption that the position of previous step is correct. Therefore, even if an outlier sensor data occurs in a short period of time, problems in localization will continue. Also, outlier sensor data related to heading (direction of AUV) causes bigger problems. In this work, we propose a localization method through learning that is used in a situation with outlier sensor data. To do so, a learning model is designed by fully connected model and is trained through partly contaminated real sea data. For Training, displacement between subsequent GPS data is taken as reference. As a result, average Euclidean error in incremental displacements of the existing navigation algorithm result and the reference is 0.45m. On the other hand, the proposed learning-based localization shows the average Euclidean error of 0.24m. This result doesn’t mean that the localization method through learning is accurate than the existing navigation algorithm. However, if there are outlier sensor data related to heading, we can conclude that using our proposed method shows more accurate localization.
A phosphodiesterase-5 inhibitor as a potential therapeutic effector following mild ischemic stroke
Juhyeon Kang,Yeon Hee Yu,Kahyun Lee,Gangho Kim,Jaehyeon Park,Kyounguk Lee,Hansol Lee,Whiin Lee,Seungwon Choi,Dae-Young Yoo,In Koo Hwang,Dae-Kyoon Park,Kyung-Ho Park,Man-Ryul Lee,Jae-Sang Oh,Duk-Soo Ki 대한체질인류학회 2018 대한체질인류학회 학술대회 연제 초록 Vol.61 No.-
Lee, Hansol,Lim, Yeni,Park, Soo-yeon,Cho, Soo-Muk,Choe, Jeong-Sook,Jeong, Sewon,Kwak, Jin Sook,Kwon, Oran The Korean Nutrition Society 2018 Nutrition Research and Practice Vol.12 No.5
BACKGROUND/OBJECTIVES: Elevation of postprandial lipemia characterized by a rise in triglyceride (TG)-rich lipoproteins can increase the risk of atherogenesis. The objective of this study was to investigate postprandial lipemia response to a single dietary fat/sugar load test and monitor beneficial changes induced by the consumption of Platycodi radix (AP) beverage in healthy subjects. SUBJECTS/METHODS: A total of 52 subjects were randomly assigned to either placebo or AP beverage group with a high-fat shake in a randomized controlled crossover trial. Postprandial blood was collected at 0, 1, 2, 4, and 6 h and analyzed for TG and lipoprotein lipase mass. Inhibition of pancreatic lipase was determined in vitro. RESULTS: AP inhibited pancreatic lipase activity in vitro ($IC_{50}=5mg/mL$). Compared to placebo beverage, AP beverage consumption with a high-fat shake induced significant increase of plasma lipoprotein lipase mass (P = 0.0111, ${\beta}$ estimate = 4.2948) with significant reduction in very low-density lipoprotein (VLDL) TG concentration (P = 0.038, ${\beta}$ estimate = -52.69) at 6 h. Based on significant correlation between high-fat dietary scores MEDFICTS and postprandial TG responses in VLDL (P = 0.0395, r = 0.2127), subgroup analysis revealed that 6 h-postprandial VLDL TG response was significantly decreased by AP consumption in subjects with MEDFICTS ${\geq}40$ (P = 0.0291, ${\beta}$ estimate = -7214). CONCLUSIONS: AP beverage might have potential to alleviate postprandial lipemia through inhibiting pancreatic lipase activity and elevating lipoprotein lipase mass. Subgroup analysis revealed that subjects with high-fat dietary pattern could be classified as responders to AP beverage among all subjects.