Obstacle Detection using Stereo Camera for Combine Robot

( Ryo Asada ),( Michihisa Iida ),( Masahiko Suguri ),( Ryohei Masuda ) 한국농업기계학회 2018 한국농업기계학회 학술발표논문집 Vol.23 No.1

Now in Japan, autonomous agricultural vehicles are attracting a lot of attention and being developed due to the decreasing and aging Japanese farmers. It is critical for autonomous drive of agricultural vehicles to detect obstacles in the field and take appropriate safety actions. Many researchers have studied various sensing technologies to detect obstacles to avoid collisions. Stereo vision sensors can obtain the ranges between an object and the cameras by utilizing the disparity between images captured by two cameras. Compared with laser and ultrasonic sensors, stereo vision has higher spatial resolution and wider scope without the need of scanning. This research aims to develop a collision avoidance system by detecting obstacles using a stereo camera. The detection algorism consists of functions for stereo image processing and point cloud analysis. Stereo processing establishes correspondence between image features in different views of the scene and calculates the disparity values of each pixel. Then the three-dimensional location is determined and 3D point cloud data can be generated. The point cloud data includes obstacle points, rice plants points, weed points and some noises. After transforming from the camera coordinates to the world coordinates, rice plants points can be almost entirely eliminated based on the height information. To distinguish the obstacle and noise area, we divided the space into small sells and extracted obstacle areas based on the point density of each cell. Then a 2D grid map which indicates obstacle area and free area in the view could be generated. In stationary tests, obstacles could be well detected from the grid map. The RMSE between the real range and the measured range was 0.104m when the obstacle was placed at a distance of 1m to 10m from the stereo camera, so it was confirmed that high distance accuracy could be achieved. Then we mounted the stereo camera on the combine robot, and conducted field tests. The combine robot took actions according to the position of the detected obstacle. If an obstacle is detected and it is in the stop area or in the slow-down area, the combine is controlled to stop or slow-down. The results indicated that the system could detect the obstacle and avoid collisions while the combine was harvesting. Nevertheless, the system had blind areas in the vicinity of the vehicle because of the angle of the view. So the use of plural stereo cameras or combined use of stereo camera and other sensors will achieve safer detection and collision avoidance system.

Production of an active Mus musculus IL-3 using updated silkworm-based baculovirus expression vector system

Nagai Ryo,Ebihara Takeru,Kakino Kohei,Masuda Akitsu,Xu Jian,Minamihata Kosuke,Kamiya Noriho,Kongkrongtong Tatphon,Kawahara Masahiro,Mon Hiroaki,Fujii Tsuguru,Kusakabe Takahiro,Lee Jae Man 한국응용곤충학회 2021 Journal of Asia-Pacific Entomology Vol.24 No.3

Due to the biological significance and therapeutic potential of Interleukin-3 (IL-3) secreted mainly by activated T cells, various protein expression systems have been challenged to produce recombinant IL3 to meet the increasing demands worldwide. Recently, we established an updated silkworm-based baculovirus expression vector system (silkworm-BEVS), which in most cases, produces eukaryotic proteins in biological or enzymatical active forms with considerable amounts. We attempted to reconstruct and express a recombinant mouse IL-3 (rMmIL-3) with C-terminal His8-Strep tags in silkworm-BEVS in the current study. From our results, we gained an active glycosylated rMmIL-3 protein in a substantial amount and quality. As compared with the E. coli expression system, silkworm-BEVS is a better choice regarding the glycosylations attached in rMmIL-3 and upscalable system in case that a commercial amount is required in the future. Collectively, our method shares an excellent model to produce interleukin molecular for approaching pharmaceutical applications.

Serum Anti-Gal-3 Autoantibody is a Predictive Marker of the Efficacy of Platinum-Based Chemotherapy against Pulmonary Adenocarcinoma

Yanagita, Kengo,Nagashio, Ryo,Ryuge, Shinichiro,Katono, Ken,Jiang, Shi-Xu,Tsuchiya, Benio,Nakashima, Hiroyasu,Fukuda, Eriko,Goshima, Naoki,Saegusa, Makoto,Satoh, Yukitoshi,Masuda, Noriyuki,Sato, Yuich Asian Pacific Journal of Cancer Prevention 2015 Asian Pacific journal of cancer prevention Vol.16 No.17

Background: Identification of predictive markers for the efficacy of platinum-based chemotherapy is necessary to improve the quality of the life of cancer patients. Materials and Methods: We detected proteins recognized by autoantibodies in pretreated sera from patients with lung adenocarcinoma (AC) evaluated as showing progressive disease (PD) or a partial response (PR) after cisplatin-based chemotherapy by proteomic analysis. Then, the levels of the candidate autoantibodies in the pretreated serum were validated by dot-blot analysis for 22 AC patients who received platinum-based chemotherapy, and the expression of identified proteins was immunohistochemically analyzed in 40 AC biopsy specimens. Results: An autoantibody against galectin-3 (Gal-3) was detected in pretreated sera from an AC patient with PD. Serum IgG levels of anti-Gal-3 autoantibody were significantly higher in patients evaluated with PD than in those with PR and stable disease (SD) (p = 0.0084). Furthermore, pretreated biopsy specimens taken from patients evaluated as showing PD following platinumbased chemotherapy showed a tendency to have a higher positive rate of Gal-3 than those with PR and SD (p = 0.0601). Conclusions: These results suggest that serum IgG levels of anti-Gal-3 autoantibody may be useful to predict the efficacy of platinum-based chemotherapy for patients with lung AC.

S100A16 is a Prognostic Marker for Lung Adenocarcinomas

Saito, Keita,Kobayashi, Makoto,Nagashio, Ryo,Ryuge, Shinichiro,Katono, Ken,Nakashima, Hiroyasu,Tsuchiya, Benio,Jiang, Shi-Xu,Saegusa, Makoto,Satoh, Yukitoshi,Masuda, Noriyuki,Sato, Yuichi Asian Pacific Journal of Cancer Prevention 2015 Asian Pacific journal of cancer prevention Vol.16 No.16

Background: Many functional molecules controlling diverse cellular function are included in low-molecular weight proteins and peptides. Materials and Methods: To identify proteins controlling function in lung adenocarcinomas (AC), we performed two-dimensional gel electrophoresis employing tricine-SDS polyacrylamide in the second dimension (tricine 2-DE). This system was able to detect proteins under 1 kDa even with post-translational modifications. To confirm the utility of detected proteins as novel tumor markers for AC, we performed immunohistochemical analysis using 170 formalin-fixed and paraffin-embedded lung AC tissues. Results: Tricine 2-DE revealed that five proteins including S100A16 were overexpressed in lung AC-derived cells compared with lung squamous cell carcinoma, small cell carcinoma, and large cell neuroendocrine carcinoma-derived cells. Immunohistochemically, S100A16 showed various subcellular localization in lung cancer tissues and a membranous staining status was correlated with the T-factor (P=0.0008), pathological stage (P=0.0015), differentiation extent (P=0.0001), lymphatic invasion (P=0.0007), vascular invasion (P=0.0001), pleural invasion (P=0.0087), and gender (P=0.039), but not with the age or smoking history. More importantly, membranous staining of S100A16 was significantly correlated with a poorer overall survival of either stage I (P=0.0088) or stage II / III (P=0.0003) lung AC patients, and multivariate analysis confirmed that membranous expression of S100A16 was an independent adverse prognostic indicator (P=0.0001). Conclusions: The present results suggest that S100A16 protein is a novel prognostic marker for lung AC.

Clinicopathological Significance of S100A10 Expression in Lung Adenocarcinomas

Katono, Ken,Sato, Yuichi,Jiang, Shi-Xu,Kobayashi, Makoto,Saito, Keita,Nagashio, Ryo,Ryuge, Shinichiro,Satoh, Yukitoshi,Saegusa, Makoto,Masuda, Noriyuki Asian Pacific Journal of Cancer Prevention 2016 Asian Pacific journal of cancer prevention Vol.17 No.1

Background: S100A10, of the S100 protein family, is reported to be involved in cancer cell invasion and metastasis. The aims of the present study were to immunohistochemically examine S100A10 expression in surgically resected lung adenocarcinomas, and evaluate any relationships with clinicopathological parameters and prognosis of patients. Materials and Methods: S100A10 expression was immunohistochemically studied in 202 consecutive resected lung adenocarcinomas, and its associations with clinicopathological parameters were evaluated. Kaplan-Meier survival analysis and Cox proportional hazards models were used to estimate the effect of S100A10 expression on survival. Results: S100A10 expression was detected in 65 of the 202 (32.2%) lung adenocarcinomas, being significantly correlated with poorer differentiation (P =0.015), a higher pathological TNM stage (stages II and III) (P=0.004), more frequent and severe intratumoral vascular invasion (P=0.001), and a poorer prognosis (P=0.030). However, S100A10 expression was not an independent predictor of survival after controlling for clinicopathological factors. Conclusions: The present study reveals that S100A10 is expressed in a subset of lung adenocarcinomas, and this is related to some clinicopathological parameters, although further studies are required to confirm the correlation between S100A10 expression and prognosis of lung adenocarcinoma patients.

Synchrotron-radiation-based <SUP>174</SUP>Yb Mossbauer Spectroscopy of the 1/1 Au-Al-Yb Approximant

Yumi Kinoshita,Hisao Kobayashi,Nobumoto Nagasawa,Yoshitaka Yoda,Ryo Masuda,Yuki Nakamura,Yuya Sakakibara,Kazuhiko Deguchi 한국물리학회 2023 새물리 Vol.73 No.12

The Yb-based valence-uctuating Au-Al-Yb quasicrystal exhibits unconventional quantum critical phenomena with unusual critical indices at low temperatures at ambient pressure. Furthermore, the quantum criticality of the Au-Al-Yb quasicrystal remains robust even under hydrostatic pressure. In contrast, the Au-Al-Yb 1/1 approximant does not display quantum criticality at ambient pressure and quantum criticality appears at approximately 2.0 GPa with the same critical indices as the quasicrystal. In this study, we conducted synchrotron-radiation (SR) -based <SUP>174</SUP>Yb Mossbauer spectroscopy on both the quasicrystal and 1/1 approximant, allowing us to observe di_erences in the 4f electronic states of Yb ions between the quasicrystal and 1/1 approximant.