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Incorporating Network Connectivity in Beacon Localization via Cost Function Minimization
Shinkyu Park,Jeongsik Choi,Jimin Kim,Beomhee Lee 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2008 International Journal of Assistive Robotics and Me Vol.9 No.4
In robot localization systems, sensor networks are often deployed for computing the robots's positions. However, these systems require a prior knowledge of the positions of the beacons that from the sensor network. Range-only Simultaneous Localization and Mapping(SLAM) using robot-to-beacon range measurements has been on major approach to finding the positions of both the robot and the beacons in sensor networks. Other recent research has shown that by incorporating beacon-to-beacon ranges that establish the connectivity between beacons into the SLAM algorithm, the beacon map obtained by SLAM can be improved. In order to improve the map with such connectivity, a method for incorporating established connectivity is needed. Thus, a cost function minimization approach that considers the entire connectivity concurrently and has low computational complexity is proposed here. The simulation results show that this approach improves the accuracy of estimated positions for both the robot and the beacons.
Incorporating Network Connectivity in Beacon Localization via Cost Function Minimization
Shinkyu Park,Jeongsik Choi,Jimin Kim,Beomhee Lee 동국대학교 정보융합기술원 2008 International Journal of Assistive Robotics and Sy Vol.9 No.4
In robot localization systems, sensor networks are often deployed for computing the robot’s positions. However, these systems require a prior knowledge of the positions of the beacons that form the sensor network. Range-only Simultaneous Localization and Mapping (SLAM) using robot-to-beacon range measurements has been one major approach to finding the positions of both the robot and the beacons in sensor networks. Other recent research has shown that by incorporating beaconto-beacon ranges that establish the connectivity between beacons into the SLAM algorithm, the beacon map obtained by SLAM can be improved. In order to improve the map with such connectivity, a method for incorporating established connectivity is needed. Thus, a cost function minimization approach that considers the entire connectivity concurrently and has low computational complexity is proposed here. The simulation results show that this approach improves the accuracy of estimated positions for both the robot and the beacons.
Seasonal Variations in Leaf Area Index at the Gwangneung Forest Catchment
Sungbin Park,Minseok Kang,Jong-Hwan Lim,Jung-Hwa Chun,Seunghwan Park,Youngill Kim,Taehee Hwang,Namyi Chae,Taejin Choi,Shinkyu Kang,Hyunwoo Kim,Sang-Ki Moon,Renmin Yuan,Jaeil Yoo,Joon Kim 한국기상학회 2007 한국기상학회 학술대회 논문집 Vol.2007 No.-
Choi, Shinkyu,Kim, Ji Aee,Na, Hye-Young,Cho, Sung-Eun,Park, Seonghee,Jung, Sung-Chul,Suh, Suk Hyo American Heart Association, Inc. 2014 Arteriosclerosis, thrombosis, and vascular biology Vol.34 No.1
<P><B>Objective—</B></P><P>Globotriaosylceramide (Gb3) induces K<SUB>Ca</SUB>3.1 downregulation in Fabry disease (FD). We investigated whether Gb3 induces K<SUB>Ca</SUB>3.1 endocytosis and degradation.</P><P><B>Approach and Results—</B></P><P>K<SUB>Ca</SUB>3.1, especially plasma membrane–localized K<SUB>Ca</SUB>3.1, was downregulated in both Gb3-treated mouse aortic endothelial cells (MAECs) and human umbilical vein endothelial cells. Gb3-induced K<SUB>Ca</SUB>3.1 downregulation was prevented by lysosomal inhibitors but not by a proteosomal inhibitor. Endoplasmic reticulum stress–inducing agents did not induce K<SUB>Ca</SUB>3.1 downregulation. Gb3 upregulated the protein levels of early endosome antigen 1 and lysosomal-associated membrane protein 2 in MAECs. Compared with MAECs from age-matched wild-type mice, those from aged α-galactosidase A (Gla)-knockout mice, an animal model of FD, showed downregulated K<SUB>Ca</SUB>3.1 expression and upregulated early endosome antigen 1 and lysosomal-associated membrane protein 2 expression. In contrast, no significant difference was found in early endosome antigen 1 and lysosomal-associated membrane protein 2 expression between young Gla-knockout and wild-type MAECs. In aged Gla-knockout MAECs, clathrin was translocated close to the cell border and clathrin knockdown recovered K<SUB>Ca</SUB>3.1 expression. Rab5, an effector of early endosome antigen 1, was upregulated, and Rab5 knockdown restored K<SUB>Ca</SUB>3.1 expression, the current, and endothelium-dependent relaxation.</P><P><B>Conclusions</B></P><P>—Gb3 accelerates the endocytosis and lysosomal degradation of endothelial K<SUB>Ca</SUB>3.1 via a clathrin-dependent process, leading to endothelial dysfunction in FD.</P>