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Multi-sensor-based Target Pose Estimation for Autonomous Precision Perching of Nano Aerial Vehicles
Truong-Dong Do,Nguyen Xuan-Mung,Ngoc-Phi Nguyen,Ji-Won Lee,Yong-Seok Lee,Seok-Tae Lee,Sung-Kyung Hong 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
Nano Aerial Vehicles have become widely used for a variety of complex missions due to their mobility and the ability to access hard-to-reach areas. In most cases, these tasks require the vehicles to land on ground targets or perch on platforms mounted on diverse surfaces. Considering the surface the vehicle will reach, controlling perching is obviously a challenging task. Besides, the reliability of target position and direction estimation has a significant impact on perching performance. In this paper, a multi-sensor-based target pose estimation for autonomous precision perching of nano drones is proposed. First, the perching target, a cube cage containing a small marker inside a larger one, is designed to enhance pose estimation capability at a wide range of distances. Second, we constructed a nano drone with an upward monocular camera and a 5-direction multi-ranger deck. Next, the flying vehicle’s pose toward the perching target is calculated, followed by a Kalman filter for filtering and estimating the missing data. Finally, we introduced an algorithm to merge the pose data from multiple sensors when drones approach close to the target. Real measurements are conducted on the testbed. The experimental results demonstrated the utility and potential of the adopted approach with millimeter-level precision.
Minh Doan Binh,Sinh Cao Truong,Dong Le Thanh,Loi Cao Ba,Nam Le Van,Binh Do Nhu 대한기생충학ㆍ열대의학회 2020 The Korean Journal of Parasitology Vol.58 No.4
Trombiculid “chigger” mites (Acari) are ectoparasites that feed blood on rodents and another animals. A cross-sectional survey was conducted in 7 ecosystems of southern Vietnam from 2015 to 2016. Chigger mites were identified with morphological characteristics and assayed by polymerase chain reaction for detection of rickettsiaceae. Overall chigger infestation among rodents was 23.38%. The chigger index among infested rodents was 19.37 and a mean abundance of 4.61. A total of 2,770 chigger mites were identified belonging to 6 species, 3 genera, and 1 family, and pooled into 141 pools (10–20 chiggers per pool). Two pools (1.4%) of the chiggers were positive for Orientia tsutsugamushi. Ricketsia spp. was not detected in any pools of chiggers. Further studies are needed including a larger number and diverse hosts, and environmental factors to assess scrub typhus.
( Tilak Khanal ),( Hyung Gyun Kim ),( Jae Ho Choi ),( Bong Hwan Park ),( Minh Truong Do ),( Mi Jeong Kang ),( Hee Kyung Yeo ),( Dong Hyun Kim ),( Won Ku Kang ),( Tae Cheon Jeong ),( Hye Gwang Jeong ) 영남대학교 약품개발연구소 2012 영남대학교 약품개발연구소 연구업적집 Vol.22 No.0
Baicalin, a glycoside present in Scutellaria baicalensis Georgi, is metabolized to its aglycone, baicalein, in intestine. In the present study, possible role of metabolism of baicalin by intestinalbacteria to baicalein in baicalin-induced toxicity was investigated in HepG2 cell cultures. As anintestinal bacterial metabolic system for baicalin, human fecal preparation containing intestinalmicroflora (fecalase) was employed. Initially, when cytotoxic effects of baicalin and baicalein were compared, baicalin was more cytotoxic than baicalein in HepG2 cells. When baicalin was incubated with fecalase, it was metabolized to baicalein. In addition, baicalin-incubated with fecalase reduced cytotoxicity of HepG2 cells in a concentration-dependent manner. Moreover, baicalin-incubated with fecalase significantly caused an increase in Bcl-2 expression together with a decrease in Bax expression and cleaved Caspase-3. Furthermore, anti-apoptotic effect by the incubation of baicalin with fecalase was also confirmed by the terminal deoxynucleotidyltransferase-mediated dUTP-biotin nick-end labeling assay. Taken all together, the findings suggested that metabolism of baicalin by human fecalase to baicalein might have protective effects against baicalin-induced toxicity in HepG2cells.