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An Effective Vision-based Self-Navigation System for Autonomous Indoor Vehicle
Ngo Thien Thu(고 티엔 투),Md Abu Layek(나엑 엠디 알람깃),Eui Nam Huh(허의남) 한국정보과학회 2019 정보과학회 컴퓨팅의 실제 논문지 Vol.25 No.7
스마트 시티는 스마트 빌딩의 개발에서부터 시작해 인간 삶의 질 향상을 목표로 발전해 나가고 있다. 특히, 자율주행 실내 로봇은 스마트 빌딩의 운영을 위한 혁신적인 요소가 될 것으로 예측된다. 이를 실현하기 위해 본 논문에서는 영상 기반의 센싱 및 하드웨어 제어 메커니즘을 활용한 자가 탐색형 이동 로봇을 개발하였다. 먼저, 복도의 양 끝 가장자리를 슬라이딩 윈도우 라인 검출 방법을 이용하여 인식하게 되면, 방향 가중치 알고리즘을 통해 복도의 가운데를 인식해 로봇의 방향을 예측할 수 있게 된다. 본 제안 기법을 실제 로봇에 제안 탐색 기법을 적용하여 다양한 실험을 진행한 결과 실시간으로 자율주행로봇이 장애물 회피가 가능함을 보였다. The advancements in a smart city have paved a way towards the development of smart buildings with an aim to improve the resident environment and quality of life. Apparently, autonomous indoor robots are considered as a critical factor for the operation of smart buildings. In the present work, we have developed a self-navigation system for mobile robots that utilize vision-based sensing and hardware control mechanism. First, sliding window line detection method is used to find the polynomial fit to two lines of the hallway, and then direction weight estimation algorithm predicts the direction of the robot with respect to the center of the two estimated lines. The results relying on real robot experiments show that the proposed navigation system can enhance the in-front obstacle for the real-time task in autonomous indoor robots.
엣지 디바이스에서 객체 탐지를 위한 그룹별 어탠션 기반 경량 디코더 연구
티엔투고 ( Thien-thu Ngo ),엠디딜로와르호씬 ( Md Delowar Hossain ),허의남 ( Eui-nam Huh ) 한국정보처리학회 2023 한국정보처리학회 학술대회논문집 Vol.30 No.2
The recent scholarly focus has been directed towards the expeditious and accurate detection of salient objects, a task that poses considerable challenges for resource-limited edge devices due to the high computational demands of existing models. To mitigate this issue, some contemporary research has favored inference speed at the expense of accuracy. In an effort to reconcile the intrinsic trade-off between accuracy and computational efficiency, we present novel model for salient object detection. Our model incorporate group-wise attentive module within the decoder of the encoder-decoder framework, with the aim of minimizing computational overhead while preserving detection accuracy. Additionally, the proposed architectural design employs attention mechanisms to generate boundary information and semantic features pertinent to the salient objects. Through various experimentation across five distinct datasets, we have empirically substantiated that our proposed models achieve performance metrics comparable to those of computationally intensive state-of-the-art models, yet with a marked reduction in computational complexity.
Thu Dang Anh Phan,Thao Quyen Nguyen,Nhi Thuy To,Thien Ly Thanh,Dat Quoc Ngo 대한병리학회 2024 Journal of Pathology and Translational Medicine Vol.58 No.1
Background: Anaplastic lymphoma kinase (ALK) mutations have been identified as a prominent cause of some familial and sporadic neuroblastoma (NB). ALK expression in NB and its relationship with clinical and histopathological features remains controversial. This study investigated ALK expression and its potential relations with these features in NB.Methods: Ninety cases of NB at the Department of Pathology, University of Medicine and Pharmacy at Ho Chi Minh City, Viet Nam from 01/01/2018 to 12/31/2021, were immunohistochemically stained with ALK (D5F3) antibody. The ALK expression and its relations with some clinical and histopathological features were investigated.Results: The rate of ALK expression in NB was 91.1%. High ALK expression (over 50% of tumor cells were positive with moderate-strong intensity) accounted for 65.6%, and low ALK expression accounted for 34.4%. All the <i>MYCN</i>-amplified NB patients had ALK immunohistochemistry positivity, most cases had high ALK protein expression. The undifferentiated subtype of NB had a lower ALK-positive rate than the poorly differentiated and differentiated subtype. The percentages of ALK positivity were significantly higher in more differentiated histological types of NB (p = .024). There was no relation between ALK expression and: age group, sex, primary tumor location, tumor stage, <i>MYCN</i> status, clinical risk, Mitotic-Karyorrhectic Index, prognostic group, necrosis, and calcification.Conclusions: ALK was highly expressed in NB. ALK expression was not related to several clinical and histopathological features. More studies are needed to elucidate the association between ALK expression and ALK gene status and to investigate disease progression, especially the oncogenesis of ALK-positive NB.
HER2 Status and Its Heterogeneity in Gastric Carcinoma of Vietnamese Patient
Dang Anh Thu Phan,Vu Thien Nguyen,Thi Ngoc Ha Hua,Quoc Dat Ngo,Thi Phuong Thao Doan,Sao Trung Nguyen,Anh Tu Thai,Van Thanh Nguyen 대한병리학회 2017 Journal of Pathology and Translational Medicine Vol.51 No.4
Background: Human epidermal growth factor receptor 2 (HER2) is related to the pathogenesis and poor outcome of numerous types of carcinomas, including gastric carcinoma. Gastric cancer patients with HER2 positivity have become potential candidates for targeted therapy with trastuzumab. Methods: We investigated 208 gastric cancer specimens using immunohistochemistry (IHC), fluorescence in situ hybridization and dual in situ hybridization (ISH). We also investigated the concordance between IHC and ISH. The correlation between HER2 status and various clinicopathological findings was also investigated. Results: In total, 15.9% (33/208) and 24.5% (51/208) of gastric cancers showed HER2 gene amplification and protein overexpression, respectively. A high level of concordance between ISH and IHC analyses (91.3%, κ = 0.76) was found. A significant correlation between HER2 status and intestinal-type (p < .05) and differentiated carcinomas (p < .05) was also noted. The HER2 heterogeneity was high in gastric cancers; we found 68.8% phenotypic heterogeneity and 57.6% genotypic heterogeneity. Heterogeneity in HER2 protein expression and gene amplification showed a close association with diffuse histologic type and IHC 2+. Conclusions: HER2 protein overexpression and gene amplification were detected in 24.5% and 15.9% of gastric cancer specimens, respectively. Intestinal-type showed a higher level of HER2 protein overexpression and gene amplification than diffuse type. HER2 status also showed a significant relationship with well- and moderately-differentiated carcinomas. The ratio of phenotypic and genotypic heterogeneity of HER2 was high in gastric carcinomas and was associated with HER2 IHC 2+ and diffuse histologic type.