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Purpose There is lack of data on direct comparison of survival outcomes between open surgery and robot-assisted staging surgery (RSS) using three robotic arms for endometrial cancer. The purpose of this study was to compare the overall survival (OS) and disease-free survival (DFS) between open surgery and RSS using three robotic arms for endometrial cancer. Materials and methods Consecutive women with endometrial cancer who underwent surgery between May 2006 and May 2018 were identified. Robotic procedures were performed using the da Vinci robotic system, and the robotic approach consisted of three robotic arms including a camera arm. Propensity score matching, as well as univariate and multivariate Cox regression of OS and DFS were performed according to clinicopathologic data and surgical method. Results The study cohort included 423 unselected patients with endometrial cancer, of whom 218 underwent open surgery and 205 underwent RSS using three robotic arms. Propensity score-matched cohorts of 146 women in each surgical group showed no significant differences in survival: 5-year OS of 91% vs. 92% and DFS of 86% vs. 89% in the open and robotic cohorts, respectively (hazard ratio, 1.02; 95% confidence interval, 0.82-1.67). In the univariate analysis with OS as the endpoint, surgical method, age, stage, type II histology, grade, and lymph node metastasis were independently associated with survival. Surgical stage, grade, and type II histology were found to be significant independent predictors for OS in the multivariate analysis. Conclusion RSS using three robotic arms and laparotomy for endometrial carcinoma had comparable survival outcomes.

Increased grain yield will be critical to meet the growing demand for food, and could be achieved by delaying crop senescence. Here, via quantitative trait locus (QTL) mapping, we uncover the genetic basis underlying distinct life cycles and senescence patterns of two rice subspecies, indica and japonica. Promoter variations in the Stay-Green (OsSGR) gene encoding the chlorophyll-degrading Mg++-dechelatase were found to trigger higher and earlier induction of OsSGR in indica, which accelerated senescence of indica rice cultivars. The indica-type promoter is present in a progenitor subspecies O. nivara and thus was acquired early during the evolution of rapid cycling trait in rice subspecies. Japonica OsSGR alleles introgressed into indica-type cultivars in Korean rice fields lead to delayed senescence, with increased grain yield and enhanced photosynthetic competence. Taken together, these data establish that naturally occurring OsSGR promoter and related lifespan variations can be exploited in breeding programs to augment rice yield., Breeding crops with delayed senescence could plausibly increase grain yield. Here the authors show that variation at the rice SGR locus contributes to differences in senescence between indica and japonica subspecies and show that introgression can increase yield in an elite indica rice variety.

We propose a crack detection network based on an image segmentation network for robust crack detection, which utilizes information from the entire image and performs pixel-wise prediction. To overcome the lack of data, we also propose a crack image generation algorithm using a 2D Gaussian kernel and the Brownian motion process. We gathered 242 crack images from plain images to cluttered images to train and verify the robustness of the proposed crack segmentation network. To verify the usefulness of simulated cracks, we used 2 integrated datasets constructed with 100 and 200 simulated crack images added to the actual crack dataset, as well as an actual crack dataset. To derive the maximum prediction performance, the neural network was pre-trained on the MS-COCO dataset, and re-trained by each crack dataset. The results show that the proposed method is highly robust and accurate, even for complex images. The trained network was also tested under different brightness, hue, and noise conditions, and results have shown that this promising method can be used in various inspection platforms.

As the tasks of satellites become more complicated, the satellites become bigger, and various kinds of mission payloads are loaded inside them. To analyze the disposal of low Earth orbit satellites at the end of their useful life, a reentry analysis method that includes objects with several layers is proposed in this paper. For precise analysis, an object analysis list is used to simulate the process sequence between parent and child object when break-up occurs, and an information inheritance method on random transverse velocity generation is proposed. In consideration of the proposed method, reentry survivability analysis was performed, and the results were compared with the debris risk assessment and mitigation analysis reentry analysis program of the European Space Agency.

The FLOWERING TIME CONTROL PROTEIN FPA (FPA) gene encodes an RNA recognition motif (RRM) domain protein and plays an important role in flowering time control. Flowering responds to environmental conditions and developmental regulation through a network of signaling pathways. However, a little is known about the functions of autonomous pathway genes in Medicago truncatula. Here, we characterized the M. truncatula FPA (MtFPA) gene expression profiling through quantitative RT-PCR analysis, cellular localization, and functional analyses in transgenic plants. We cloned the FPA gene of M. truncatula based on its sequence similarity with Arabidopsis thaliana FPA. The quantitative RT-PCR analysis of MtFPA expression patterns showed that the MtFPA transcripts accumulated ubiquitously in the roots, leaves, stems, flowers, and pods of M. truncatula. The confocal image analysis of the fusion protein MtFPA:GFP revealed that MtFPA was localized in the nucleus. To examine the function of MtFPA, the 35S::MtFPA transgenic plants were generated in the Arabidopsis late-flowering mutant background, fpa-2. The overexpression of MtFPA accelerated flowering under long day conditions compared to the non-transgenic plants. In MtFPA transgenic lines, the expression of AtFLC was down-regulated, whereas that of the floral integrators, AtFT and AtSOC1, was up-regulated as compared to the control plants. These results suggest that MtFPA is a functional orthologue of Arabidopsis and plays an important role in the regulation of flowering time in legumes, especially in M. truncatula.

Vanillin can be obtained from waste of lignocellulosic bioresources with various methods.1−3 Such vanillin was used as chain extender [divanillin-ethanol amine conjugate (DV-EA)] after its dimerization and further modification with ethanolamine in the synthesis of biobased polyurethane, thereby increasing wt % of biocontents in the final polymer. 1,4-Butanediol often used as a general chain extender in polyurethane synthesis was replaced partially with DV-EA. The generated polyurethane hard segment consists of DV-EA polyol and MDI (methylene diisocyanate) units or 1,4-butanediol and MDI units, respectively. The properties of the DV-EA-based polyurethane were investigated with differential scanning calorimetry (DSC), thermogravimetric analysis (TGA), dynamic mechanical analyzer (DMA), X-ray diffraction spectroscopy (XRD), and universal testing machine (UTM). The results showed that this advanced polyurethane has 128% of Young’s modulus and 147% of increased strain compared to those of control, while its st...

The present study aimed to analyze the compensatory signaling pathways induced by forkhead domain inhibitor‑6 (FDI‑6), which is a forkhead box protein M1 (FOXM1) inhibitor, in ovarian cancer cells and evaluate the effectiveness of simultaneous inhibition of FOXM1 and the compensatory signaling pathway in decreasing the survival of ovarian cancer cells. The present study identified the proteins involved in the compensatory mechanism activated by FDI‑6 in HeyA8 ovarian cancer cells using western blot analysis and a reverse‑phase protein array. In addition, a cell viability assay was performed to determine the effects of FDI‑6 and the compensatory signaling pathway on cancer cell viability. All experiments were performed in three‑dimensional cell cultures. The present study observed that FDI‑6 stimulated the upregulation of N‑Ras, phosphoprotein kinase Cδ (p‑PKCδ) (S664) and HER3 in HeyA8 cells. Tipifarnib as an N‑Ras inhibitor, rottlerin as a p‑PKCδ (S664) inhibitor and sapitinib as a HER3 inhibitor were selected. The combination of FDI‑6 with tipifarnib attenuated the upregulation of N‑Ras induced by FDI‑6 and the combination of FDI‑6 with sapitinib also attenuated HER3 downstream signaling pathway in HeyA8 cells, as shown by on western blot analysis. Rottlerin downregulated p‑PKCδ (S664) by inhibiting the activity of a Src‑related tyrosine kinase that transfers a phosphate group to PKCδ. Compared with FDI‑6 alone, the addition of tipifarnib or rottlerin to FDI‑6 was significantly more effective in reducing the growth of HeyA8 cells. However, the combination of FDI‑6 and sapitinib did not induce a significant decrease in survival of HeyA8 cells. In conclusion, the addition of tipifarnib or rottlerin to inhibit N‑Ras or p‑PKCδ (S664), respectively, inhibited the compensatory signaling pathway response induced by FDI‑6 in HeyA8 cells. These inhibitors increased the efficacy of FDI‑6, which inhibits FOXM1, in reducing ovarian cancer cell viability.

Objective To evaluate the clinical and pathological characteristics of lower anterior abdominal wall masses suspicious for endometriosis. Methods A retrospective review of 38 patients who underwent surgery for a lower anterior abdominal wall mass suspicious for endometriosis was performed. Those with skin and intraperitoneal masses, lipomas, hernias, and metastatic malignant masses were excluded. Patient age, body mass index, delivery history, dysmenorrhea, and mass size and location were analyzed. Results Thirty-seven (97.3%) patients had a relevant surgical history, including 35 (92.1%) with a history of cesarean section (C/S). Among the three patients with no history of C/S, 1 underwent total abdominal and another total laparoscopic hysterectomy, and 1 had no previous surgical history. The mean (±standard deviation) size of the abdominal masses was 3.2±1.2 cm. One patient developed a recurrent mass after excision of abdominal wall endometriosis. Trocar site endometrioma was found in one patient following total laparoscopic hysterectomy. According to the final pathology reports, endometriosis was found in 35 (92.1%) of patients. The remaining 3 patients (7.9%) had malignancy: adenocarcinoma, squamous cell carcinoma, and extra-gastrointestinal stromal tumor. Before surgery, only 3 patients (7.9%) underwent fine-needle aspiration biopsy of the masses, which were all postoperatively confirmed to be pathologically benign. Conclusion Although most abdominal wall masses in the present sample were endometriosis occurring at the scar site from a previous operation, 7.9% of patients ultimately exhibited malignancy. Therefore, all patients with suspected anterior wall endometriosis should undergo preoperative biopsy to identify the few that will have an alternative diagnosis.

Sink strength optimizes sucrose import, which is fundamental to support developing seed grains and increase crop yields, including those of rice (Oryza sativa). In this regard, little is known about the function of vacuolar invertase (VIN) in controlling sink strength and thereby seed size. Here, in rice we analyzed mutants of two VINs, OsVIN1 and OsVIN2, to examine their role during seed development. In a phenotypic analysis of the T-DNA insertion mutants, only the OsVIN2 mutant osvin2-1 exhibited reduced seed size and grain weight. Scanning electron microscopy analysis revealed that the small seed grains of osvin2-1 can be attributed to a reduction in spikelet size. A significant decrease in VIN activity and hexose level in the osvin2-1 spikelets interfered with spikelet growth. In addition, significant reduction in starch and increase in sucrose, which are characteristic features of reduced turnover and flux of sucrose due to impaired sink strength, were evident in the pre-storage stage of osvin2-1 developing grains. In situ hybridization analysis found that expression of OsVIN2 was predominant in the endocarp of developing grains. A genetically complemented line with a native genomic clone of OsVIN2 rescued reduced VIN activity and seed size. Two additional mutants, osvin2-2 and osvin2-3 generated by the CRISPR/Cas9 method, exhibited phenotypes similar to those of osvin2-1 in spikelet and seed size, VIN activity, and sugar metabolites. These results clearly demonstrate an important role of OsVIN2 as sink strength modulator that is critical for the maintenance of sucrose flux into developing seed grains.

Ribulose-1,5-bisphosphate carboxylase/oxygenase, the key enzyme of photosynthetic carbon fixation, is able to accept both O2 and CO2 as substrates. When it fixes O2, it produces 2-phosphoglycolate, which is detoxified by photorespiration and recycled to the Calvin-Benson-Bassham cycle. To complete photorespiration, metabolite transport across three organelles, chloroplasts, peroxisomes, and mitochondria, is necessary through transmembrane transporters. In rice (Oryza sativa) little is known about photorespiratory transmembrane transporters. Here, we identified the rice plastidic glycolate/glycerate translocator 1 (OsPLGG1), a homolog of Arabidopsis PLGG1. OsPLGG1 mutant lines, osplgg1-1, osplgg1-2, and osplgg1-3, showed a growth retardation phenotype, such as pale green leaf, reduced tiller number, and reduced seed grain weight as well as reduced photosynthetic carbon reduction rate due to low activities of photosystem I and II. The plant growth retardation in osplgg1 mutants was rescued under high CO2 condition. Subcellular localization of OsPLGG1-GFP fusion protein, along with its predicted N-terminal transmembrane domain, confirmed that OsPLGG1 is a chloroplast transmembrane protein. Metabolite analysis indicated significant accumulation of photorespiratory metabolites, especially glycolate and glycerate, which have been shown to be transported by the Arabidopsis PLGG1, and changes for a number of metabolites which are not intermediates of photorespiration in the mutants. These results suggest that OsPLGG1 is the functional plastidic glycolate/glycerate transporter, which is necessary for photorespiration and growth in rice.

Recently, in order to increase the efficiency and mission success rate of UAVs (Unmanned Aerial Vehicles), the necessity for formation flights is increased. In general, GPS (Global Positioning System) is used to obtain the relative position of leader with respect to follower in formation flight. However, it can’t be utilized in environment where GPS jamming may occur or communication is impossible. Therefore, in this study, monocular vision is used for measuring relative position. General PCbased vision processing systems has larger size than embedded systems and is hard to install on small vehicles. Thus FPGAbased processing board is used to make our system small and compact. The processing system is divided into two blocks, PL(Programmable Logic) and PS(Processing system). PL is consisted of many parallel logic arrays and it can handle large amount of data fast, and it is designed in hardware-wise. PS is consisted of conventional processing unit like ARM processor in hardware-wise and sequential processing algorithm is installed on it. Consequentially HW/SW co-designed FPGA system is used for processing input images and measuring a relative 3D position of the leader, and this system showed RMSE accuracy of 0.42 cm ~ 0.51 cm.

Sucrose transporters (SUTs) play a critical role on the phloem plasma membrane in loading sucrose into the phloem of source leaves for long-distance transport to sink organs. Rice has a small gene family of five SUTs, Oryza sativa SUT1 (OsSUT1) to OsSUT5. To identify rice SUTs that function as phloem loaders, we adopted a growth restoration assay of the severe growth retardation phenotype of atsuc2, a mutant of the best-characterized Arabidopsis phloem loader AtSUC2, by introducing OsSUTs. The rice SUT genes were expressed by two different promoters, the native phloem-specific promoter of AtSUC2 (pAtSUC2) and the constitutive Cauliflower Mosaic Virus 35S (pCaMV35S) promoter. Of all the transgenic atsuc2 plants, only pAtSUC2: OsSUT1 complemented the atsuc2 mutant phenotype in a comparable manner to wild type (WT), and consistent levels of soluble sugars and starch were recovered compared to those of WT. This suggests that OsSUT1 is a functional ortholog of the Arabidopsis AtSUC2 and functions as an apoplastic phloem loader. In addition, ossut1 mutants were produced via anther culture and their primary carbohydrate levels and growth phenotypes were indistinguishable from those of WT. This suggests that the rice phloem loader OsSUT1 function may not be essential for rice vegetative growth under normal conditions.

In this study, a release test bed is designed to evaluate the dynamic behaviors of a coil spring. From the release tests, the dynamic behaviors of a coil spring are analyzed. A lumped parameter spring model was established for numerical simulation of a spring. The design variables of a coil spring are optimized by using the design of experiments approach. Two-level factorial designs are used for the design optimization, and the primary effects of the design variables are analyzed. Based on the results of the interaction analysis and design sensitivity analysis, the level of the design variables is rearranged. Finally, the mixed-level factorial design is used for the optimum design process. According to the optimum design of the opening spring, the dynamic performance of the spring-operated mechanism increases by 2.90.

Approximately 900 satellites currently orbit Earth. When satellites complete their mission, they are either intentionally deorbited or placed in orbits that will cause them to crash into Earth within 25 years after mission completion based on the rules set by the Inter-Agency Space Debris Coordination Committee. When a satellite reenters Earth's atmosphere, small or low-density components from its structure will mostly be incinerated. However, if large components remain, they may cause damage when they crash into the ground. These risks can cause population damage. In this study, reverse geocoding was used to perform a probability analysis on the population casualties for four cases: a single piece of debris, a single piece of debris with the Monte Carlo method, a satellite, and a satellite with the Monte Carlo method. The reverse geocoding method was found to be more accurate at analyzing the casualty probability than Debris Risk Assessment and Mitigation Analysis (DRAMA) because it uses population data based on the longitude as well as the latitude.

This paper describes a monocular vision-based formation flight technology using two fixed wing unmanned aerial vehicles. To measuring relative position and attitude of a leader aircraft, a monocular camera installed in the front of the follower aircraft captures an image of the leader, and position and attitude are measured from the image using the KLT feature point tracker and POSIT algorithm. To verify the feasibility of this vision processing algorithm, a field test was performed using two light sports aircraft, and our experimental results show that the proposed monocular vision-based measurement algorithm is feasible. Performance verification for the proposed formation flight technology was carried out using the X-Plane flight simulator. The formation flight simulation system consists of two PCs playing the role of leader and follower. When the leader flies by the command of user, the follower aircraft tracks the leader by designed guidance and a PI control law, and all the information about leader was measured using monocular vision. This simulation shows that guidance using relative attitude information tracks the leader aircraft better than not using attitude information. This simulation shows absolute average errors for the relative position as follows: X-axis: 2.88 m, Y-axis: 2.09 m, and Z-axis: 0.44 m.

Objective To evaluate the impact of comorbid diabetes mellitus (DM) on prognoses among patients with cervical cancer. Methods We analyzed cervical cancer outcomes in patients who treated in two hospitals retrospectively. Patients were divided into those with DM and those without. Clinicopathologic parameters, disease-free survival (DFS), and overall survival (OS) rates were evaluated. Results Of the 494 patients, 50 had DM. These were more likely to be older than those in the non-DM group and their body mass index (BMI) was higher. They showed higher levels of tumor markers and had more combined diseases. They were less likely to have had surgical treatment. Among these patients, 12 (24%) experienced a recurrence (hazard ratio, HR, 1.484; 95% confidence interval, CI, 0.746–2.951). Differences in DFS did not show statistical significance. In the OS analysis, 11 (22%) in the DM group and 62 (14%) in the non-DM group died (HR, 1.239; 95% CI, 0.606–2.533). No statistically significant differences were also observed for cancer-specific death (HR, 1.246; 95% CI, 0.567–2.737). Those with DM and an adenocarcinoma tended to have an increased risk of dying compared with the non-DM patients with an adenocarcinoma (HR, 3.673; 95% CI, 0.990–13.625), but this difference was not statistically significant ( p =0.0518). Conclusion Diabetes mellitus did not have an impact on the prognosis for patients with cervical cancers. In those with an adenocarcinoma, patients with diabetes tended to have an increased risk of dying compared with the non-DM group, but this difference was not statistically significant.

ADP-glucose pyrophosphorylase (AGP) catalyzes the first committed step of starch biosynthesis in higher plants. We previously isolated two rice mutants, osagps2 and osagpl2, which have starch-deficient endosperms and lack the AGP small and large subunits, respectively. In this study, we used two-dimensional gel electrophoresis and peptide mass fingerprinting to identify differentially expressed proteins in the osagps2 and osagpl2 endosperms. We found that the osagps2 and osagpl2 endosperms exhibited reduced levels of glutelins and globulins (the major seed storage proteins), protein disulfide isomerases, and the dnaK-type endoplasmic reticulum chaperone BiP. Interestingly, the osagps2 and osagpl2 endosperms had much lower levels of malate dehydrogenase and alanine aminotransferase compared with wild type endosperm, which likely function in maintaining an adequate ATP supply for starch biosynthesis in seed endosperms that are exposed to low oxygen conditions. Furthermore, metabolomics analysis showed that the levels of free amino acids and soluble sugars were significantly increased in the osagps2 and osagpl2 endosperms. These results demonstrate that carbon and nitrogen metabolisms are tightly coordinated to ensure the proper development of rice seed endosperm.

A 56-year-old female was referred to our hospital due to a mass measuring 5 cm in size in the left pelvic cavity, which was found incidentally during a health examination by ultrasonography. Exploratory laparotomy was performed and the mass was located at the left retroperitoneal parametrium without invasion of the uterus and ovary. The pathology report confirmed squamous cell carcinoma. Even after further studies, we did not find any other primary lesion. Human papillomavirus (HPV) DNA chip test (HPV 9G DNA Membrane Kit, Biometrixtechnology Inc.) showed that the surgical specimen was positive for HPV 18. She received adjuvant chemotherapy and would receive radiation therapy for the possibility of occult gynecologic cancer. Retroperitoneal squamous cell carcinoma of unknown primary is extremely rare and little is known about it. It is reported that HPV may be associated with the disease. Hence, the result of HPV test could have an impact on finding a suspicious primary lesion and treatment modality in this case.

This paper shows the design of operation flight program(OFP) using model-based design(MBD) method which is used in various engineering fields to reduce time and flight risks for development. The verification of OFP for DO-178C guidelines carry out by a model advisor function of simulink. The flight control logic on simulink is converted into C-language by auto code generation tool from, then it is implemented on 32bit digital signal processor(DSP). The verifications of flight control algorithm on various weather conditions are performed by th HILS system with Flight simulator program, X-plane.

Plastoquinone-9 (PQ-9) is essential for plant growth and development. Recently, we found that fibrillin5 (FBN5), a plastid lipid binding protein, is an essential structural component of the PQ-9 biosynthetic pathway in Arabidopsis. To investigate the functional conservation of FBN5 in monocots and eudicots, we identified OsFBN5, the Arabidopsis FBN5 (AtFBN5) ortholog in rice (Oryza sativa). Homozygous Osfbn5-1 and Osfbn5-2 Tos17 insertion null mutants were smaller than wild type (WT) plants when grown on Murashige and Skoog (MS) medium and died quickly when transplanted to soil in a greenhouse. They accumulated significantly less PQ-9 than WT plants, whereas chlorophyll and carotenoid contents were only mildly affected. The reduced PQ-9 content of the mutants was consistent with their lower maximum photosynthetic efficiency, especially under high light. Overexpression of OsFBN5 complemented the seedling lethal phenotype of the Arabidopsis fbn5-1 mutant and restored PQ-9 and PC-8 (plastochromanol-8) to levels comparable to those in WT Arabidopsis plants. Protein interaction experiments in yeast and mesophyll cells confirmed that OsFBN5 interacts with the rice solanesyl diphosphate synthase OsSPS2 and also with Arabidopsis AtSPS1 and AtSPS2. Our data thus indicate that OsFBN5 is the functional equivalent of AtFBN5 and also suggest that the SPSs–FBN5 complex for synthesis of the solanesyl diphosphate tail in PQ-9 is well conserved in Arabidopsis and rice.

Objective: We used data from the 2011–2014 Korean National Health and Nutrition Examination Surveys (KNHANES) to investigate whether the age at menopause is related to alcohol consumption in South Korean women. Materials and methods: This was a cross-sectional study of the data for 940 women who became menopausal within the 3 years preceding the KNHANES. Results: The numbers of nondrinkers, mild to moderate drinkers, and heavy drinkers in this group were 345 (34.7%), 573 (62.2%), and 22 (3%). Body mass index (BMI), smoking, and exercise were adjusted in model 1 and age was additionally adjusted in model 2. The mean ages at menopause were 51.6 ± 0.2, 50.8 ± 0.1, and 50.4 ± 0.5 years (p = 0.0025) in model 1 and 51.7 ± 0.2, 51.1 ± 0.1, and 50.1 ± 0.5 years (p = 0.0018) in model 2 for nondrinkers, mild to moderate drinkers, and heavy drinkers, respectively. BMI, smoking, exercise, educational level, income, duration of menopause, age at menarche, age at first delivery, and gravidity were adjusted in model 3, and the respective mean ages at menopause were 51.3 ± 0.2, 50.7 ± 0.2, and 50.1 ± 0.8 years (p = 0.0402). The population was classified into groups using the Alcohol Use Disorders Identification Test (AUDIT) scores of

Since the performance of a circuit breaker which has the spring operating mechanism mainly depends on the dynamic behavior of a coil spring, the analysis of the dynamic behavior of a coil spring is required for a performance evaluation of a circuit breaker. When a spring moves so fast from the releasing state, a lot of energy is used to move a self-weight of a spring. Thus, the mass effect analysis of a spring operating mechanism is required for the performance evaluation of a circuit breaker accurately. In this study, a release test bed is designed for evaluating the dynamic behaviors of a coil spring. Three types of spring models such as a linear spring model, a nodal spring model and a lumped parameter spring model are established for comparing the modeling error of a spring due to the mass effect. RecurDyn is employed to carry out the computer simulation and results are compared with test results. The actual energy transferred to the follower during high-speed motion is analyzed through the comparisons of the kinetic energy between the experiment and the computer simulation.

We propose a two-stage trajectory planning (TSTP) method using monocular vision for keeping continuous surveillance or reconnaissance of a target, and for relaying communication between a ground vehicle and an unmanned aerial vehicle (UAV). The cost function for optimal trajectory includes the variation of the altitude and speed of the UAV to prevent sudden maneuvering. The position of the target in the image is also included in a cost function for continuous observation. A virtual image can be calculated from the relationship between the coordinates of the UAV and those of the camera. The proposed cost function can be affected to a greater degree than in generic optimization problems because it has the position of the target in the image. Therefore, TSTP is introduced to mitigate the problem induced by the image included in the cost function. TSTP consists of two stages of optimization. The stability of the UAV, and the relative distance between the target and the UAV on the horizontal plane, are optimized in the first stage. The results are used as initial guesses for the second stage to improve optimality. The second stage optimizes the stability of the UAV and the position of the target in the image. Proportional-integral-derivative (PID) controllers are employed to follow the optimized trajectory in both the lateral and longitudinal directions. Our simulation results show stable optimized trajectories, with a stable image and target tracking performance.

Cervical incompetence is characterized by painless dilatation of the incompetent cervix and results in miscarriages and preterm delivery during second trimester. We report a 25-year-old patient, gravid 2, para 1, at 11 weeks' gestation with the diagnosis of cervical incompetence, in whom transvaginal cerclage was not technically possible and laparoscopic cervical cerclage was performed successfully. There were no operative or immediate postoperative complications. A healthy infant was delivered at 35 weeks by cesarean section. Laparoscopic cervical cerclage during pregnancy can be safe and effective treatment for well-selected patients with cervical incompetence and eliminates the need for open laparotomy.

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LEO(Low Earth Orbit) Satellite which is discarded should be reentered to atmosphere in 25 years by `25 years rule` of IADC(Inter-Agency Space Debris Coordination Committee) Guidelines. If the parts of satellite are survived from severe aerothermodynamic condition, it could damage to human and property. South Korea operates KOMPSAT-2 and STSAT series as LEO satellite. It is necessary to dispose of them by reentering atmosphere. Therefore this paper analyze the trajectory, survivability, casualty area and casualty probability of a virtual LEO satellite using ESA(European Space Agency)`s DRAMA(Debris Risk Assesment and Mitigation Analysis) tool. As a result, it is noted that casuality area is and casualty probability is 5.9614E-03 then will be survived 198.831kg.

In this paper, we studied on improvement for radiated EMI of USB power line of cable. it is made by using wireless video access point system for confirming the phenomenon of radiated EMI from cable. then, we make sure that the limit exceed through the initial measurement of radiated EMI limit criteria in comparison to about 3 [dBuV/m]~15 [dBuV/m]. after that we confirmed the resonance in power line of cable through measurement of s-parameters. so, we confirmed the relation radiated EMI and power line of cable resonance and we reduced radiated EMI in power line of cable through a capacitor and low pass-band filter using the technique of power networks management. in conclusion, we suggested how to reduce power line of cable resonance applied for the improved method. and we confirmed that suggested reduction method is suitable through testing radiated EMI. the result of radiated EMI reduction limit criteria 40[dBuV/m]~47[dBuV/m] in comparison to about 3 [dBuV/m]~20 [dBuV/m].

In this paper, Tapered slot antenna of IR-UWB was Designed and fabricated using HFSS and we suggest the beam width of the broadband antenna using group-delay and fidelity. For this purpose, acquired data from the Network Analyzer was analyzed in the time domain by using the chirp-Z transform and Simulation was conducted and confirmed with the CST microwave studio. Analysis of the antenna radiation pattern is the antenna separation at intervals of 0.5 metres and then transmit antenna is fixed and the receiving antenna 360 degree intervals of 10 degree each, The results of the analysis are as follows, and analyzer of the fidelity of the antenna`s performance. An analysis of more than 90 percent of the cases is less than degrees in good fidelity, more than 90% less than degrees and lowe fidelity. In conclusion, Analysis of Beam width of wideband antenna with more precise is possible through using these radiation pattern using fidelity.

The increase in the number of tasks that a pilot has to perform directly affects the likelihood of critical accidents. Such a problem can be mitigated by an eye-tracking algorithm. The mean-shift algorithm and particle filter are used to measure pupils’ positions and then the equations of the relation among nine predefined points in a scene image and the positions of the pupils are derived. After mapping, the points where pilot gazes are calculated with this mapping relation. To verify the performance, gaze tracking experiment was performed using aligned and calibrated beam-projector.

Surge phenomenon can be occurred in a compressor when compressor performance of turbofan engine for an aircraft is changed considerably in a short time on the cases like take-off phase and changing of RPM from idle to maximum, because performance of aircraft engine is changed suddenly. This study is aimed to avoid surge in a compressor. Dynamic simulation in a compressor is modeled by simulink in specific condition. Fuel flow is control input, rpm and air mass flow are expressed in terms of transfer function. Surge margin is obtained by using compressor performance map from NPSS. VIGV(Variable Inlet Guide Vane) is controlled by PD controller with difference between surge margin and reference. Finally this paper verifies IGV can prevent surge phenomenon in a compressor.

This paper describes a vision-based only attitude estimation technique for the leader in the formation flight. The feature points in image obtained from the X-PLANE simulator are extracted by the SURF(Speed Up Robust Features) algorithm. We use POSIT(Pose from Orthography and Scaling with Iteration) algorithm to estimate attitude. Finally we verify that attitude estimation using vision only can yield small estimated error of .

Researches for various lunar landing technologies are in progress for the lunar exploration program planned for early 2020s in Korea. This paper shows the integrated simulation for safe lunar landing guidance/control system in powered descent phase. Generally, the lunar lander uses on/off(bang-bang) controller to control the RCS jet thrusters instead of proportional controller. In this paper, the on/off controller using phase-plane switching function, and thruster selection algorithm to control sixteen thrusters are applied. Also additional guidance commands are calculated by a proposed fuzzy logic guidance algorithm. The simulation results show that lunar lander can follow a reference trajectory which is generated by optimization method, then land on the surface safely.

In this paper, we described development of on-board image processing system and its process and verified its performance through flight experiment. The image processing board has single ARM(Advanced Risk Machine) processor. We performed Embedded Linux Porting. Algorithm to be applied for object tracking is color-based image processing algorithm, it can be designed to track the object that has specific color on ground in real-time. To verify performance of the on-board image processing system, we performed flight test using the PNUAV, UAV developed by LAB. Also, we performed optimization of the image processing algorithm and kernel to improve real-time performance. Finally we confirmed that proposed system can track the blue-color object within four pixels error range consistently in the experiment.

This paper study on the physical property of naturally vulcanizing waterproofing synthetic rubber sheet for the underground concrete wall. In order to finding the naturally vulcanizing time, the relation of vulcanizing time and tensile strength is analysed from non-vulcanizing to naturally vulcanizing time. Physical tests such as tensile strength, tear strength: etc., under the thermal environment temperature at , , , . The result of experiment show that the developed rubber sheet has the delay time about 85 days and the curing time about 35 days. The tensile strength increased by about 692% and coefficient of expansion decreased by about 10% which value can be sufficiently compensate the demerit of vulcanized rubber sheet. Also, all of the physical properties of the naturally rubber sheet satisfy the KS standard and compare to the vulcanized rubber sheet, the developed naturally rubber sheet have excellent durability.

This paper describes the algorithm recognizing car type from the image received from UAV and the recognition results between three types of car images. Using the NCC(Normalized Cross-Correlation) algorithm, geometric information is matched from template images. Template images are obtained from UAV and satellite map and indoor experiment is performed using satellite map. After verification of the possibility, experiment for verification of same car type recognition is performed using small UAV. In the experiment, same type cars are matched with 0.6 point similarity and truck with similar color distribution is not matched with template image of a sedan.

Now there are a lot of expired satellites or space debris around the earth orbit and they threaten the operating satellites and manned space missions. KOMPSAT-2 that scheduled to operate the mission by July, 2013 also has to consider the space debris. This paper introduces the `25 years rules` that must be re-entered within 25 years after the space mission for LEO satellites and describes the removal trajectory design that satisfies the `25 years rules` and minimizes fuel consumption. And this paper suggests monte-carlo simulation for risk analysis that causes the approaching object to the removal trajectory. The result shows that the collision probability of worst case presents 6.0741E-07 and it need to more analysis about precise satellite safety during removal maneuver because there is no information about the object size that approaching to the satellites.

본 연구의 목적은 styrene-butadiene-styrene(SBS) 블록공중합체와 폐타이어 고무분말(crumb rubber, CR)로 개질한 아스팔트의 저온접착특성에 대해 파라핀오일 가소제의 영향에 대한 것이다. SBS/CR로 개질한 아스팔트 블렌드와 파라핀오일/SBS/CR 아스팔트 블렌드의 온도 민감성을 침입도와 연화점으로 측정하였다. 형광현미경으로 파라핀오일/SBS/CR 아스팔트 블렌드에 대한 개질제들의 분산 상태와 만능시험기로 저온에서 접착성질을 각각 측정하였다. 저온접착시험에서 SBS 함량의 증가와 파라핀오일 함량 5 wt % 및 10 wt %에서 접착강도와 변형률이 증가하였다. -20℃ 에서 측정한 접착강도와 강인성은 파라핀오일이 10 wt %와 SBS 공중합체의 양이 6 wt %인 조성에서 최대값을 얻었다. SBS/CR/아스팔트 블렌드에서 파라핀오일의 첨가는 유연성을 부여하는 효과를 나타내고, 저온에서 강인성의 증가를 가져오는 것을 확인하였다.

To estimate the effect of intraabdominal pressure and risk factors related to the occurrence of subcutaneous emphysema during laparoscopic surgery.Prospective randomized study (Canadian Task Force classification I).University hospital.Two hundred patients who underwent gynecologic laparoscopy because of benign gynecologic disease or cervical intraepithelial neoplasia.Gynecologic laparoscopy.Before surgery, patients were divided randomly into 2 groups. During surgery, the first group were limited to 12 mm Hg intraabdominal pressure (n = 100), and the second group 10 mm Hg intraabdominal pressure (n = 100). The incidence of subcutaneous emphysema in each group and the relationship between subcutaneous emphysema and operation time, table tilt angle, patient age, body mass index (BMI) and end-tidal CO(2) (ETco(2)) were analyzed. The occurrence of subcutaneous emphysema was significantly lower in the group 2 than in group 1 (p = .02). The BMI was significantly lower (p = .02), and peak ETco(2) significantly higher (p.001) in the group in which subcutaneous emphysema developed. However, there were no significant differences in age, operative time, table tilt angle, number of ports used, and initial ETco(2) between the groups with and without subcutaneous emphysema.The incidence of subcutaneous emphysema increased with higher intraabdominal pressure during gynecology laparoscopy. Low BMI and increased intraoperative ETco(2) concentration were also related to the occurrence of subcutaneous emphysema.