Probabilistic Estimation of Incomplete Map Using Gaussian Process

학위논문 (석사)-- 서울대학교 대학원 : 전기공학부, 2013. 8. 오성회.Gaussian process is a powerful probabilistic estimation tool which is used widely in engineering fields such as Computer vision, Robotics and sensor networks, etc. This thesis implemented an estimation algorithm of the total map with sparse sensing data using Gaussian Process. In the implemented algorithm, two kinds of kernel functions are applied to the spatial Gaussian Process modelsquared exponential kernel and neural network kernel. The performance of the proposed algorithm was verified by the experiments with a simple mobile sensor network. To construct a simple mobile sensor network based on ROS (Robot Operating System) platform, a two wheeled mobile robot (Pioneer3DX) and a two dimensional laser scanner (SICKlms200) are used.1 Introduction 1 1.1 Mobile Sensor Network 1.2 Simulataneous Localization and Mapping (SLAM) 1.3 Occupancy Grid Map 2 Related Work 2.1 Mapping 2.2 Sensing and Locating 2.3 Probabilistic Solution for Mapping Problem 3 Gaussian Process (GP) 3.1 Weight-space View 3.1.1 The Standard Linear Model 3.1.2 Projections of Inputs into Feature Space 3.2 Function-space View 3.2.1 Prediction with Noise-free Observations 3.2.2 Prediction using Noisy Observations 3.3 Varying Hyperparameters 4 GP Applied to Mapping Problem 4.1 Overview of Contextual Mapping 4.2 Training Hyperparameters 5 Experimental results 5.1 The Mapping Problem in a Real Indoor Environment 5.2 GP Estimation for Single Frame of Laser Scanner 5.2.1 The given Training Data 5.2.2 Selecting a Kernel Function 5.2.3 Optimizing Hyper-parameters 5.2.4 Estimation 5.3 The Estimation Problem in a Simulated Environment 6 Conclusion 6.1 Contribution of GP for Mapping Problem 6.2 Future WorksMaste

동양의 폐허를 성적 대상화하기: 모레노 두란의 『맘브루』, 콜롬비아 대대, 한국전쟁, 피카소, (마릴린) 먼로 독트린

콜롬비아 작가 라파엘 움베르토 모레노 두란(Rafael Humberto Moreno-Durán, 1946~2005)의 소설 『맘브루』(Mambrú, 1996)는 한국전쟁 때 연합군의 일부로 파병되었던 약 1,500명의 군인들로 구성된 콜롬비아 대대에 대한 세밀한 조사를 바탕으로 쓴 작품이다. 이 소설은 광범위한 역사적, 저널리즘적 조사의 결과로 작가는 참전군인 인터뷰와 증언으로 정보를 모았고, 과거에 대한 그들의 이야기를 1990년대의 시점에서 허구적으로 재구성했다. 화자는 여섯 명이며, 그 중 한 명은 콜롬비아 역사학자로 아버지는 한국전에 참전해 영웅으로 죽은 인물이다. 역사학자가 한국에 있는 아버지 무덤을 처음 방문하는 것이 소설의 배경적 상황이며, 모든 화자의 목소리는 명확히 언급되어 있지는 않지만 그의 연구를 회상한 것으로 보인다. 한국전쟁에 대한 콜롬비아 국가 차원의 공식 관점과는 달리 작품은 소설 속 군인들의 영웅적 행적에 대해 이야기하지 않으며, 오히려 한반도의 경험에 대한 음울하고 환멸적인 시각을 보여준다

전신성 홍반성 낭창 환자의 골수 내 면역세포 및 세포 자살에 대한 분석

학위논문 (석사)-- 서울대학교 대학원 : 의학과, 2014. 2. 이은봉.Objectives: To examine the immune cell profile in the bone marrow (BM) of systemic lupus erythematosus (SLE) patients and to assess its clinical relevance. Methods: Sixteen BM samples from 14 SLE patients were compared with seven healthy control samples. The numbers of CD4+ T cells, CD8+ T cells, B cells, plasmacytoid dendritic cells (pDC), macrophages and plasma cells in the BM, and the levels of interleukin-6 (IL-6) expression, were examined by immunohistochemistry. The number of apoptotic cells (active caspase-3+) in the BM was also measured. The association between immune cell subsets and clinical features was also investigated. Results: CD4+ T cells, macrophages and plasma cells were more common in the BM of SLE patients than in healthy controls (1.82±1.45% vs. 0.26±0.12%, p=0.00116.35±7.17% vs. 8.04±1.38%, p=0.004and 9.72±5.64% vs. 3.44±0.64%, p<0.001, respectively). Greater numbers of CD4+ T cells and macrophages were associated with high-grade BM damage. The percentage of apoptotic cells in BM specimens from SLE patients was significantly higher than that in controls (2.47±1.35% vs. 0.19±0.22%, p<0.001) and was positively correlated with the number of pDCs (r=0.606, p=0.013). Increased numbers of plasma cells and high IL-6 expression were correlated with anti-double stranded DNA (dsDNA) antibody levels and the SLE disease activity index (r=0.538, p=0.031 and r=0.581, p=0.013, respectively). Conclusion: BM samples from SLE patients showed a distinct immune cell profile and increased numbers of apoptotic cells. This, coupled with a correlation with disease activity, suggest that the BM may play a critical role in the pathogenesis of SLE.CONTENTS Abstract ………………i Contents …ii List of tables and figures………iii List of abbreviations ……………………………………………………………………iv Introduction 1 Patients and Methods 2 Results 5 Discussion 20 References 24 Abstract in Korean 30Maste

How Large are Local Human Capital Spillovers?: Evidence from Korea

This paper examines the empirical magnitude of local human capital spillovers in Korea during the 1980s and mid-1990s. Local human capital spillovers exists if plants in regions with a higher level of human capital can produce more given their own amount of input (Moretti 2004c). In particular, this paper explores an educational reform in South Korea which exogenously induced a large amount of variation in regional human capital levels. Using annually collected plant level data, I explore the effect of changes in the regional human capital levels induced by this reform on plant productivity in Korea. My results suggest that this effect is limited. I find a positive correlation between a regional level of human capital and plant productivity. However, after further addressing endogeneity using an instrumental variable, the effect of the overall regional human capital level on productivity decreases and becomes statistically insignificant

RAPHAEL 프로그램을 이용한 인텔i486 마이크로 프로세서의 168 pin PGA 패키지 인덕턴스 모델링

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