• BMB Reports
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• v.43 no.9
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• pp.609-613
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• 2010

The Dvl and Axin proteins, which are involved in the Wnt signaling pathway, each contain a conserved DIX domain in their sequences. The DIX domain mediates interaction between Dvl and Axin, which together play an important role in signal transduction. However, the extremely low production of DIX domain fragments in E. coli has prevented more widespread functional and structural studies. In this study, we demonstrate that the DIX domains of Dvl and Axin are expressed noticeably in a multi-cistronic system but not in a mono-cistronic system. Formation of the $DIX_{Dvl1}-DIX_{Axin1}$ complex was investigated by affinity chromatography, SEC and crystallization studies. Unstable DIX domains were stabilized by complexing with counterpart DIX domains. The results of the preliminary crystallization and diffraction of the $DIX_{Dvl1}-DIX_{Axin1}$ complex may prove useful for further crystallographic studies.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.774-781
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• 2013

The purpose of this paper is to design a DVL-RPM based VKF (Velocity Kalman Filter) design for a performance improvement underwater integrated navigation system. The proposed approach relies on a VKF, augmented by a altitude from Echo-sounder based switching architecture to yield robust performance, even when DVL (Doppler Velocity Log) exceeds the measurement range and the measured value is unable to be valid. The proposed approach relies on two parts: 1) Indirect feedback navigation Kalman filter design, 2) VKF design. To evaluate proposed method, we compare the results of the VKF aided navigation system with simulation result from a PINS (Pure Inertial Navigation System) and conventional INS-DVL method. Simulations illustrate the effectiveness of the underwater navigation system assisted by the additional DVL-RPM based VKF in underwater environment.

• Asian Pacific Journal of Cancer Prevention
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• v.16 no.6
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• pp.2385-2390
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• 2015

Background: Invasive ductal (IDC) and lobular (ILC) carcinomas are the common histological types of breast carcinoma which are difficult to distinguish when poorly differentiated. Discoidin domain receptor (DDR1) and Drosophila dishevelled protein (DVL1) were recently suggested to differentiate IDC from ILC. Objectives: To assess the expression of DDR1 and DVL1 and their association with histological type, grading and hormonal status of IDC and ILC. Materials and Methods: This cross sectional study was conducted on IDC and ILC breast tumours. Tumours were immunohistochemically stained for (DDR1) and (DVL1) as well as estrogen receptor (ER), progesterone receptor (PR) and C-erbB2 receptor. Demographic data including age and ethnicity were obtained from patient records. Results: A total of 51 cases (30 IDCs and 21 ILCs) were assessed. DDR1 and DVL1 expression was not significantly associated with histological type (p=0.57 and p=0.66 respectively). There was no association between DDR1 and DVL1 expression and tumour grade (p=0.32 and p=1.00 respectively), ER (p=0.62 and 0.50 respectively), PR (p=0.38 and p=0.63 respectively) and C-erbB2 expression (p=0.19 and p=0.33 respectively) in IDC. There was no association between DDR1 and DVL1 expression and tumour grade (p=0.52 and p=0.33 respectively), ER (p=0.06 and p=0.76 respectively), PR (p=0.61 and p=0.43 respectively) and C-erbB2 expression (p=0.58 and p=0.76 respectively) in ILC. Conclusions: This study revealed that DDR1 and DVL1 are present in both IDC and ILC regardless of the tumour differentiation. More studies are needed to assess the potential of these two proteins in distinguishing IDC from ILC in breast tumours.

• Journal of Ocean Engineering and Technology
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• v.33 no.5
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• pp.470-478
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• 2019

Because the global positioning system (GPS) is not available in underwater environments, an inertial navigation system (INS)/doppler velocity log (DVL) integrated navigation system is generally implemented. In general, an INS/DVL integrated system adopts a loosely coupled method. However, in this loosely coupled method, although the measurement equation for the filter design is simple, the velocity of the body frame cannot be accurately measured if even one of the DVL transducer signals is not received. In contrast, even if only one or two velocities are measured by the DVL transducers, the tightly coupled method can utilize them as measurements and suppress the error increase of the INS. In this paper, a filter was designed to regenerate the measurements of failed transducers by taking advantage of the tightly coupled method. The regenerated measurements were the normal DVL transducer measurements and the estimated velocity in RPM. In order to effectively estimate the velocity in RPM, a filter was designed considering the effects of the tide. The proposed filter does not switch all of the measurements to RPM if the DVL transducer fails, but only switches information from the failed transducer. In this case, the filter has the advantage of being able to be used as a measurement while continuously estimating the RPM error state. A Monte Carlo simulation was used to determine the performance of the proposed filters, and the scope of the analysis was shown by the standard deviation ($1{\sigma}$, 68%). Finally, the performance of the proposed filter was verified by comparison with the conventional tightly coupled method.

• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.216-224
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• 2014

This paper compares methods for attitude estimation of a UUV(Unmanned Underwater Vehicle). Attitude estimation plays a key role in underwater navigation using DVL(Doppler Velocity Log). The paper proposes attitude estimation methods using EKF(Extended Kalman Filter), UKF(Unscented Kalman Filter), and CF(Complementary Filter). It derives methods using the measurements from MEMS-AHRS(Microelectromechanical Systems-Attitude Heading Reference System) and DVL. The methods are used for navigation in a test pool and their navigation performance is compared. The results suggest that even if there is no measurement relative to some absolute landmarks, DVL-only navigation can be useful for navigation in a limited time and range.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.7
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• pp.562-569
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• 2016

This paper proposes a navigation system with a robust localization method for an underwater unmanned vehicle. For robust localization with IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and depth sensors, the EKF (Extended Kalman Filter) has been utilized to fuse multiple nonlinear data. Note that the GPS (Global Positioning System), which can obtain the absolute coordinates of the vehicle, cannot be used in the water. Additionally, the DVL has been used for measuring the relative velocity of the underwater vehicle. The DVL sensor measures the velocity of an object by using Doppler effects, which cause sound frequency changes from the relative velocity between a sound source and an observer. When the vehicle is moving, the motion trajectory to a target position can be recorded by the sensors attached to the vehicle. The performance of the proposed navigation system has been verified through real experiments in which an underwater unmanned vehicle reached a target position by using an IMU as a primary sensor and a DVL as the secondary sensor.

• Journal of Ocean Engineering and Technology
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• v.31 no.4
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• pp.315-323
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• 2017

This paper presents an integrated navigation system that combines ultra-short baseline (USBL), Doppler velocity log (DVL), and heading measurements for a deep-sea remotely operated vehicle, Hemire. A navigation model is introduced based on the kinematic relation of the position and velocity. The system states are predicted using the navigation model and corrected with the USBL, DVL, and heading measurements using the Kalman filter. The performance of the navigation system was confirmed through re-navigation simulations with the measured data at the Southern Mariana Arc submarine volcanoes. Based on the characteristics of the measurements, the design process for the parameters of the system modeling error covariance, measurement error covariance, and initial error covariance are presented. This paper reviews the influence of the outliers and blackout of the USBL and DVL measurements, and proposes an outlier rejection algorithm that is robust to USBL blackout. The effectiveness of the method is demonstrated with re-navigation for the data that includes USBL blackouts.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.11
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• pp.2751-2757
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• 2015

To obtain the system requirement specification in the beginning of the precision guidance and control system development, the effectiveness and reliability analysis for the system are necessary. The main purpose of this research is to obtain the system requirement specification by carrying out the effectiveness analysis using the modeling and simulation(M&S) scheme. M&S model is constructed using 6-DOF dynamic model, environment model, guidanc -navigation & control model. Assume that the navigation sensor is consist of inertial navigation sensor(INS) and doppler velocity log(DVL), and the speed and direction of current is environment parameter. The effectiveness analysis is carried out using circular error probability(CEP) and variance analyze scheme. Also, the effectiveness analysis is utilized for cost-performance analysis considering the cost of commercial INS and DVL sensor. This paper shows the high-level INS and the low-level DVL configure a high price-performance integrated navigation system.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.755-759
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• 2013

A broad-band underwater acoustic transducer that uses thickness vibration mode, derived from a disk type piezoelectric ceramic, has been proposed and designed for DVL (Doppler Velocity Log). Three different types of acoustic transducer were evaluated with respect to the transmitting voltage response, receiving voltage sensitivity and bandwidth of the transducer. The effect of the acoustic impedance matching layer and backing layer is discussed. The results demonstrated that three matching layer with lossy backing layer is the best configuration for underwater transducer. The trial underwater acoustic transducer with three matching layer has a frequency bandwidth of 55%, maximum transmitting voltage response of 200 dB and a maximum receiving voltage sensitivity of -187.3 dB.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.11
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• pp.1973-1977
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• 2006

This paper reports the absolute position tracking algorithm of underwater vehicles such as ROV, AUV in global region by fusing sensor informations of IMU, DVL, USBL, DGPS etc. This algorithm is to be used in the position tracking of the 6,000m class deep-sea unmanned underwater vehicle, HEMIRE for scientific exploration.