• Proceedings of the Korean Society of Computer Information Conference
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• 2020.01a
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• pp.289-290
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• 2020

본 논문에서는 Turtlebot burger3와 라즈베리파이의 OpenCV, OpenCR보드를 이용하여 ROS상에서 SLAM알고리즘을 구현하여 자율 주행 순찰이 가능한 로봇을 개발한다. 특히, 라즈베리파이 카메라에 OpenCV를 이용하여 사람 얼굴 인식이 가능하게 하여 순찰 시 카메라로 순찰 정보를 제공 할 수 있게 한다. 또한, 로봇에 탑재된 LiDAR는 SLAM 알고리즘을 이용하여 주변의 환경을 매핑하여 장애물을 회피할 수 있는 경로를 탐색할 수 있도록 한다. 개발 기술들을 통하여 사람 대신에 로봇이 경비 구역의 침입자 촬영을 하고, 원격제어가 가능한 시스템으로 다양한 분야에 로봇 제어 기술에 활용하고자 한다.

• Bulletin of the Korean Chemical Society
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• v.32 no.6
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• pp.2045-2050
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• 2011

Using first principles density functional theory the formation energies of various binary compounds of lithium graphite and its homologues were calculated. Lithium and graphite react to form $Li_1C_6$ (+141 mV) but not form $LiC_4$ (-143 mV), $LiC_3$ (-247 mV) and $LiC_2$ (-529 mV) because they are less stable than lithium metal itself. Properties of structure and reaction potentials of $C_5B$, $C_5N$ and $B_3N_3$ materials as iso-structural graphite were studied. Boron and nitrogen substituted graphite and boron-nitrogen material as a iso-electronic structured graphitic material have longer graphene layer spacing than that of graphite. The layer spacing of $Li_xC_6$, $Li_xC_5B$, $Li_xC_5N$ materials increased until to x=1, and then decreased until to x=2 and 3. Nevertheless $Li_xB_3N_3$ has opposite tendency of layer spacing variation. Among various lithium compositions of $Li_xC_5B$, $Li_xC_5N$ and $Li_xB_3N_3$, reaction potentials of $Li_xC_5B$ (x=1-3) and $Li_xC_5$ (x=1) from total energy analyses have positive values against lithium deposition.

• Journal of Haehwa Medicine
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• v.13 no.1
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• pp.243-254
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• 2004

Objectives & Methods : This study was to study etiology and pathologic mechanism and to study acupuncture and moxibustion treatment for GU-CHANG. I've got compared and analyzed 42 kinds of book since Nei Jing(內經). Results and Conclusion : 1. The etiologies are heat of heart and spleen, insufficiency of middle -warm energy, deficiency of yin lead to hyperactivity of fire. 2. The meridians of acupuncture points which were used much for GU-CHANG were Conception Vessel Meridian, Stomach Meridian and Bladder Meridian. 3. The frequency of using acupunture points in this treatment were Hapkok(LI4)-17th, Sungjang(CV24)-14th, Nogung(P8)-12th, Kumjin Okaeg(NH70)-11th.

• Journal of the Korean Ceramic Society
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• v.41 no.8
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• pp.567-572
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• 2004

The variation of the sintered density and grain size of UO$_2$ as a function of the Li$_2$O amount and sintering atmosphere was observed. Li$_2$O enhanced the grain growth of the UO$_2$ pellet in H$_2$, but rather hindered it in $CO_2$ atmosphere. Grain size of the UO$_2$ and UO$_2$-0.1 wt%Li$_2$O pellets was, respectively, 8 $\mu$m and 100 $\mu$m at 168$0^{\circ}C$ in the H$_2$ atmosphere, and that of each pellet was, respectively, 24 $\mu$m and 17 $\mu$m at the same temperature in the $CO_2$ atmosphere. As-received Li$_2$O powder, which had been composed of Li$_2$O and LiOH, was converted to the Li$_2$CO$_3$ phase after heating to 80$0^{\circ}C$ in $CO_2$. On the other hand, the Li$_2$O and LiOH phases remained unchanged in H$_2$ atmosphere. In the H$_2$, the as-received Li$_2$O powder began to evaporate at about 105$0^{\circ}C$ and then about 20 wt% residue was left at 150$0^{\circ}C$. But, most of the Li elements evaporated at 150$0^{\circ}C$ in the $CO_2$ atmosphere.

• Proceedings of the KIEE Conference
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• 1997.07d
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• pp.1603-1605
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• 1997

$LiNiO_2$ is prepared by heating LiOH $H_2O$ and $Ni(OH)_2$ (mole ratio 1:1). In this study, we investigated X-ray diffraction, and charge/discharge property heat treatment condition and conductive agent sort and volume of $LiNiO_2$ prepared at various temperature and time. All $LiNiO_2$ prepared at this study showed hexagonal structure. In charge/discharge capacities, heated at $O_2$ than air and $750^{\circ}C$ than $700^{\circ}C$, specific capacity is higher. Therefore, when preliminary heat at $650^{\circ}C$ $O_2$ and heat at $750^{\circ}C$ carried out, charge/discharge property is best.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2007.11a
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• pp.316-316
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• 2007

리튬폴리머 전지용 정극활물질인 $LiFePO_4$를 수열법으로 합성하였다. 제조한 정극활물질 $LiFePO_4$는 X-ray 회절분석을 통하여 olivine 구조임을 확인하였다. 전극 제조 시 첨가된 도전재의 종류에 따른 전기화학적 특성변화를 알기 위하여, Acetylene Black, Super-Black, Multi-Walled Carbon Nanotube(MWCNT), SP270을 도전재로 제조된 정극활물질과 PVDF를 결합제로 사용하였다. 셀은 제조된 정극과 고체전해질 $25PVDFLiCIO_4EC_{10}PC_{10}$를 사용하고, 부극은 금속리튬으로 coin 타입의 cell을 조립하여 충방전을 진행하였다. 충방전 진행결과, Multi-Walled Carbon Nanotube(MWCNT)를 도전재로 사용하였을 경우, 초기 방전용량은 94mAh/g, 100cycle 후에는 약 93mAh/g인 기타 도전재를 사용하였을 때보다 안정하고 높은 방전용량을 나타내었다. 이때의 충방전 전류밀도는 0.1mAh/g이고 전압범위 는 2.5~4.3V이었다.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.29 no.5
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• pp.298-302
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• 2016

In this work, $LiMn_2O_4$ and $LiNi_{1/3}Mn_{1/3}Co_{1/3}O_2$ cathode materials are mixed by some specific ratios to enhance the practical capacity, energy density and cycle performance of battery. At present, the most used cathode material in lithium ion batteries for EVs is spinel structure-type $LiMn_2O_4$. $LiMn_2O_4$ has advantages of high average voltage, excellent safety, environmental friendliness, and low cost. However, due to the low rechargeable capacity (120 mAh/g), it can not meet the requirement of high energy density for the EVs, resulting in limiting its development. The battery of $LiMn_2O_4-LiNi_{1/3}Mn_{1/3}Co_{1/3}O_2$ (50:50 wt%) mixed cathode delivers a energy density of 483.5 mWh/g at a current rate of 1.0 C. The accumulated capacity from $1^{st}$ to 150th cycles was 18.1 Ah/g when the battery is cycled at a current rate of 1.0 C in voltage range of 3.2~4.3 V.

• Korean Journal of Materials Research
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• v.20 no.2
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• pp.72-77
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• 2010

Glass-ceramics were fabricated by heat-treatment of glass obtained by melting a coal bottom ash with $Li_2O$ addition. The main crystal grown in the glass-ceramics, containing 10 wt% $Li_2O$, was $\beta$-spodumene solid solution, while in $Li_2O$ 20 wt% specimen was mullite, identified using XRD. The activation energy and Avrami constant for crystallization were calculated and showed that bulk crystallization behavior will be predominant, and this expectation agreed with the microstructural observations. The crystal phase grown in $Li_2O$ 10 wt% glass-ceramics had a dendrite-like shaped whereas the shape was flake-like in the 20 wt% case. The thermal expansion coefficient of the $Li_2O$ 10 wt% glass-ceramics was lower than that of the glass having the same composition, owing to the formation of a $\beta$-spodumene phase. For example, the thermal expansion coefficient of $Li_2O$ 10 wt% glass-ceramics was $20\times10^{-7}$, which is enough for application in various heat-resistance fields. But above 20 wt% $Li_2O$, the thermal coefficient expansion of glass-ceramics, on the contrary, was higher than that of the same composition glass, due to formation of mullite.

• Proceedings of the KIEE Conference
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• 1994.07b
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• pp.1229-1232
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• 1994

The purpose of this study is to research and develop solid polymer electrolyte(SPE) for Li secondary battery. This paper describes the effects of lithium salts, plasticizer addition and temperature dependence of conductivity of PEO electrolytes. Polyethylene oxide(PEO) based polymer electrolyte films were prepared by solution casting an acetonitrile solution of preweighed PEO and Li salt. After solvent evaporation, the electrolyte films were vacuum-dried at $60^{\circ}C$ for 48h, the thickness of the films were $90{\sim}110{\mu}m$. The conductivity properties of prepared PEO electrolytes are summarized as follows. PEO electrolyte complexed with $LiClO_4$ shows the better conductivity of the others. $PEO-LiClO_4$ electrolyte when $EO/Li^+$ ratio is 8, showed the best conductivity. Optimum operating temperature of PEO electrolyte is $60^{\circ}C$. By adding propylene carbonate and ethylene carbonate to $PEO-LiClO_4$ electrolyte, its conductivity was higher than $PEO-LiClO_4$ without those. Also $PEO_8LiClO_4$ electrolyte remains static up to 4.5V vs. $Li/Li^+$.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2001.11b
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• pp.545-549
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• 2001

We have produced electrolyte solution out of 1.15M $LiPF_6$ EC/EMC/DEC/PC(30/55/10/5 by vol%) as a reference, and at the same time, performed basic physical property test using a single solvent of 1.15M $LiPF_6$ DEC, DMC, EMC and a 2 component electrolyte solution of 1.15M $LiPF_6$ EC/DEC(1/2 by vol%) and PC/DEC(1/2 by vol%). Cyclic Voltammetry Analysis showed that, compared to existing carbonate organic solvent, the addition of DEC,DMC and EMC brought the de-decomposition peak of salt anion of $PF_6$ and the solvent at lower oxidization potential of 2.3V, 0.7V and 2.1V(vs. $Li/Li^+$). In addition, a kinetics current peak, in which intercalation of Lt is proceeded at 750mV, 450mV(vs. $Li/Li^+$), was confirmed. These findings suggest that the DEC solvent decomposition occurred at an electric potential lower than that of oxidization of existing carbonate organic solvent. Through the impedance analysis, we checked electric charge transfer resistance($R_{ct}$) according to the electric potential of $Li^+$ intercalation at 750mV(vs. $Li/Li^+$), which was the same as the resistance ($R_f$) and cyclic voltammetry of SEI film that was formed at Reference. By doing so, we found that the significant decrease of polarization resistance($R_p$) when Reference was played a part in the formation of compact SEI layer at the initial decomposition reaction.