• Journal of the Korean Society of Industry Convergence
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• v.26 no.2_2
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• pp.265-272
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• 2023

In this paper, we directly implemented the Line Tracer ROS package that can detect and follow lines drawn on the map on Gazebo, an open-source that is widely used in autonomous driving research. For line detection, the cv_bridge package was used to enable OpenCV's image processing tools, and parameters such as robot speed, line color and ground material could be changed. In addition, proportional (P) and PID controls could be implemented using the color centroid obtained through image processing. Through this approach, the effect of proportional and differential coefficients on the robot's line tracer motion could be analyzed effectively. In addition, by displaying robot simulation results using various tools of ROS, an efficient development for control nodes could be established in ROS.

• Journal of Korea Multimedia Society
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• v.19 no.4
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• pp.747-755
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• 2016

Automated guided vehicles have been used for a long time to increase work efficiency in the logistics field, but it is difficult to apply to a variety of logistics sites due to either the restricted movement mechanism or expensive devices. In this paper, we present a flexible software architecture that is hardware-independent for a mobile power cart of the follow mode and implement it using a ROS software platform. Through the SCV analysis for the system functionalities, we design a package to track a user movement and a package to control a new hardware platform. It has an advantage to use a variety of movement algorithms and hardware platforms by applying the strategy pattern and the template method pattern for the design of a software architecture. Through the performance evaluation, we show that the proposed design is maintainable in terms of a software complexity and it detects a user's movement by obtaining a user skeleton information so that it can control a hardware platform to move at a certain distance.

• Journal of IKEEE
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• v.27 no.4
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• pp.610-616
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• 2023

In this paper, we implement an unmanned delivery robot system with Robot Operating System(ROS)-based mobile manipulator, and introduce the technologies employed for the system implementation. The robot consists of a mobile robot capable of autonomous navigation inside the building using an elevator and a Selective Compliance Assembly Robot Arm(SCARA)-Type manipulator equipped with a vacuum pump. The robot can determines the position and orientation for picking up a package through image segmentation and corner detection using the camera on the manipulator. The proposed system has a user interface implemented to check the delivery status and determine the real-time location of the robot through a web server linked to the application and ROS, and recognizes the shipment and address at the delivery station through You Only Look Once(YOLO) and Optical Character Recognition(OCR). The effectiveness of the system is validated through delivery experiments conducted within a 4-story building.

• IMMUNE NETWORK
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• v.2 no.2
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• pp.96-101
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• 2002

Background: Aerobic training can be defined as any physical exercise that increases the heart rate and enhances the body's intake of oxygen long enough to benefit the condition of body. Running, cycling, and swimming are examples of aerobic activities. This type of exercise optimises immune functions. Recently several experimental findings suggested that the regular swimming training increase immune response, but there have been very few reports which compare warm water exercise with cold water exercise in spleen lymphocytes. Methods: This study was designed to examine the effects of regular swimming training on Index, the number of lymphocytes, proliferative activity and production of reactive oxygen species (ROS) by splenocytes in BALB/c mice. Thirty six mice (6 week old) were performed 10 weeks of regular swimming training and they were divided into 6 groups according to the regular swimming training (CRG: control resting group, CEG: control exercise group, WRG: warm water trained resting group, WEG: warm water trained exercise group, CORG: cold water trained resting group, COEG: cold water exercise group). Analytical items were weight change, spleen index, the number of lymphocytes, proliferative activity and production of ROS. All data were expressed as mean and standard deviation by using SPSS package program (ver. 10.0). Results: The swimming training significantly decreased body weight, and increased spleen index, the number of lymphocytes and proliferative activity in the presence or absence of Con A and LPS added conditions. For the WRG and CORG, the quantity of ROS from splenocytes was higher than CRG, whereas, ROS by spleen lymphocytes was lower following 90 min acute exercise stress. Conclusion: These results suggested that the swimming training not only increases the number of lymphocytes but also increases proliferative activity by splenocytes in vitro.

• Journal of Sensor Science and Technology
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• v.32 no.2
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• pp.118-123
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• 2023

This study presents sensor system for autonomous mobile robot capable of floor-to-floor self-navigation. The robot was modified using the Turtlebot3 hardware platform and ROS2 (robot operating system 2). The robot utilized the Navigation2 package to estimate and calibrate the moving path acquiring a map with SLAM (simultaneous localization and mapping). For elevator boarding, ultrasonic sensor data and threshold distance are compared to determine whether the elevator door is open. The current floor information of the elevator is determined using image processing results of the ceiling-fixed camera capturing the elevator LCD (liquid crystal display)/LED (light emitting diode). To realize seamless communication at any spot in the building, the LoRa (long-range) communication module was installed on the self-navigating autonomous mobile robot to support the robot in deciding if the elevator door is open, when to get off the elevator, and how to reach at the destination.

• Proceedings of the ESK Conference
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• 1997.10a
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• pp.398-405
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• 1997

과거 8년간의(1985-1992) 통계에 의하면 정면과 측면 충돌시 구속 시스텡의 하나인 Airbag장착 차량의 사망자 및 중상자 수가 현저히 감소하고 있는 것으로 나타나고있다. 그 러나 최근 소비자로 부터의 Airbag에 관한 불만을 보고 받고 있다. 즉 구속효과를 발휘함에 있어 부수적으로 인체 부상을 유발하고 있다는 것이다. 사망내지는 심각한 부상은 방지하고 있으나 경미한 부상은 오히려 증가하고 또한 신체가 적은 여성 운전자나 6세 이하의 어린이 에게는 심각한 부상의 우려가 있다는 것이다. 본 연구에서는 구속시스템의 총아인 Airbag 시스템의 심각한 부수적인 부상 보고를 입증하기 위하여 우리나라 어린이 6세 신체를 기준 으로하여 구속시스템을 착용하지 않았을 경우(실제로 많은 경우), seat belt만 착용시, Airbag만 작용시, 그리고 seat belt와 Airbag을 동시에 사용할 때를 컴퓨터 Simulation Package 이용 신체 dynamic을 모의실험 하였다. 실험결과, 기존에 알려진바와 같이 구속시스템을 사용하지 않았을 경우에 부상은 매우 컸다. 신체 사이즈가 작은 어린이 혹은 여성 운전자의 경우 Seat belt만을 사용한 경우는 Airbag만을 사용한 경우보다는 부상정도가 약간 경미하였으나 두 경우 모두 인체가 구속시스템의 구속 범위를 이탈하여 구속 시스템으로써의 역할을 충분히 하지 못하고 있었다. 특히 Seat belt와 Airbag을 동시에 사용하였을시에도 Airbag이 충분히 개선된 이후라도 신체 사이즈가 작은 경우에는 흉부부위에 의한 충격 흡수가 먼저 이루어지지 못하고, 머리에 먼저 Airbag이 접촉이 되어 충격 흡수 역할보다는 반동효과가 더 커서 머리 및 몸체가 뒤로 Rebound 하는 효과로 머리, 혹은 목의 신체 부상한계를 넘고 있어 큰 부상 내지는 사망에 이르고 있음을 알 수 있었다. 사료된다.의 결과는 자전거 에르고노미터의 결과가 트레드밀의 결과에 87.60%정도 나타났다.음을 관찰하였다. 특히 vitamin C와 E의 병용투여는 상승적으로 적용하여 간세포손상을 더욱 억제시킴을 알 수 있었다.mance and on TFP(Total Factor Productivity) growth which is a pure measure of firm performance. To utilize the advantage of panel data, FEM(Fixed Effect Model) and REM(Random Effect Model) were used. The empirical result shows that the entropy index as a measurement of inter-business relatedness is not significant but technological relatedness index is significant. OLS estimates on pooled data were considerably different from FEM or REM estimates on panel data. By introducing interaction effect among the three variables for business portfolio properties, we obtained three findings. First, only VI (Vertical integration) has a significant positive correlation with ROS. Second, when using TFP growth as an dependent variable, both TR(Technological Relatedness) and f[ are significant and positively rel

• Proceedings of the Korean Society of Embryo Transfer Conference
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• 2002.11a
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• pp.82-82
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• 2002

Catalase(CAT)는 주요한 활성산소(ROS)의 일종인 과산화수소($H_2O$$_2$)가 Hydroxyl 유리기 생성에 관여하지 못하도록 $H_2O$$_2$를 $H_2O$ 및 $O_2$로 대사시켜 주는 효소계 항산화제의 한 종류이다. 따라서 본 실험에서는 CAT가 5% $O_2$및 20% $O_2$조건하에서 1-세포기 돼지체외수정란의 배발달에 미치는 영향을 조사하였다. 돼지난포란을 10% PFF, 0.1mg/ml cysteine, 10IU/m1 PMSG, 10IU/m1 hCG 및 10ng/m1 EGF가 첨가된 NCSU23 배양액에서 22시간 동안 배양을 실시하고, 성선자극호르몬이 배제된 배양액에서 추가로 22시간을 배양하여 체외성숙을 유도하였다. 체외성숙이 유기된 난자는 난구세포를 제거하고, 2.5mM caffeine과 0.1% BSA가 첨가된 mTBM 배양액에 정자를 1.25 $\times$ $10^{5}$cells/ml의 농도로 5-6시 동안 공동배양을 실시하여 체외수정을 유도하였다. 체외수정후 1-세포기의 수정란을 0.4mg/ml BSA가 첨가된 NCSU23 배양액에 CAT를 각각 0, 100, 500 및1,000uni1 첨가하여 30 embryos/ 50u1 소적으로하여 38.8$^{\circ}C$, 5% $CO_2$및 5%$CO_2$, 5% $O_2$90% $N_2$조건하의 배양기에서 각각 7일간 배양을 실시하였다. 조사된 결과는 SAS/STAT 6.03 Package를 이용하여 통계분석을 실시하였다. 체외배양 48시간에 난할률을 조사하였을 때, 대조구와 처리구간 차이가 인정되지 않았으나, 배양 7일째 배반포형성률에 있어서는 각각 22.7$\pm$2.7, 22.1$\pm$3.9, 18.7$\pm$4.9, 및 15.1$\pm$2.5%로서 처리구가 대조구보다 유의적으로 낮은 결과를 나타냈다. 그리고 산소농도에 따른 배반포형성률은 5% $O_2$ 조건(22.1$\pm$2.4%)이 20% $O_2$조건(17.2$\pm$2%)보다 유의적(P<0.05)으로 높은 것으로 나타났다. 총세포수에 있어서는 각각 44.4$\pm$4.0, 43.3$\pm$36, 25.4$\pm$2.4 및 13.4$\pm$1.5로서 처리구가 대조구보다 세포수가 적은 것으로 나타났으며, 산소농도에 따른 차이는 인정되지 않았다. 따라서, 체외생산된 돼지초기수정란을 배양할 때, CAT의 첨가는 효과가 없는 것으로 나타났다.다.