• 로봇학회논문지
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• 제12권4호
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• pp.385-394
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• 2017

Side scanning sonar (SSS) provides valuable information for robot navigation. However using the side scanning sonar images in the navigation was not fully studied. In this paper, we use range data, and side scanning sonar images from UnderWater Simulator (UWSim) and propose measurement models in a feature based simultaneous localization and mapping (SLAM) framework. The range data is obtained by echosounder and sidescanning sonar images from side scan sonar module for UWSim. For the feature, we used the A-KAZE feature for the SSS image matching and adjusting the relative robot pose by SSS bundle adjustment (BA) with Ceres solver. We use BA for the loop closure constraint of pose-graph SLAM. We used the Incremental Smoothing and Mapping (iSAM) to optimize the graph. The optimized trajectory was compared against the dead reckoning (DR).

• Journal of Electrochemical Science and Technology
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• 제8권4호
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• pp.282-293
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• 2017

A new modified carbon paste electrode (CPE) was constructed based on nickel oxide nanoparticles (NiONPs) and graphene nanosheets (Gr) for simultaneous determination of paracetamol (PCM) and mefenamic acid (MFA) in aqueous media and pharmaceutical dosage forms. NiONPs were synthesized via a simple and inexpensive technique and characterized using X-ray diffraction method. Scanning electron microscopy was used for the characterization of the morphology of modified carbon paste electrode (NiONPs/Gr/CPE). Voltammetric studies suggest that the NiONPs and Gr provide a synergistic augmentation that can increase current responses by improvement of electron transfers of these compounds on the NiONPs/Gr/CPE surface. Using cyclic voltammetry, the NiONPs/Gr/CPE showed good sensitivity and selectivity for the determination of PCM and MFA in individually or mixture standard samples in the linear range of $0.1-30{\mu}g\;mL^{-1}$. The resulted limit of detection and limit of quantification were 20 and $60ng\;mL^{-1}$ for PCM, 24 and $72ng\;mL^{-1}$ for MFA, respectively. The analytical performance of the NiONPs/Gr/CPE was evaluated for the determination of PCM and MFA in pharmaceutical dosage forms with satisfactory results.

• 한국재료학회지
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• 제20권6호
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• pp.338-343
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• 2010

As an alternative to the W plug used in MOSFETs, a Cu plug with a NiSi contact using Ta / TaN as a diffusion barrier is currently being considered. Conventionally, Ni was first deposited and then NiSi was formed, followed by the barrier and Cu deposition. In this study, Ti was employed as a barrier material and simultaneous formation of the NiSi contact and Cu plug / Ti barrier was attempted. Cu(100 nm) / Ti / Ni(20 nm) with varying Ti thicknesses were deposited on a Si substrate and annealed at $4000^{\circ}C$ for 30 min. For comparison, Cu/Ti/NiSi thin films were also formed by the conventional method. Optical Microscopy (OM), Scanning Probe Microscopy (SPM), X-Ray Diffractometry (XRD), and Auger Electron Microscopy (AES) analysis were performed to characterize the inter-diffusion properties. For a Ti interlayer thicker than 50 nm, the NiSi formation was incomplete, although Cu diffusion was inhibited by the Ti barrier. For a Ti thickness of 20 nm and less, an almost stoichiometric NiSi contact along with the Cu plug and Ti barrier layers was formed. The results were comparable to that formed by the conventional method and showed that this alternative process has potential as a formation process for the Cu plug/Ti barrier/NiSi contact system.

• 대한의용생체공학회:의공학회지
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• 제28권6호
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• pp.803-810
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• 2007

Although synthetic aperture focusing techniques can improve the spatial resolution of ultrasound imaging, they have not been employed in a commercial product because they require a real-time N-channel beamformer with a tremendously increased hardware complexity for simultaneous beamforming along M multiple lines. In this paper, a hardware-efficient beamformer architecture for synthetic aperture focusing is presented. In contrast to the straightforward design using NM delay calculators, the proposed method utilizes only M delay calculators by sharing the same values among the focusing delays which should be calculated at the same time between the N channels for all imaging points along the M scan lines. In general, synthetic aperture beamforming requires M 2-port memories. In the proposed beamformer, the input data for each channel is first upsampled with a 4-fold interpolator and each polyphase component of the interpolator output is stored into a 2-port memory separately, requiring 4M 2-port memories for each channel. By properly limiting the area formed with the synthetic aperture focusing, the input memory buffer can be implemented with only 4 2-port memories and one short multi-port memory.

• 한국동물위생학회지
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• 제26권2호
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• pp.145-149
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• 2003

To explore the most sensitive and useful method for simultaneous determination of 8 carbamate pesticides in livestock productions, the mixture of 8 carbonates was determined by HPLC with scanning fluorescence detector. For mobile phase water, acetonitrile and methanol program gradient showed more applicable sensitivity than water and acetonitrile program gradient used ExW 339 nm and EmW 445 nm for fluorescence detector. On using carbamate columns, the retention time was within 4 to 20 minutes. And this made it possible to separate and detect simultaneously. therefore we could analyze it exactly and efficiently and reduce time. The preparation process of MSPD method showed that the high recovery rate was more than 88.5% in most of the carbamate pesticides. Therefore we could say that it was an efficient and fast method analyzing out of lots of samples.

• Nuclear Engineering and Technology
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• 제51권6호
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• pp.1610-1615
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• 2019

Positron emission tomography (PET)/magnetic resonance (MR) scanning has the advantage of less additional exposure to radiation than does PET/computed tomography (CT). In particular, MR based attenuation correction (MR AC) can greatly affect the image quality of PET and is frequently obtained using various MR sequences. Thus, the purpose of the current study was to quantitatively compare the image quality between MR non-AC (MR NAC) and MR AC in PET images with three MR sequences. Percent image uniformity (PIU), percent contrast recovery (PCR), and percent background variability (PBV) were estimated to evaluate the quality of PET images with MR AC. Based on the results of PIU, 15.2% increase in the average quality was observed for PET images with MR AC than for PET images with MR NAC. In addition, 28.6% and 71.1% improvement in the average results of PCR and PBV respectively, was observed for PET images with MR AC compared with that with MR NAC. Moreover, no significant difference was observed among the average values using three MR sequences. In conclusion, the current study demonstrated that PET with MR AC improved the image quality and can be help diagnosis in all MR sequence cases.

• 대한방사선기술학회지:방사선기술과학
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• 제46권5호
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• pp.401-408
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• 2023

Thyroid uptake measurements can be subject to measurement errors due to the scoping and positioning of the thyroid gland. To compensate for these limitations, the clinical utility of the thyroid simultaneous counting method as an alternative to thyroid uptake measurement was analyzed and evaluated experimentally through quantitative analysis of images acquired after thyroid scanning. Experimental data were obtained using a Gamma camera (GE infinia), a thyroid uptake system (KOROID 1), and a thyroid neck phantom. Based on the thyroid uptake rate of 1-5% according to the protocol of thyroid scan test (^99mTcO₄ - , 370 MBq) in normal results, ^99mTcO₄ - was set in the range of 3.7-18.5 MBq (Matrix: 256×256, Scan time: 1 min, collimator: pin hole, phantom-collimator distances: 7 cm). The acquired images were corrected for the attenuation of isotopes due to the set-up time and half-life by applying the Auto Region of interest (ROI) drawing system, and the significance of the experimental results was evaluated by Multiple linear regression analysis (SPSS, ver. 22, IBM). The thyroid uptake rate showed a significant correlation between the dose and the measured counts when using the thyroid uptake system equipment. Meanwhile, the quantitative analysis counts of phantom images using Gamma camera also showed a significant correlation. Thus confirmed that the correlation between these two experiments was statistically significant (P<0.05). The simultaneous counting protocol, which indirectly measures thyroid uptake from thyroid scans, is likely to be clinically relevant if complemented by additional studies with different variables in patients with thyroid disease.

• 한국수소및신에너지학회논문집
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• 제23권5호
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• pp.429-436
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• 2012

Mg and Mg-based alloys are regarded as strong candidate hydrogen storage materials since their hydrogen capacity exceeds that of known metal hydrides. One of the approaches to improve kinetic is addition of metal oxide. In this paper, we tried to improve the hydrogenation properties of Mg-based hydrogen storage composites. The effect of transition metal oxides, such as $Nb_2O_5$ on the kinetics of the Magnesium hydrogen absorption kinetics was investigated. $MgH_x$-5wt.% $Nb_2O_5$ composites have been synthesized by hydrogen induced mechanical alloying. The powder fabricated was characterized by X-ray diffraction (XRD), Field Emission-Scanning Electron Microscopy (Fe-SEM), Energy Dispersive X-ray (EDX), BET and simultaneous Thermo Gravimetric Analysis / Differential Scanning Calorimetry (TG/DSC) analysis. The Absorption / desorption kinetics of $MgH_x$-5wt.% $Nb_2O_5$ (type I and II) are determined at 423, 473, 523, 573 and 623 K.

• 한국BIM학회 논문집
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• 제10권1호
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• pp.1-8
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• 2020

In managing building facilities, spatial information is the basic data for decision making. However, the method of acquiring spatial information is not easy. In many cases, the site and drawings are often different due to changes in facilities and time after construction. In this case, the site data should be scanned to obtain spatial information. The scan data actually contains spatial information, which is a great help in making space related decisions. However, to obtain scan data, an expensive LiDAR (Light Detection and Ranging) device must be purchased, and special software for processing data obtained from the device must be available.Recently, SLAM (Simultaneous localization and mapping), an advanced map generation technology, has been spreading in the field of robotics. Using SLAM, 3D spatial information can be obtained quickly in real time without a separate matching process. This study develops and tests whether SLAM technology can be used to obtain spatial information for facility management. This draws considerations for developing a SLAM device for real-time remote scanning for facility management. However, this study focuses on the system development method that acquires spatial information necessary for facility management through SLAM technology. To this end, we develop a prototype, analyze the pros and cons, and then suggest considerations for developing a SLAM system.

• 한국전산구조공학회논문집
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• 제36권6호
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• pp.407-414
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• 2023

본 논문에서는 다양한 분야에 적용할 수 있는 자동화 동시 인상 시스템을 3D 콘크리트 프린팅에 적용하여 동시 인상이 가능한 3D 콘크리트 프린팅 시스템으로 개발하였다. 개발된 시스템은 3D 콘크리트 프린팅 작업 중 측정되는 인상량을 피어슨 상관계수를 통해 분석하고, 유압시스템을 사분위수 기법으로 실시간 모니터링하여 안전하고 정밀한 인상이 가능하다. 이를 활용하면 3D 콘크리트 프린팅 구조물의 출력 품질을 확보함과 동시에 3D 콘크리트 프린팅의 규모보다 큰 구조물을 출력할 수 있다. 시스템의 성능을 평가하기 위해 기존의 3D 콘크리트 프린팅과 동시 인상이 가능한 3D 콘크리트 프린팅을 각각 이용하여 시편을 출력하였다. 출력된 시편은 3D 스캐너를 활용하여 측정하였다. 스캔한 시편의 층별 직경과 시편의 교차각을 측정하였으며, 분석을 통해 동시 인상이 가능한 3D 콘크리트 프린팅의 성능을 검증하였다.