• 한국지능시스템학회논문지
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• 제22권3호
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• pp.353-360
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• 2012

본 논문은 파티클 필터 방법을 이용하여 로봇의 외부에 설치된 특징점들과 로봇의 위치를 동시에 추정하는 SLAM 방법을 제안한다. 파티클 필터 방법은 로봇 동작의 비선형성 및 센서 오차의 비가우시안 특성을 고려할 수 있다. 제안된 방법에서 추정할 변수는 로봇의 위치와 특징점들의 위치이다. 본 연구에서 특징점은 초음파 신호를 발생시키는 4개의 비이컨들이 사용된다. 그리고 로봇은 비이컨들로부터 초음파 신호를 수신하여 각각의 비이컨까지의 거리를 계산한다. 그리고 영역센서를 이용하여 이동로봇이 동작하는 환경의 기하학적 지도정보를 생성하는 과정을 보였다. 제안된 방법은 로봇의 위치와 방향을 추정하기 때문에 영역센서에 의해 획득된 데이터를 사용하여 기하학적 지도를 생성할 수 있다. 또한 데드레크닝 방법 및 삼변측량 방법과의 로봇 위치추정 비교 실험을 통하여 제안된 방법을 평가하였다.

• Environmental Engineering Research
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• 제23권3호
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• pp.301-308
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• 2018

We investigated simultaneous removal of heavy metals such as Cr, Ni, and Zn by adsorption onto powdered activated carbon (PAC) and PAC modified with sodium diethyldithiocarbamate (PAC-SDDC). Modification of PAC was confirmed by Fourier transform infrared spectroscopy and Scanning electron microscopy and energy dispersive X-ray spectroscopy. Both PAC and PAC-SDDC reached adsorption equilibrium within 48 h, and the adsorption kinetics followed a pseudo-second order reaction kinetics. The removal of metals was enhanced with increasing both adsorbent dosage and followed the descending order of Cr > Ni > Zn for PAC and Cr > Zn > Ni for PAC-SDDC, respectively. Adsorption kinetics followed pseudo-second order kinetics. Adsorption kinetic results were well fitted by the Freundlich isotherm except for Cr adsorption onto PAC. The optimum pH for heavy metal adsorption onto PAC was 5, whereas that for PAC-SDDC ranged from 7 to 9, indicating that modification of PAC with SDDC significantly enhanced heavy metal adsorption, especially under neutral and alkaline pH conditions. Our results imply that SDDC modified PAC can be applied to effectively remove heavy metals especially Cr in plating wastewaters without adjusting pH from alkaline to neutral.

• Journal of Industrial and Engineering Chemistry
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• 제67권
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• pp.301-311
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• 2018

In this study, the ion-gelation method was applied to fabricate novel Fe-carbon-bentonite-alginate beads ($Fe^0$/C-BABs). $Fe^0$/C-BABs could effectively control Fe release during persulfate (PS) activation in N-acetyl-p-aminophenol (APAP) oxidation. A novel two-stage approach that combined $Fe^0$/C-BABs and an oyster-shell-filled bed (OSFB) column was developed to address the low pH and high Fe concentration of the effluent of the traditional PS process. The application of the $Fe^0$/C-BABs and OSFB column regulated pH levels and Fe release during the advanced oxidation of APAP. The characteristics of $Fe^0$/C-BABs were also investigated through scanning electron microscopy, energy dispersive spectrometry, and Fourier transform infrared spectroscopy. The long-term operation performance of $Fe^0$/C-BABs in a continuous fixed-bed reactor under simultaneous PS and APAP feeding was also evaluated. The effects of initial PS concentration, pH, fixed-bed weight, in-flow rate, and dissolved oxygen (DO) were investigated. Under selected conditions, 86.3% efficiency was achieved during the first stage of APAP degradation (effluent pH of 3.05, Fe contents: $106.25mgL^{-1}$). Water quality improved after the effluent was passed through the OSFB column (effluent pH of 6.32, Fe contents: $21.43mgL^{-1}$). Moreover, this study analyzed the free radicals and intermediates produced during APAP degradation to identify the possible routes of APAP degradation.

• Korea Journal of Cosmetic Science
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• 제2권1호
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• pp.1-10
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• 2020

Protection mechanisms for skin damage of ultraviolet (UV) absorbers in personal care products for protection against UV are well studied, but not for hair protection. The purpose of this study is to describe and compare the changes of physical property produced in human hair by doses of the UV-B exposure causing protein degradation. To observe the change of physical properties in hair, the experimental intensity of UV-B exposure has been established on the basis of statistical data from official meterological administration as daily one hour sunlight exposure for two weeks. Polysilicone-15, ethylhexyl methoxycinnamate (OMC), and octocrylene were employed for UV-B absorber, and those were treated to hair swatch by rubbing wash through shampoo and conditioner. Bending rigidity displayed kinetically successive reduction at high doses of UV exposure up to the 8,000 s, and exhibited different level at each sample of UV-B absorber. However, the values of Bossa Nova Technologies (BNT) for shinning factor were already saturable at the 2,000 s exposure except that treated with polysilicone-15. The differential scanning calorimetry (DSC) to measure a strength of inner protein produces a successive reduction of enthalpy as like a reduction of bending rigidity upon UV exposure. Surface roughness from lateral force microscope (LFM) acquired immediately after UV exposure show a saturable frictional voltage which has been also found in a saturable BNT data as the time of UV exposure increases. Through researching the DSC and the LFM, shinning of hair was much correlated to the protein damage at the surface, and bending rigidity could be regulated by the protein structural damage inside hair. Therefore, the optimization of efficient strategy for simultaneous prevention of hair protein on the surface and internal hair was required to maintain physical properties against UV.

• Journal of Electrochemical Science and Technology
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• 제12권2호
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• pp.173-187
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• 2021

In the present research, a simple electrochemical sensor based on a carbon paste electrode (CPE) modified with ZnO-Zn₂SnO₄-SnO₂ and graphene (ZnO-Zn₂SnO₄-SnO₂/Gr/CPE) was developed for the direct, simultaneous and individual electrochemical measurement of Acetaminophen (AC), Caffeine (Caf) and Ascorbic acid (AA). The synthesized nano-materials were investigated using scanning electron microscopy, X-ray Diffraction, Fourier-transform infrared spectroscopy, and electrochemical impedance spectroscopy techniques. Cyclic voltammetry and differential pulse voltammetry were applied for electrochemical investigation ZnO-Zn₂SnO₄-SnO₂/Gr/CPE, and the impact of scan rate and the concentration of H⁺ on the electrode's responses were investigated. The voltammograms showed a linear relationship between the response of the electrode for individual oxidation of AA, AC and, Caf in the range of 0.021-120, 0.018-85.3, and 0.02-97.51 μM with the detection limit of 8.94, 6.66 and 7.09 nM (S/N = 3), respectively. Also, the amperometric technique was applied for the measuring of the target molecules in the range of 0.013-16, 0.008-12 and, 0.01-14 μM for AA, AC and, Caf with the detection limit of 6.28, 3.64 and 3.85 nM, respectively. Besides, the ZnO-Zn₂SnO₄-SnO₂/Gr/CPE shows an excellent selectivity, stability, repeatability, and reproducibility for the determination of AA, AC and, Caf. Finally, the proposed sensor was successfully used to show the amount of AA, AC and, Caf in urine, blood serum samples with recoveries ranging between 95.8% and 104.06%.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제17권5호
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• pp.1339-1355
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• 2023

Localization is a hot research spot for many areas, especially in the mobile robot field. Due to the weak signal of the global positioning system (GPS), the alternative schemes in an indoor environment include wireless signal transmitting and receiving solutions, laser rangefinder to build a map followed by a re-localization stage and visual positioning methods, etc. Among all wireless signal positioning techniques, Wi-Fi is the most common one. Wi-Fi access points are installed in most indoor areas of human activities, and smart devices equipped with Wi-Fi modules can be seen everywhere. However, the localization of a mobile robot using a Wi-Fi scheme usually lacks orientation information. Besides, the distance error is large because of indoor signal interference. Another research direction that mainly refers to laser sensors is to actively detect the environment and achieve positioning. An occupancy grid map is built by using the simultaneous localization and mapping (SLAM) method when the mobile robot enters the indoor environment for the first time. When the robot enters the environment again, it can localize itself according to the known map. Nevertheless, this scheme only works effectively based on the prerequisite that those areas have salient geometrical features. If the areas have similar scanning structures, such as a long corridor or similar rooms, the traditional methods always fail. To address the weakness of the above two methods, this work proposes a coarse-to-fine paradigm and an improved localization algorithm that utilizes Wi-Fi to assist the robot localization in a geometrically similar environment. Firstly, a grid map is built by using laser SLAM. Secondly, a fingerprint database is built in the offline phase. Then, the RSSI values are achieved in the localization stage to get a coarse localization. Finally, an improved particle filter method based on the Wi-Fi signal values is proposed to realize a fine localization. Experimental results show that our approach is effective and robust for both global localization and the kidnapped robot problem. The localization success rate reaches 97.33%, while the traditional method always fails.

• Advances in nano research
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• 제14권5호
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• pp.435-442
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• 2023

Sports activities, including playing tennis, are popular with many people. As this industry has become more professionalized, investors and those involved in sports are sure to pay attention to any tool that improves athletes' performance Tennis requires perfect coordination between hands, eyes, and the whole body. Consequently, to perform long-term sports, athletes must have enough muscle strength, flexibility, and endurance. Tennis rackets with new frames were manufactured because tennis players' performance depends on their rackets. These rackets are distinguished by their lighter weight. Composite rackets are available in many types, most of which are made from the latest composite materials. During physical exercise with a tennis racket, nanocomposite materials have a significant effect on reducing injuries. Materials as strong as graphite and thermoplastic can be used to produce these composites that include both fiber and filament. Polyamide is a thermoplastic typically used in composites as a matrix. In today's manufacturing process, materials are made more flexible, structurally more vital, and lighter. This paper discusses the production, testing, and structural analysis of a new polyamide/Multi-walled carbon nanotube nanocomposite. This polyamide can be a suitable substitute for other composite materials in the tennis racket frame. By compression polymerization, polyamide was synthesized. The functionalization of Multi-walled carbon nanotube (MWCNT) was achieved using sulfuric acid and nitric acid, followed by ultrasonic preparation of nanocomposite materials with weight percentages of 5, 10, and 15. Fourier transform infrared (FTIR) and Nuclear magnetic resonance (NMR) confirmed a synthesized nanocomposite structure. Nanocomposites were tested for thermal resistance using the simultaneous thermal analysis (DTA-TG) method. scanning electron microscopy (SEM) analysis was used to determine pores' size, structure, and surface area. An X-ray diffraction analysis (XRD) analysis was used to determine their amorphous nature.

• Parasites, Hosts and Diseases
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• 제30권2호
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• pp.65-74
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• 1992

이전고환극구흡충(Echinostomn cinetorchis) 유약충 및 성충의 표피 미세구조를 주사전자현미경으로 관찰하였다. 실험적으로 미라시디움을 감염시킨 또아리물달팽이 (Hippeutis cantari)에서 피낭유충을 얻어 횐쥐에 경구 감염시킨 다음 3일(유약충) 및 16일(성충)에 각각 충체를 회수하였다. 회수한 충체를 2.5% glutaraldehyde 용액에 고정하고 탈수, 댕동 건조 및 순금 표면처리 후 주사전자현미경으로 관찰하였다 감염 3일의 유약충은 충체가 길쭉하며 복측으로 만곡되어 있었고 복흡반이 충체 전방 215 지점에 위치하였다 두관에는 모두 37∼38개의 두극이 중단없이 지그재그형으로 배열되어 있었다. 구흡반 및 복흡반의 구순에는 각각 8개 및 5개의 제 R형 감각유두가 일정한 간격으로 배열되어 있었고, 피극들 사이에 제 해형 감각유두가 드물게 관찰되었다. 복홉반 전방의 피극들은 혀 또는 삽 모양, 후방의 피극들은 송곳 모양이었고, 후방으로 갈수록 밀도가 낮았다. 충체 배면의 피극들은 복면의 것들과 비슷하였으나, 후방 113 지점부터는 피극이 분포하지 않았다. 감염 16일의 성충은 나뭇잎 모양이며, 구흡반과 복홉반이 매우 근접하여 있었다. 두관, 구흡반 및 복흡반 등 피극이 분포하지 않는 곳에는 제 E형 및 제 여형 감각유두가 분포하였고, 피극이 분포하는 표피에는 제 I형 감각유두가 1∼4개씩 군(group)을 형성하고 있었다. 복흡반 전방에는 비늘 모양의 피극들이 밀생해 있었고, 후방으로 갈수록 감소하였다. 배면 전방에는 피극이 드물게 분포 하나 후방에서는 피극이 관찰되지 않았다. 이상의 결과로 볼 때, 이전고환극구흡충은 두극의 수, 배열, 피극의 형태, 분포, 감각유두의 종류, 분포 등에 있어서 다른 극구흡충류와 다른 점이 많으며, 유약충에서 성충으로 발육함에 따라 피극과 원형질 돌기의 분화는 물론 감각유두의 종류, 분 포 등이 달라짐을 알 수 있었다. 항체는 43 kDa, N( 137 항체는 29 kDa에 해당되는 분획에서 항원항체반응을 나타내었다. 이상의 성적을 종합하면 N. fowleri에 대한 7종류의 IgG., IgG3 및 IgA 단세포군 항체를 생산하였다. 그중 Nf 256 항체를 제외한 6 종류는 N. fowleri이 세포막 성분중 28 kDa-43 kDa의 항원과 반응하는 특이한 항체임을 관찰할 수 있었다. 또한 이 단세포를 항체들은 영양형을 응집시키며, 시험관 내에서의 증식을 억제시키고 CHO 세포에 대한 N. fowleri의 세포 독성을 저하시키는 성질을 가지고 있음을 알 수 있었다.들 중에서 최적의 기종점 통행표를 발견하는 것이다. 따라서 교통망에서 통행자의 여행 경로 배정을 가장 잘 반영할 수 있는 현실적인(Realistic) 교통망 통행 배정 모형(Net-work Traffic Assignment Model)의 선택은 중요한 요소가 되며 특히 교통망에 교통체증(Traffic Conges-tion)이 심할 경우 교통망 통행자 평형조건(Network Traffic Equilibrium Condition)을 고려하기 위한 특별한 처리가 요구되어진다. 본 연구는 Whllumsen(Hall, Van Vliet and Willumsen, 1980)에 의하여 개발된 ME2(Maximum Entropy Matrix Estimation)기법에서 반복식 추정방법(Sequential Estimation Method)을 사용할 경우 Wardrop의 평형조건을 만족하는 기종점 통행표를 구할 수 없다는 단점을 극복하기 위한 방안으로서 엔트로피 극대화문제와 교통망 평형 조건(Entropy Maximisation and Network Equilibrium Condition)의 두 문제를 동시에 해결할 수 있는 새로운 수식모형과 이를 풀기 위한 알고리즘(Simultaneous Solution Algorithm)을 제의하였다. 제의된 수식모형과

• Investigative Magnetic Resonance Imaging
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• 제11권2호
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• pp.95-102
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• 2007

목적: 3.0 Tesla와 같은 고 자장에서 고해상도의 나선주사영상을 얻기 위해서는 주자장을 균일하게 만들어야 한다. 특히, 나선주사영상인 경우 스핀-에코펄스 시퀀스(SE)나 경사자계 에코 펄스 시퀀스(GE)에 비하여 측정 시간이 길기 때문에 주자장이 균일하지 못하다면, off-resonance 현상으로 영상의 blur가 심해진다. 본 연구에서는 빠른 시간 안에 주자장을 균일하게 할 수 있는 고차(Higher-order) shimming방법을 모색했다. 대상 및 방법: 3 Tesla 자기 공명 영상시스템에서 고해상도의 나선주사영상을 얻기에 적합할 정도의 균일한 주자장을 빠른 시간 안에 만들기 위해, 한번의 스캔으로 axial, sagittal, coronal 방향의 불균일도 map을 구할 수 있는 펄스 시퀀스를 제안하였고, 불균일도 map으로부터 spherical harmonics 분석를 통해 shim 코일에 적절한 전류를 인가하여 주자장을 균일하게 만들었다. 결과: 3 Tesla 자기 공명 영상 시스템에서 주자장의 불균일도는 주자장의 크기에 비례하게 된다. 제안한 펄스 시퀀스로 얻은 영상을 이용하여 불균일도 Map을 만들 수 있었고, 이를 spherical harmonics 분석을 하여 2-3회의 고차 shimming으로 불균일한 자장을 균일하게 만들 수 있었다. 제안된 고차 shimming 방법은 전체 영상 영역 뿐만 아니라 선택한 영역에 대해서만 적용도 가능하기 때문에 국부 영역에 대한 고차 shimming이 가능하다. 고차 shimming이 적용되어 주자장이 균일하게 개선된 상태에서 고해상도의 나선주사영상을 얻을 수 있었다. 결론: 3 Tesla 고자장 자기 공명 영상 시스템에서 주자장의 불균일도를 개선하기 위한 펄스 시퀀스와 알고리즘을 통해 주자장의 불균일도를 빠른 시간 안에 개선할 수 있었다. 주자장의 불균일도를 효과적으로 개선함으로써, 고해상도의 나선주사 영상을 얻을 수 있었다.

• 한국근적외분광분석학회:학술대회논문집
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• 한국근적외분광분석학회 2001년도 NIR-2001
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• pp.1523-1523
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• 2001

The wine industry requires practical methods for objectively measuring the composition of both red wine grapes on the vine to determine optimal harvest time; and of freshly harvested grapes for efficient allocation to vinery process streams for particular red wine products, and to determine payment of contract grapegrowers. To be practical for industry application these methods must be rapid, inexpensive and accurate. In most cases this restricts the analyses available to measurement of TSS (total soluble solids, predominantly sugars) by refractometry and pH by electropotentiometry. These two parameters, however, do not provide a comprehensive compositional characterization for the purpose of winemaking. The concentration of anthocyanin pigment in red wine grapes is an accepted indicator of potential wine quality and price. However, routine analysis for total anthocyanins is not considered as a practical option by the wider wine industry because of the high cost and slow turnaround time of this multi-step wet chemical laboratory analysis. Recent work by this ${group}^{l,2}$ has established the capability of near infrared (NIR) spectroscopy to provide rapid, accurate and simultaneous measurement of total anthocyanins, TSS and pH in red wine grapes. The analyses may be carried out equally well using either research grade scanning spectrometers or much simpler reduced spectral range portable diode-array based instrumentation. We have recently expanded on this work by collecting thousands of red wine grape samples in Australia. The sample set spans two vintages (1999 and 2000), five distinct geographical winegrowing regions and three main red wine grape varieties used in Australia (Cabernet Sauvignon, Shiraz and Merlot). Homogenized grape samples were scanned in diffuse reflectance mode on a FOSE NIR Systems6500 spectrometer and subject to laboratory analysis by the traditional methods for total anthocyanins, TSS and pH. We report here an analysis of the correlations between the NIR spectra and the laboratory data using standard chemometric algorithms within The Unscrambler software package. In particular, various subsets of the total data set are considered in turn to elucidate the effects of vintage, geographical area and grape variety on the measurement of grape composition by NIR spectroscopy. The relative ability of discrete calibrations to predict within and across these differences is considered. The results are then used to propose an optimal calibration strategy for red wine grape analysis.