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RDDF기반의 자율주행 청소 로봇을 위한 횡 방향 제어 방법
신희석,곽정훈,윤혜원,구재완,이경숙,서갑호 제어·로봇·시스템학회 2024 제어·로봇·시스템학회 논문지 Vol.30 No.3
. The agricultural product processing center (APC) undertakes a myriad of processes encompassing harvesting, sorting, washing, packaging, pre-cooling, and storage to facilitate the transformation of raw agricultural produce into refined, market-ready products. As the APC processes unfold, the generation of diverse contaminants is notable, revealing the existing deficiency in the development of cleaning robots specifically tailored for the unique challenges presented by the APC environment. This research paper delves into the exploration of a lateral control system designed for autonomous cleaning robots, particularly suited for deployment in relatively expansive spaces within the APC. Recognizing the distinct concentration of contaminants in specific regions during the APC processes, the study incorporates the use of the route define data format (RDDF) onto the generated path. This integration allows for adaptive control of speed and the execution of cleaning tasks tailored to specific segments of the path. In navigating through the APC environment, where contaminant occurrence is spatially variable, the paper addresses the need for controllers adapted to both narrow and wide spaces. This adaptation is crucial when considering the requirement to traverse these spaces at varying speeds. Consequently, the research paper delves into an in-depth investigation of an integrated lateral control system, exploring its nuances in relation to longitudinal velocity. The findings of this study contribute to enhancing the efficacy of autonomous cleaning robots, particularly in their ability to navigate and clean diverse spatial environments encountered during the agricultural product processing journey.
申喜錫 건국대학교 교육대학원 1990 敎育論叢 Vol.13 No.-
1)As we compare the score which judge five marks his own player with oaher judged average score, thej tuge gave marks total number 191, the results reveal that one gave tarksr worse than rest juodes average score, the number of · ges of bellow coring is 20 times the other gave marks same score is 26 times, another gave marks better that the rest, the number of times of it is 145 times, then the last number is decisively a lot. 2)Of the nation referees endowing score, a event in France is the smallest difference and In Rumania is the greatest differences, when we compare with two nations the score difference is revealed O. 61. In this point, we know that the more we received referees from every country the more it is profitable to the nation. 3)It was nothing but an item pommel horse of which France of total 32th items that judge performances marks who assigned in difference with each items and nations marked less than the other judges marks in comparison with average marks. 4)In comparison with 12 countries dympic ranking grade difference and the score which umpire gave marks to 5 native players and remainder umpire average score difference it didn't come out score gap which the ranking can be changeable.
신경인성 방광 기능 평가 : Ice water test와 Cystometry비교 The comparisons of the Ice Water Test and Cystometry
신희석 慶尙大學校 1995 論文集 Vol.34 No.1
The purpose of this study was to evaluate the dignostic and monitoring value of Ice Water Test (IWT)in nurogenic bladder. Ice water test(Warm and cold)and cystometry were performed on 30 neurogenic bladder patients. There was good correlation between the warm IWT and cystometry, cold IWT and intravesical pressure. But,there was poor correlation between the steep volume and cold volume. Among 30 patients, 9 patients show volume difference(>100cc)between warm IWT and Cystometry volume. The volume difference was more common in qadriparesis grop(4off 6case)than paraparesis(4 of 12cases).
복숭아(Prunus persica) 葯培養에 依한 Callus 誘起
申熙錫 충남대학교 농업과학연구소 1977 農業技術硏究報告 Vol.4 No.2
In order to establish the effective method of producing calluses of Prunus persica, anthers were cultured on Nitsch's medium supplemented with combinations of several growth regulators. Anthers of tetrad stage were preserved in the refrigerator at 4℃ for 50∼50 days. Calluses were embeded on the Murashige and Skoog's medium supplemented with multiplicate and differentiate the calluses. Changes of anther color, callus formation, and proliferation of haploid callus were observed under the different medium conditions. The results obtained were summarized as fellows: 1) The cultured anthers were turned dark brown 2∼6days after were explanted anthers into the medium. 2) The anthers which were not changed in color were observed more frequently in the medium not added the growth regulators. 3) Calluses were induced from anthers which were turned dark brown and liberated from the anther slit. 4) BA. was very effective to induce calluses and to form the chlorophyll. The medium supplied with BA 0.5ppm were best to induced calluses. 5) The best medium supplied with BA 0.5ppm+IAA or 2.4-D were best to proliferation of calluses. 6) The medium was adjusted to pH 4.5 and supplied with 250mg/ℓ of CaCl_2·2H_2O were induced calluses from anthers.
Reliability of the Pinch Strength with Digitalized Pinch Dynamometer
신희석,Seung Won Moon,김갑순,Jung Dong Park,Jin Hoan Kim,Mi Jin Jung,윤철호,이은신,오민균 대한재활의학회 2012 Annals of Rehabilitation Medicine Vol.36 No.3
Objective To examine the intra-rater, inter-rater, and inter-instrumental reliability of the digitalized pinch muscle strength dynamometer. Method Th irty normal subjects were examined for pinch strength, using both the Preston pinch gauge and the digitalized pinch dynamometer. The participants performed all pinch strength tests in the seated position as recommended by the American Society of Hand Th erapists (ASHT). Th ree successive measurements were taken for each hand. Th e mean of the three trials was used for data analysis. Th e pinch strength tests performed used a repeated measure design and measurements were taken by each rater. Results The relationship between the Preston pinch gauge and the digitalized pinch dynamometer in pinch strength was reliable (the ICC were 0.821 and 0.785 in rater 1 and rater 2 respectively). Th e relationship between the fi rst session and second session in pinch strength using the digitalized pinch dynamometer was reliable (the ICC were 0.872 and 0.886 in rater A and rater B respectively). Th e relationship between rater A and rater B in pinch strength using the digitalized pinch dynamometer was reliable (the ICC was 0.754). Conclusion The pinch strength measurement using the digitalized pinch dynamometer is reliable within the rater and between raters. Th us, the Preston pinch gauge and the digitalized dynamometer measure grip strength equivalently, and can be used interchangeably.