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THE YANGBAN - JEON AND SOME REFLECTIONS ON THE FATE OF KOREA
후리쯔훠스(Frits Vos) 연세대학교 국학연구원 1963 동방학지 Vol.7 No.-
이 論文의 첫머리에서 「兩班傳」(朴趾源 作)의 全文을 最初로 英譯하였다. 이 短篇小說을 筆者가 選定한 理由는, 韓國의 古典文學史上, 當代의 社會秩序에 對한 不滿과 새로운 秩序의 摸索을 表現한 作品 가운데서는 두드러지게 뛰어난 傑作이라고 보기 때문이다. 筆者는 18世紀 韓國文學을 세 種類로 嚴密히 區分하였다. 첫째는 朴趾源과 같은 學者들에 의해서 이루어진 文學이며, 둘째는 當代의 平民을 위해서 쓰여진 文學이며, 셋째는 이른바 平民에 의하여 이루어진 文學이다. 이와같은 세 種類의 文學 〈장르〉는 여러 모로 共通點을 지니고 있으면서도 그들의 出發點은 勿論 甚한 差異를 드러내고 있다. 筆者가 觀點한 18世紀 韓國의 思想的 흐름으로는(特히 中國 및 日本과 比較하면서) 實學派의 著書나 그 밖의 系列에서 남겼던 小說, 戱曲, 其他의 著作에서 이른바 現代的 意味의 뚜렷한 革命的 傾向(revolutionary tendency)은 찾을 수 없다는 結論에 到達하였다. 그러나 이상은 모두 當代의 社會的 不安과 그리고 社會 經濟面에서 改革을 하여야 되겠다는 널리 퍼진 自覺의 表示라고 보았다. 歷史의 科程이 實學思想의 豊盛한 結實을 맺도록 沮害하지만 않았더라면, 필경 實學派의 思想이야말로 19世紀 後半期에 韓國의 眞正한 近代化를 이룩하는데 있어 重要하고도 有益한 役割을 할 수 있었을 것이다.
Robot navigation in orchards with localization based on Particle filter and Kalman filter
Blok, Pieter M.,van Boheemen, Koen,van Evert, Frits K.,IJsselmuiden, Joris,Kim, Gook-Hwan Elsevier 2019 Computers and electronics in agriculture Vol.157 No.-
<P><B>Abstract</B></P> <P>Fruit production in orchards currently relies on high labor inputs. Concerns arising from the increasing labor cost and shortage of labor can be mitigated by the availability of an autonomous orchard robot. A core feature for every mobile orchard robot is autonomous navigation, which depends on sensor-based robot localization in the orchard environment. This research validated the applicability of two probabilistic localization algorithms that used a 2D LIDAR scanner for in-row robot navigation in orchards. The first localization algorithm was a Particle filter (PF) with a laser beam model, and the second was a Kalman filter (KF) with a line-detection algorithm. We evaluated the performance of the two algorithms when autonomously navigating a robot in a commercial Dutch apple orchard. Two experiments were executed to assess the navigation performance of the two algorithms under comparable conditions. The first experiment assessed the navigation accuracy, whereas the second experiment tested the algorithms’ robustness. In the first experiment, when the robot was driven with 0.25 m/s the root mean square error (RMSE) of the lateral deviation was 0.055 m with the PF algorithm and 0.087 m with the KF algorithm. At 0.50 m/s, the RMSE was 0.062 m with the PF algorithm and 0.091 m with the KF algorithm. In addition, with the PF the lateral deviations were equally distributed to both sides of the optimal navigation line, whereas with the KF the robot tended to navigate to the left of the optimal line. The second experiment tested the algorithms’ robustness to cope with missing trees in six different tree row patterns. The PF had a lower RMSE of the lateral deviation in five tree patterns. In three out of the six patterns, navigation with the KF led to lateral deviations that were biased to the left of the optimal line. The angular deviations of the PF and the KF were in the same range in both experiments. From the results, we conclude that a PF with laser beam model is to be preferred over a line-based KF for the in-row navigation of an autonomous orchard robot.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Two localization algorithms compared in a Dutch apple orchard using Husky robot. </LI> <LI> Two experiments assessed navigation accuracy and navigation robustness. </LI> <LI> Particle filter outperformed Kalman filter on navigation accuracy and robustness. </LI> <LI> Algorithms are applicable for autonomous robot navigation using a 2D LIDAR scanner. </LI> </UL> </P>
( Zhenghong Zhang ),( Helong Hao ),( Zhongmei Tang ),( Zhengzheng Zou ),( Keya Zhang ),( Zhiyong Xie ),( Lilia Babe,),Frits Goedegebuur,Xiaogang Gu 한국미생물생명공학회(구 한국산업미생물학회) 2015 Journal of microbiology and biotechnology Vol.25 No.8
Thermolysin and its homologs are a group of metalloproteases that have been widely used in both therapeutic and biotechnological applications. We here report the identification and characterization of a novel thermolysin-like protease, BtsTLP1, from insect pathogen Bacillus thuringiensis serovar Sichuansis strain MC28. BtsTLP1 is extracellularly produced in Bacillus subtilis, and the active protein was purified via successive chromatographic steps. The mature form of BtsTLP1 has a molecule mass of 35.6 kDa as determined by mass spectrometry analyses. The biochemical characterization indicates that BtsTLP1 has an apparent Km value of 1.57 mg/ml for azocasein and is active between 20oC and 80oC. Unlike other reported neutral gram-positive thermolysin homologs with optimal pH around 7, BtsTLP1 exhibits an alkaline pH optimum around 10. The activity of BtsTLP1 is strongly inhibited by EDTA and a group of specific divalent ions, with Zn2+ and Cu2+ showing particular effects in promoting the enzyme autolysis. Furthermore, our data also indicate that BtsTLP1 has potential in cleaning applications.