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Jun-Rui Xu,Jun-Jia Cui,Guangyong Sun,Yan-Rong Li,Chun-Feng Li 한국정밀공학회 2015 International Journal of Precision Engineering and Vol. No.
The plain strain of AZ31 magnesium alloy sheet in magnetic pulse forming was investigated by numerical simulation and experimental method. Combination of uniform pressure coil and Holmberg's specimen was employed to evaluate the plain strain of AZ31 sheet. The numerical simulation for magnetic pulse plain strain of AZ31 sheet is performed by means of ANSYS FEA software. The magnetic flux density of uniform pressure coil was distributed uniformly, especially at the center of gauged area of AZ31 sheet directly in relation to the deformation behavior of AZ31 sheet. The velocity of typical point increases as increasing energy, and the more position closes to the center of sheet the higher velocity achieves. The forming height is increased with increasing discharge voltage. Compared with C=768 μF and C=1536 μF, the capacitance of 1152 μF is more effective for forming, which is confirmed by experiments. The peak velocity at the center of sheet is about 105 m/s. The major strains of magnetic pulse plane strain lie approximately in the strain ranges of 5.83-6.45%. However, the 3.22-3.82% (major strain) are the limit strains in quasi-static condition. The experimental results indicate that the major strain of AZ31 sheet improves about 75% compared with the quasi-static case.
Extraction of Different Types of Geometrical Features from Raw Sensor Data of Two-dimensional LRF
Rui-Jun Yan(염서군),Jing Wu(무경),Chao Yuan(원조),Chang-Soo Han(한창수) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.3
This paper describes extraction methods of five different types of geometrical features (line, arc, corner, polynomial curve, NURBS curve) from the obtained raw data by using a two-dimensional laser range finder (LRF). Natural features with their covariance matrices play a key role in the realization of feature-based simultaneous localization and mapping (SLAM), which can be used to represent the environment and correct the pose of mobile robot. The covariance matrices of these geometrical features are derived in detail based on the raw sensor data and the uncertainty of LRF. Several comparison are made and discussed to highlight the advantages and drawbacks of each type of geometrical feature. Finally, the extracted features from raw sensor data obtained by using a LRF in an indoor environment are used to validate the proposed extraction methods.
Rui-Jun Yan,Jing Wu,Chao Yuan,Ji-Yeong Lee,Chang-Soo Han 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper presents a natural corners-based two-dimensional (2D) Simultaneous Localization and Mapping (SLAM) with a robust data association algorithm in a real unknown environment. The corners are extracted from raw laser sensor data and chosen as landmarks for correcting the pose of mobile robot and building the map. In the proposed data association method, the extracted corners in every step are separated into several groups with small numbers of corners. In each group, the local best matching vector between the new corners and the stored ones is found by joint compatibility, while the nearest feature for every new corner is checked by individual compatibility. All these groups with local best matching vector and nearest feature candidate of each new corner are combined by partial compatibility with the linear matching time. The SLAM experiment results in an indoor environment based on the extracted corners show good robustness and low computation complexity of the proposed algorithms in comparison with existing methods.
( Jun Pei Zhou ),( Yan Yan Dong ),( Jun Jun Li ),( Rui Zhang ),( Xianghua Tang ),( Yuelin Mu ),( Bo Xu ),( Qian Wu ),( Zun Xi Huang ) 한국미생물 · 생명공학회 2012 Journal of microbiology and biotechnology Vol.22 No.11
The α-galactosidase-coding gene agaAJB13 was cloned from Sphingomonas sp. JB13 showing 16S rDNA (1,343 bp) identities of ≤97.2% with other identified Sphingomonas strains. agaAJB13 (2,217 bp; 64.9% GC content) encodes a 738-residue polypeptide (AgaAJB13) with a calculated mass of 82.3 kDa. AgaAJB13 showed the highest identity of 61.4% with the putative glycosyl hydrolase family 36 α-galactosidase from Granulicella mallensis MP5ACTX8 (EFI56085). AgaAJB13 also showed <37% identities with reported protease-resistant or Sphingomonas α-galactosidases. A sequence analysis revealed different catalytic motifs between reported Sphingomonas α-galactosidases (KXD and RXXXD) and AgaAJB13 (KWD and SDXXDXXXR). Recombinant AgaAJB13 (rAgaAJB13) was expressed in Escherichia coli BL21 (DE3). The purified rAgaAJB13 was characterized using p-nitrophenyl-α-D-galactopyranoside as the substrate and showed an apparent optimum at pH 5.0 and 60oC and strong resistance to trypsin and proteinase K digestion. Compared with reported proteaseresistant α-galactosidases showing thermolability at 50oC or 60oC and specific activities of <71 U/mg with or without protease treatments, rAgaAJB13 exhibited a better thermal stability (half-life of >60 min at 60oC) and higher specific activities (225.0-256.5 U/mg). These sequence and enzymatic properties suggest AgaAJB13 is the first identified and characterized Sphingomonas α-galactosidase, and shows novel protease resistance with a potential value for basic research and industrial applications.
( Jun Pei Zhou ),( Qian Wu ),( Rui Zhang ),( Yu Ying Yang ),( Xiang Hua Tang ),( Jun Jun Li ),( Jun Mei Ding ),( Yan Yan Dong ),( Zun Xi Huang ) 한국미생물 · 생명공학회 2013 Journal of microbiology and biotechnology Vol.23 No.6
This paper reports the production and characterization of crude xylanase from the newly isolated Humicola sp. Ly01. The highest (41.8 U/ml) production of the crude xylanase was obtained under the optimized conditions (w/v): 0.5% wheat bran, 0.2% KH2PO4, and 0.5% peptone; initial pH 7.0; incubation time 72 h; 30℃; and 150 rpm. A considerable amount of the crude xylanase was induced using hulless barley bran or soybean meal as the carbon source, but a small amount of the enzyme was produced when supplementary urea was used as the nitrogen source to wheat bran. The crude xylanase showed apparent optimal cellulase-free xylanase activity at 60℃ and pH 6.0, more than 71.8% of the maximum xylanase activity in 3.0-30.0% (v/v) ethanol and more than 82.3% of the initial xylanase activity after incubation in 3.0-30.0% (v/v) ethanol at 30℃ for 2 h. The crude xylanase was moderately resistant to both acid and neutral protease digestion, and released 7.9 and 10.9 μmol/ml reducing sugar from xylan in the simulated gastric and intestinal fluids, respectively. The xylooligosaccharides were the main products of the hydrolysis of xylan by the crude xylanase. These properties suggested the potential of the crude enzyme for being applied in the animal feed industry, xylooligosaccharides production, and high-alcohol conditions such as ethanol production and brewing.
누적 센서 데이터 갱신을 이용한 아크/라인 세그먼트 기반 SLAM
염서군(Rui-Jun Yan),최윤성(Youn-sung Choi),무경(Jing Wu),한창수(Chang-soo Han) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.12
This paper presents arc/line segments-based Simultaneous Localization and Mapping (SLAM) by updating accumulated laser sensor data with a mobile robot moving in an unknown environment. For each scan, the sensor data in the set are stored by a small constant number of parameters that can recover the necessary information contained in the raw data of the group. The arc and line segments are then extracted according to different limit values, but based on the same parameters. If two segments, whether they are homogenous features or not, from two scans are matched successfully, the new segment is extracted from the union set with combined data information obtained by means of summing the equivalent parameters of these two sets, not combining the features directly. The covariance matrixes of the segments are also updated and calculated synchronously employing the same parameters. The experiment results obtained in an irregular indoor environment show the good performance of the proposed method.
Simple Synthesis of Multi-Halogen Pyrazino[1,2-a]indole-1,8(2H,5aH)-diones
Rui-Xia Yang,Yu-Cheng Zhao,Ling-Bin Kong,Sheng-jiao Yan,Jun Lin 대한화학회 2016 Bulletin of the Korean Chemical Society Vol.37 No.10
A concise and efficient one-pot synthesis of multi-halogen pyrazino[1,2-a]indole-1,8(2H,5aH)-dione (MHPID) derivatives by the reaction of an enamino ester with multi-halogen benzoquinone derivatives is described. MHPIDs 3a–3d were obtained with good yields (78–83%) by refluxing enamino esters 1a and 1b and tetrahalogen-1,4-benzoquinones 2a and 2b for 24 h without the use of catalysts. Compounds 3e–3p were also obtained with excellent yields (69–92%) via the reaction of the phenyl-substituted enamino esters 1c–1h with tetrahalogen-1,4-benzoquinones 2a and 2b in CH3CN catalyzed by Cs2CO3. These two protocols are efficient and effective for the synthesis of MHPIDs.