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Natural Corners Extraction Algorithm in 2D Unknown Indoor Environment with Laser Sensor
Ruijun Yan,Jing Wu,Weijun Wang,Sungjin Lim,Jiyeong Lee,Changsoo Han 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
The algorithm of line extraction and corner extraction in unknown indoor environment with laser sensor is presented in this paper. The corners, the intersection point of two line segments and the two endpoints of each line segment extracted from raw sensor data, can be chosen as landmarks to estimate the position of mobile robot or used to do mapping unknown environment without artificial landmarks intentionally. Sufficient landmarks are the precondition for realizing robot localization and Mapping Environment very well. In addition, the covariance matrix of corners, propagated from covariance matrices of line segments, is derived using the first-order Taylor expansion and it is proved by comparing the uncertainty ellipse drawing from the ellipse of line segments and that from covariance matrix of corners in real experiments. Experiment results of line extraction and corner extraction in the complex environment with the HOKUYO laser sensor located on the Pioneer mobile robot are presented to proving the validity of this algorithm.
High-Performance Supercapacitor based on the NaOH Activated D-Glucose Derived Carbon
Chao Wu,Jiang Xu,Jianning Ding,Ningyi Yuan,Pengtao Yan,Ruijun Zhang,Huihan Liu 성균관대학교(자연과학캠퍼스) 성균나노과학기술원 2016 NANO Vol.11 No.7
In this work, a mechanism of catalytic graphitization of D-glucose derived carbon during NaOH activation process is disclosed. The catalytic graphitization is caused by sodium atom, which is produced in the reaction between NaOH and carbon. Due to the combined action of activation and catalytic graphitization resulting from the NaOH, the activated D-glucose derived carbon behaves as a hierarchical micro- and meso-porous structure and has high electrical conductivity. Electrochemical investigations demonstrate that the activated sample exhibits an outstanding rate capability (70% of capacity retention even at a scan rate of 2 V s-1) and high specific capacitance (106 F g-1) in 6 M KOH aqueous electrolyte, which makes it a promising electrode material for high-power supercapacitors.
Yu Gu,Ruijun Zhang,Wenyu Wu,Bin Guo,Ping Wang,Huaxin Ma 성균관대학교(자연과학캠퍼스) 성균나노과학기술원 2019 NANO Vol.14 No.11
O-doping has proved to be one of the most promising approaches to further enhance the supercapacitive performance of carbon materials. However, it is presently not clear how the type of doped-O species affects the capacitive performance. In this paper, an attempt has been made to probe into the possible correlation between the type of doped-O species and the corresponding capacitive performance. Three O species (C=O, C–O and O–C=O) have been introduced onto TiC-derived carbon (TiC–CDC) by using a facile room-temperature oxidation strategy with three typical oxidizing agents (H2O2, HNO3 and (NH4)-2S2O8), respectively. The results have shown that as the content of the C=O species increases, both the specific capacitance and the capacitance retention for the oxidized TiC–CDC samples become higher, showing a positively correlative performance. This work suggests that optimizing the type of doped-O species will be great potential for obtaining the optimal electrochemical performances for the O-doped carbon materials.
The Effect of Gender Leadership with Political Capital in the CSR Performance of China Listed Firms
Tzu-Yu LIN,Sheng-Hsiung CHIU,Ruijun WU,Ziyu XIAO 한국유통과학회 2018 KODISA ICBE (International Conference on Business Vol.2018 No.-
This paper investigates the effect of gender leadership with political connection on CSR performance using annual data of Chinese firms who listed in China A-share stock market and had CSR rating assessed by Rankins from 2009 to 2015. In addition, we also examine whether the foregoing question is under the influence of particular ownership structure in China. Our empirical results suggest that female chairman or CEO would not perform well in CSR activities, while leader’s political capital acts an exacerbating force. Specifically, the negative and statistically significant of interaction term female leadership with political capital is obviously identified for the Non-SOEs. The mandatory CSR reporting would not encourage firms to make more effort on CSR activities to the purpose on generating positive social externalities, while the advantages of CSR rating in firms are not obviously experience to coordinate the conflict of interest between stakeholders.