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[논문]거리변환알고리즘을 이용한 이동로봇의 경로 계획 및 추적
박기형,최영규 釜山大學校生産技術硏究所 2004 生産技術硏究所論文集 Vol.63 No.-
본 논문에서 자율이동로봇의 효율적이고 안전한 주행을 위해서 경로계획과 추적 및 장애물 회피의 문제들이 다루어진다. 경로계획을 위해서 기존의 거리변환알고리즘의 검색순서를 단순화하고 경로재생성부분을 추가하여 개선시키고, 개선 된 거리변환알고리즘을 이용하여 기존의 방법에 의한 것보다 짧은 거리의 경로를 얻는다. 경로추적 단계에서는 퍼지 논리 제어기를 사용하여 경로추적 행위와 장애물회피 행위를 실행한다. 컴퓨터 시율레이션을 통하여 자율이동로봇의 주행에 적용된 본 연구방법의 효율성을 입증한다.
Young Mo Koo,S. M. Ahsan,Da Bin Kwon,Hyuk Jung,Jeong Doo Choi,Myung Soo Lee,Kiu-Hyung Cho,Byung-Chun In,Hyong Woo Choi 한국원예학회 2023 원예과학기술지 Vol.41 No.3
In this study, we analyzed cannabidiol (CBD) and Δ9-tetrahydrocannabinol (THC) contents in different tissues of four cannabis cultivars, Cheongsam, Cherry Blossom, Hot Blonde, and Queen Dream, using gas chromatography-mass spectrometry (GC-MS). Standard calibration curves for CBD and THC were generated by analyzing standard CBD and THC solutions via GC-MS, respectively. GC-MS analyses of different tissues of the Cheongsam cultivar revealed different levels of CBD and THC depending on the tissues tested. Female flowers accumulated the highest CBD and THC levels at 0.052±0.02 and 0.02±0.005%, respectively, in the Cheongsam cultivar. Similarly, female flowers of the Cherry Blossom, Hot Blonde, and Queen Dream cultivars accumulated the highest amounts of CBD (2.45% to 3.54%) and THC (0.15% to 0.18%) compared to other tissues, such as the leaves and stems. These results suggest that female flowers of cannabis plants show higher potency levels for CBD and THC production compared to other tissues.
DRL1 Regulates Adaxial Leaf Patterning and Shoot Apical Meristem Activity in Arabidopsis
( Kiu Hyung Cho ),( Hoon Sung Choi ),( Motoaki Seki ),( Sang Eun Jun ),( Young Byung Yi ),( Kazuo Shinozaki ),( Hirokazu Tsukaya ),( Gyung Tae Kim ) 한국식물학회 2007 Journal of Plant Biology Vol.50 No.4
Leaf shape is controlled early on by initiation at the shoot apical meristem (SAM), as well as by changes in the rates and planes of cell division and the polarity-dependent differentiation of leaf cells. To elucidate the regulation of this differentiation by signal(s) from the SAM, we screened for mutations in genes that might be involved in these early processes. A novel recessive mutant, 356-2 [identified as a new allele of the deformed root and leaf1 (drl1) mutant], was isolated from a collection of Ds transposon insertion lines. The 356-2/drl1-101 mutant produces narrow, filamentous leaves and defective meristems. Its palisade cells have a spongy cell-like structure and are fewer in number, indicating that the leaves are abaxialized. Interestingly, some of those filament-like leaves have no vascular tissues inside their blades. DRL1 encodes a protein similar to the yeast elongator-associated protein (EAP) KTI12. The amino acid sequence of DRL1 is universally conserved in prokaryotes and eukaryotes. These facts suggest that DRL1 might positively regulate leaf polarity and SAM activity by controlling cell proliferation and differentiation.
로보트 머리퓰레이터 制御를 爲한 改善된 形態 空間 方法에 關한 硏究
崔榮奎 부산대학교 공과대학 1990 硏究報告 Vol.39 No.-
Dynamic control schemes for robot manipulators have been studied for high speed motion and precise control. Computed torque technique which is ond of the dynamic control schemes, needs calculation of required control torque through robot manipulator dynamic equations. There are 2 ways in calculation of required control torque : real-time computational method of manipulator dynamics such as Newton-Euler method, and look-up table method with off-line computation of manipulator dynamics such as configuration space method. In configuration space method, very much amount of memory is demanded to assure good accuracy in the computed control torque. In this paper, an improved configuration space method based on Taylor series expansion is proposed and it is shown that it is shown that it has better performance in accuracy than the conventional configuration space method. It is also shown that the improved configuration space method is more efficient when more degrees of freedom are required. A case study for robot manipulator PUMA 560 is also conducted and it is shown that the improved configuration space method is better than the conventional configuration space method from the point of accuracy and amount of required memory.
崔榮奎 부산대학교 공과대학 1986 硏究報告 Vol.32 No.-
This paper proposes a decentralized adaptive control scheme which makes a robot manipulator track a desired trajectory as closely as possible in spite of a wide range of manipulator motions and parameter uncertainties of links and payload. The proposed control scheme consists of two components: a nominal control and a variational control. The nominal control, generated from direct calculation of the manipulator dynamics along a desired trajectory, drives the manipulator to a neighborhood of the desired trajectory. Then a new decentralized adaptive control scheme is devised based on the Lyapunov direct method, which generates a variational control that regulates the perturbation in the vicinity of the desired trajectory.