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2D LIDAR 스캐너와 파티클 필터 레이저빔 모델 기반의 과수 로봇의 주간 내 자율주행
Pieter M. Blok,서현권(Hyun Kwon Suh),Koen van Boheemen,김학진(Hak-Jin Kim),김국환(Gook-Hwan Kim) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.8
In mountainous orchards, agricultural tasks, such as crop protection and harvesting, are characterized as being labor intensive and dangerous. An autonomous orchard robot that can execute these unattended seems a promising alternative to increase task operability. An essential function in the development of an autonomous orchard robot is navigation, which is usually based on tree-row detection from LIDAR scan data by using navigational algorithms. This research applies a probabilistic particle filter (PF) algorithm with a novel laser-beam model for the autonomous in-row navigation of an orchard robot. The navigational accuracy of the algorithm is assessed in a Dutch apple orchard over a distance of 500 m, with the robot driving at two velocities: 0.25 m/s and 0.50 m/s. At both speeds, almost 50% of the observed lateral deviations were lower than 0.05 m from the optimal navigation line. With the use of the PF algorithm, the robot navigated itself between six patterns of tree rows with artificially removed trees. Some lateral deviations exceeded 0.10 m when three adjacent trees were missing in both tree rows. Based on these results, a PF with a laser beam model is an accurate and robust algorithm for the autonomous in-row navigation in semi-structured outdoor environments, such as orchards.
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김규홍,서현곤,최재시 연세대학교 자연과학연구소 1982 學術論文集 Vol.9 No.-
CeO_2의 전기전도도를 300∼1000℃의 온도범위와 10^-5∼10^-1atm의 산소압력하에서 측정하였다. 전기전도도의 온도 의존성과 산소압력 의존성을 측정하여 본 시료의 결함구조와 전기전도 메카니즘을 연구하였으며, 본 실험결과는 300∼600℃와 600∼1000℃의 두 온도영역으로 나누어 설명하였다. 각 산소압력하에서 logσ vs. 1/T의 도시(plot)로부터 얻어진 활성화에너지는 높은 온도 영역에서 2.16eV이었다. 또한 전기전도도의 산소압력의존성은 높은 온도영역에서 σαPo_2^-¼, 낮은 온도 영역에서 σαPo_2^-1/6.2로 각각 나타났다. 이 시료에 있어서의 주 결함(dominant defect)은 높은 온도 영역에 대하여 Ce interstitial이며, 낮은 온도영역에서는 oxygen vacancy model로 사료된다. 전기전도도의 온도와 산소압력의존성에 대한 해석을 고찰하였고 전기전도메카니즘을 제시하였다. The electrical conductivity of CeO_2 has been measured over the temperature range of 300 to 1000℃ under the oxygen pressure of 10^-5 to 10^-1atm. Plots of log conductivity vs. 1/T at constant Po_2 are found to be linear with an inflection, and the activation energy obtained from the slopes appears to be 2.16eV for the range of high temperature region. The conductivity dependences on Po_2 at the above temperature range are closely approximated by a Po_2^-¼ for the intrinsic and a Po_2^-1/6.2 for the extrinsic, respectively. The dominant defects in this sample are believed to be Ce^3 interstitial for the intrinsic and the oxygen vecancy model for the extrinsic range. The interpretations of conductivity dependences on temperature and Po_2 are presented and conduction mechanisms are proposed to explain the data.
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본성 및 외성 영역에서 Ceria 의 결함구조 및 자유전자 전도도
김규홍,서현곤,권영식,최재시,Keu Hong Kim,Hyun Koen Suh,Young Sik Kwon,Jae Shi Choi 대한화학회 1987 대한화학회지 Vol.31 No.5
CeO$_2$의 전기전도도를 300 ~ 1000${\circ}$C의 온도범위와 10$^{-5}$~ 10$^{-1}$ atm의 산소압력하에서 측정하였다. 전기전도도의 온도의존성과 산소압력 의존성을 측정하여 본 시료의 결합구조와 전기전도 메카니즘을 연구하였으며, 본 실험결과는 300 ~ 600${\circ}$C, 600 ~ 1000${\circ}$C의 두 온도영역에서 나누어 설명하였다. 각 산소 압력하에서 log ${\sigma}$ vs. 1/T의 도시로부터 얻어진 활성화에너지는 높은 온도영역에서 2.16 eV이었다. 또한 전기전도도의 산소압력의존성은 높은 온도영역에서 ${\sigma}$ ${\alpha}$PO$_2^{-1/4}$, 낮은 온도영역에서 ${\sigma}$ ${\alpha}$PO$_2^{-1/6.2}$로 각각 나타났다. 이 시료에 있어서의 주 결함은 높은 온도영역에 대하여 Ce$^{3{\cdot}}$interstitial이며, 낮은 온도영역에서는 oxygen vacancy model로 사료된다. 전기전도도의 온도 및 산소압력의존성을 고찰하였고 전기전도 메카니즘을 제시하였다. The electrical conductivity of CeO$_2$ has been measured in the temperature range of 300 to 1000${\circ}$C under the oxygen pressures of 10$^{-5}$ to 10$^{-1}$ atm. Plots of log ${\sigma}$ vs. 1/T at constant PO$_2$ are found to be linear with an inflection, and the activation energy obtained from the slopes appears to be 2.16 eV for the intrinsic region. The conductivity dependences on PO$_2$ at the above temperature range are closely approximated by ${\sigma}$ ${\alpha}$PO$_2^{-1/4}$ for the intrinsic and ${\sigma}$ ${\alpha}$PO$_2^{-1/6.2}$ for the extrinsic, respectively. The dominant defects in this sample are believed to be Ce$^{3{\cdot}}$ interstitial for the intrinsic and the (Vo-2e') for the extrinsic range. The interpretations of conductivity dependences on temperature and $PO_2$ are presented, and conduction mechanisms are proposed to explain the data.
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미분화 암종이 동반된 췌장의 파골세포 모양 거대세포종양
김금하 ( Geum Ha Kim ),구양서 ( Yang Suh Ku ),김현옥 ( Hyun Ok Kim ),김길현 ( Kil Hyun Kim ),김건국 ( Koen Kuk Kim ),정동해 ( Dong Hae Jung ),김연석 ( Yeon Suk Kim ) 대한내과학회 2009 대한내과학회지 Vol.77 No.5
An osteoclast-like giant cell tumor of the pancreas is a very rare neoplasm, with only three cases reported in Korea. Due to the rarity of this tumor type, few clinical data are available. We present a case of undifferentiated carcinoma with osteoclast-like giant cell tumor arising in the tail of the pancreas in a 72-year-old woman hospitalized to evaluate epigastric pain and a palpable abdominal mass. Magnetic resonance imaging revealed the presence of a large enhancing mass with septation arising from the tail of the pancreas. A distal pancreatectomy with splenectomy was performed. The pathological diagnosis was undifferentiated carcinoma with osteoclast-like giant cell tumor. Here, we describe the histopathological and immunohistochemical findings and review the clinical features of the cases reported in the Korean literature. (Korean J Med 77:610-615, 2009)
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