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Localization for mobile robots with a multi-ToF camera system
Chaewon Park,Junwoo Jason Son,Soohee Han 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
The localization of mobile robots is the core function for the various solutions utilizing autonomous mobile robots. By comparison with 3D LiDAR which is expensive and bulky, the time-of-flight (ToF) camera is inexpensive and can be miniaturized. So it can greatly contribute to the diffusion of autonomous mobile robots. However, due to the limitations, such as mixed pixel effect and multipath interference, the measurement of ToF camera is noisy and inaccurate. Therefore, in order to obtain high-quality pose estimation with the low-cost ToF camera, a preprocessing process and localization algorithm considering the characteristics of the ToF camera are essential. We experimented with the possibility of localization using a multi-ToF camera system. In consideration of the FoV of the ToF camera, the scan data was acquired using a mobile robot with a multi-ToF camera system. The scan data was analyzed by comparing it with the high-resolution map acquired with the high-precision 3D LiDAR, and a preprocessing process for localization was implemented, taking account of the analyzed characteristics. By building the localization algorithm utilizing the iterative closest point (ICP) algorithm, the possibility of localization using the multi-ToF camera system was demonstrated.
Chaewon Park,Dahee Kim,Sooah Jeong,Beongou Lim 한국식품영양과학회 2021 한국식품영양과학회 학술대회발표집 Vol.2021 No.10
Sargassum fulvellum (SF) is a marine plant that grows in Southeast Asia and is known to have various physiologically active effects such as antioxidant, anti-inflammatory. Many natural product are reported to have increased antioxidant activity due to the fermentation of lactobacillus. Therefore, we investigated that the antioxidant activity of SF and two species of Lactobacillus fermentation extracts. Two species of Lactobacillus used for fermentation were Lactobacillus plantarum (SFP) and Lactobacillus casei (SFC), each was fermented for 24 hours and then extracted with 70% ethanol for 24 hours, 3 times. The extracts were used after filtration and concentration, and then freeze-dried. Antioxidant activity was evaluated through DPPH radical scavenging, ABTS radical scavenging, Total polyphenol and flavonoid contents, Reducing power, and DNA break repair experiments. As a result, All samples showed increased antioxidant activity in a concentration-dependent manner. From the above results, the fermented SF extract has improved antioxidant effects than SF. We suggest that the fermanted SF will become a strong natural antioxidant drug.
조명색과 무대작화의 재질변화에 따른 무대의 색채감성 연구
박채원(ChaeWon Park),이윤진(YounJin Lee) 한국색채학회 2019 한국색채학회 학술대회 Vol.2019 No.12
본 연구에서는 조명색과 무대작화의 재질변화에 따른 무대의 색채감성에 대해 연구하였다. 무대작화에 많이 사용되는 5가지 작화(나무, 대리석, 벽돌, 유리, 철)를 평가대상 으로 지정하고 먼셀의 기본 5색상에서 각 색상 별로 밝은색, 어두운색을 선정하여 10가지를 공간에 적용해 시뮬레이션하고, 김명호, 김종무(2015)의 연구에서 추출한 감성어휘로 설문을 진행하였다. 설문 결과, 긍정적-부정적인 평가에서는 긍정적인 감성은 밝은 노랑 조명색의 벽돌 재질이, 부정적인 감성은 어두운 빨강 조명색의 대리석 재질이 가장 높은 평가를 받았다. 부드러운-거친 평가에서는 부드러운 감성은 밝은 보라 조명색의 유리 재질이, 거친 감성은 어두운 빨강 조명의 벽돌 재질이 가장 높은 평가를 받았다. 따뜻한-차가운 평가에서는 따뜻한 감성은 밝은 노랑 조명색의 나무 재질이, 차가운 감성은 어두운 파랑 조명색의 대리석 재질이 가장 높은 평가를 받았다. 화려한-수수한 평가에서는 화려한 감성은 어두운 보라 조명색의 대리석 재질이 수수한 감성은 어두운 노랑 조명색의 나무재질이 가장 높은 평가를 받았다. 동적인-정적인 평가에서는 동적인 감성은 밝은 노랑 조명색의 철 재질이 정적인 감성은 어두운 노랑 조명색의 나무 재질이 가장 높은 평가를 받았다. 따라서, 본 연구를 통해 공연의 성격과 분위기, 연출 의도에 맞게 적용될 수 있는 기본 자료로 도움이 될 수 있기를 기대한다.
Kim, Chaewon,Park, Eun-Hee,Park, Myung-Sook Korean Chemical Society 2013 Bulletin of the Korean Chemical Society Vol.34 No.11
A series of new 3-alkylamino-6-allylthio-pyridazine derivatives was synthesized through allythiolation and amino-de-halogenation and were expected to have anti-proliferative activity. 6-Allylthio-3-chloropyridazine was prepared from the reaction of 3,6-dichloropyridazine with allylmercaptan and sodium hydroxide. The alkylamines such as methylamine and the dialkylamines such as dimethylamine were introduced into the 3-position of the pyridazine ring. These new compounds showed anti-proliferative activities against MCF-7 human breast cancer cells in CCK-8 assays. These compounds are thus promising candidates for chemotherapy of breast cancer. Two compounds, 14 and 15, showed higher potencies for inhibiting growth of breast cancer cells than did 5FU. This suggests the potential anti-proliferative activity of these compounds.