3D Point Cloud Map Construction Based on Line Segments with Two Mutually Perpendicular Laser Sensors

Rui-Jun Yan,Jing Wu,Ji-Yeong Lee,Chang-Soo Han 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10

Production and Characterization of Ethanol- and Protease-Tolerant and Xylooligosaccharides-Producing Endoxylanase from Humicola sp Ly01

( 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.

Cloning, Heterologous Expression, and Characterization of Novel Protease- Resistant α-Galactosidase from New Sphingomonas Strain

( 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.

Experimental and Numerical Research on Process Formability in Magnetic Pulse Forming of AZ31 Magnesium Alloy Sheets

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.

Natural Corners-based Two-Dimensional (2D) SLAM with Partial Compatibility Algorithm in Indoor Environment

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.

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.

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.

Data Association of Robot Localization and Mapping Using Partial Compatibility Test

염서군(Rui Jun Yan),최윤성(Youn Sung Choi),무경(Jing Wu),한창수(Chang Soo Han) Korean Society for Precision Engineering 2016 한국정밀공학회지 Vol.33 No.2

아이트래킹(Eye Tracking)을 활용한 재무제표 응시 결과 분석

Rui Yi Zhang,나형종,Ya Lei Liu,Jun Song,Yue Yan Liu 세명대학교 인문사회과학연구소 2024 人文 社會科學硏究 Vol.32 No.1

· Research topics: This paper presents research results on people's understanding of financial statements and information delivery power of financial statements using eye tracking technology. · Research background: In the field of social science, research that introduces eye-tracking experiments is also being conducted, but in the field of accounting, eye-tracking research through eye-tracking is insufficient. In this paper, research is conducted by introducing eye-tracking techniques to determine whether the disclosure form of financial statements in accordance with the current international accounting standards adopted in Korea has high information transmission power. · Differences from prior research: This study is a fusion and convergence study that innovatively used eye tracking techniques to study topics in the field of accounting. Through this, meaningful information is provided to understand the understanding and information delivery power of the current major financial statements adopted in Korea. · Research method: This paper presented the results of empirical analysis by conducting an experiment to gaze at financial statements using eye tracking technology. In addition, this study conducted a survey on financial statement information delivery power to verify the information delivery power of financial statements in accordance with the current international accounting standards adopted in Korea. · Research Results: As a result of i-Tracking research, it was found that in the statement of absence, most eyes were on current assets, non-current assets, current liabilities, non-current liabilities, and capital. In the statement of comprehensive income, it was found that most eyes were on the order of sales, cost of sales, net income and other comprehensive income, operating profit, and total comprehensive income. And it was found that relatively few eyes were on gross profit, sales and management expenses, and non-operating expenses. In the table of capital fluctuations, it was found that many people applied in the order of capital, excess issuance of stocks, and total capital. And it was found that relatively few people stared at retained earnings and other capital items. Lastly, in the cash flow table, it was found that people's eyes were on the order of operating cash flow, net increase and decrease of cash and cashable assets, investment cash flow, and financial activity cash flow. · Contributions and expected effects: First, the research methodology used in this study is a unique research methodology that is rarely used in the field of accounting, and is expected to provide good guidelines for research in the field of accounting by introducing various methods. Second, the research results of this paper provide meaningful information to understand the comprehension and information delivery power of the current major financial statements adopted in Korea, and further improvements are made to the form of financial statement disclosure to improve the usefulness of financial statement information. · 연구 주제: 본 논문은 아이트래킹 기술을 활용하여 사람들의 재무제표의 이해도 및 재무제표의 정보전달력에 관한 연구결과를 제시한다. · 연구 배경: 사회과학 분야에서도 아이트래킹 실험을 도입한 연구가 진행되고 있지만, 회계학 분야에서는 아이트래킹을 통한 시선 추적 연구가 미흡한 실정이다. 본 논문에서는 현행 한국 채택 국제회계기준에 의한 재무제표의 공시형태가 과연 높은 정보 전달력이 있는지를 규명하기 위해 아이트래킹 기법을 도입하여 연구를 수행한다. · 선행연구와의 차이점: 본 연구는 회계학 분야의 주제를 연구하는데 있어서 혁신적으로 아이트래킹 기법을 사용하여 실험을 수행한 융·복합 연구이다. 이를 통하여 한국 채택 현행 주요 재무제표의 이해가능성 및 정보전달력을 파악하는데 의미 있는 정보를 제공한다. · 연구방법: 본 논문은 아이트래킹 기술을 활용하여 재무제표를 응시하는 실험을 수행하여 실증분석 결과를 제시하였다. 또한 본 연구에서는 현행 한국 채택 국제회계기준에 의한 재무제표의 정보전달력을 검증하기 위하여 재무제표 정보전달력에 관한 설문조사를 수행하였다. · 연구결과: 아이트래킹 연구결과, 제무상태표에서는 유동자산, 비유동자산, 유동부채, 비유동부채, 자본 순으로 시선이 많이 가는 것으로 파악되었다. 포괄손익계산서에서는 매출액, 매출원가, 당기순이익·기타포괄손익, 영업이익, 총포괄손익 순으로 시선이 많이 가는 것으로 나타났다. 그리고 상대적으로 매출총이익, 판매비와 관리비, 영업외비용에는 시선이 적게 가는 것으로 나타났다. 자본변동표에서는 자본금, 주식발행초과금, 자본합계 순으로 사람들이 많이 응시하는 것으로 파악되었다. 그리고 상대적으로 이익잉여금과 기타자본항목은 사람들이 적게 응시하는 것으로 파악되었다. 마지막으로 현금흐름표에서는 영업활동 현금흐름, 현금및현금성자산의 순증감, 투자활동 현금흐름, 재무활동 현금흐름 순으로 사람들의 시선이 많이 가는 것으로 나타났다. · 공헌점 및 기대효과: 첫째, 본 연구에서 사용한 연구방법론은 회계학 분야에서 거의 사용되지 않는 독특한 연구방법론으로써 회계학 분야의 연구가 다양한 방법을 도입하여 발전하는데 있어서 좋은 가이드라인을 제시할 수 있을 것으로 기대된다. 둘째. 본 논문의 연구결과는 한국 채택 현행 주요 재무제표의 이해가능성 및 정보전달력을 파악하는데 의미 있는 정보를 제공하고, 더 나아가 재무제표 정보의 유용성을 향상시키기 위한 재무제표 공시형태에 대해서 개선점을 제시한다.

Targeted Suppression of Connexin 43 in Ovine Preimplantation Embryos by RNA Interference Using Long Double-stranded RNA

Yan, Zhen,Ma, Yu Zhen,Liu, Dong jun,Cang, Ming,Wang, Rui,Bao, Shorgan Asian Australasian Association of Animal Productio 2010 Animal Bioscience Vol.23 No.4

RNA interference (RNAi) is an acknowledged useful and effective tool to study gene function in various cells. Here, we suppressed the Connexin 43 (Cx 43) gene expression during in vitro development of ovine pre-implantation embryos using the RNAi method. The 353 bp Cx 43 double-stranded RNA was microinjected into in vitro fertilized ovine zygotes, and the levels of target mRNA and protein were investigated. Control groups included uninjected zygotes or those injected with RNase-free water. The dsRNA injection resulted in the specific reduction of Cx 43 transcripts as analyzed by quantitative real-time RT-PCR and decreased protein levels as shown by Western blot analysis at the blastocyst stage. Microinjection of Cx 43 dsRNA led to 20.3%, 21.7% and 34.5% blastocyst rates and 19.2%, 37.5% and 41.3% hatched blastocyst rates in Cx 43 dsRNA-injected, water-injected and uninjected groups, respectively. Then the RNAi could not significantly affect cell number and cell death rates of blastocysts. Therefore, suppression of Cx 43 dsRNA and proteins did not apparently affect the development potential of ovine pre-implantation embryos but may play a role in embryo quality. RNAi technology is a promising approach to study gene function in early ovine embryogenesis.