Vertical takeoff and landing (VTOL) is a core feature of unmanned aerial vehicles (UAVs), which are commonly referred to as drones. In emerging smart logistics, drones are expected to play an increasingly important role as mobile platforms. Therefore, research on last-mile delivery using drones is on the rise. There is a growing trend toward providing drone delivery services, particularly among retailers that handle small and lightweight items. However, there is still a lack of research on a structural definition of the VTOL drone flight model for multi-point delivery service. This paper describes a VTOL drone flight route structure for a multi-drone delivery service using rotary-wing type VTOL drones. First, we briefly explore the factors to be considered when providing drone delivery services. Second, a VTOL drone flight route model is introduced using the idea of the nested graph. Based on the proposed model, we describe various time-related attributes for delivery services using drones and present corresponding calculation methods. Additionally, as an application of the drone route model and the time attributes, we comprehensively describe a simple example of the multi-drone delivery for first-come-first-served (FCFS) services.

This study focuses on the path planning algorithm for large-scale autonomous delivery using drones and robots in urban environments. When generating delivery routes in urban environments, it is essential that avoid obstacles such as buildings, parking lots, or any other obstacles that could cause property damage. A commonly used method for obstacle avoidance is the grid-based A* algorithm. However, in large-scale urban environments, it is not feasible to set the resolution of the grid too high. If the grid cells are not sufficiently small during path planning, inefficient paths might be generated when avoiding obstacles, and smaller obstacles might be overlooked. To solve these issues, this study proposes a method that initially creates a low-resolution wide-area grid and then progressively reduces the grid cell size in areas containing registered obstacles to maintain real-time efficiency in generating paths. To implement this, obstacles in the operational area must first be registered on the map. When obstacle information is updated, the cells containing obstacles are processed as a primary subdivision, and cells closer to the obstacles are processed as a secondary subdivision. This approach is validated in a simulation environment and compared with the previous research according to the computing time and the path distance.

Background: Largemouth bass (Micropterus salmoides) is introduced species that has caused aquatic ecology activity both in vitro and in vivo were investigated for the possibility of application of the bass extract as an alternative feed ingredient. Methods: The bass oil was extracted using a 1-L supercritical extractor, while the protein was extracted from 250 g of bass dry matter, which was dissolved in 1 mL of H2O at 50℃. Both oil and protein extracts were evaluated antioxidant activities and the level of DPPH radical scavenging assay and nitric oxide (NO) production assay with lipopolysaccharide response. Oral administration of 6.6 μL/g bass protein and 5.38 μL/g bass oil conducted for investigating serological and physiological effect. Results: DPPH radical scavenging showed similar radical scavenging ability of 50 μM of ascorbic acid at 200 μg of protein and 10% of oil treatment. NO concentration was diminished by the treatment of bass oil. Oral administration of both bass oil and proteins to mice showed that the body weight increase rate of the bass oil treated group was significantly reduced by 1.55 g compared to the other groups. The number of white blood cells (WBC) was increased by 4.52 k/μL in the bass protein-treated group and 4.44 k/μL in the bass oil-treated group compared to the control group. However, the serum IgG level did not show a significant difference between the bass extract-treated groups and the control group. Conclusions: These studies demonstrate that both bass oil and proteins extracted from the bass not only provide excellent effects of antioxidant and immune activity but can also be used as functional food supplements.

Nuclear power plants use ion exchange resins to purify liquid radioactive waste generated while operating nuclear power plants. In the case of PHWR, ion exchange resins are used in heavy water and dehydration systems, liquid waste treatment systems, and heavy water washing systems, and the used ion exchange resins are stored in waste resin storage tanks. The C-14 radioactivity concentration in the waste resin currently stored at the Wolseong Nuclear Power Plant is 4.6×106 Bq/g, exceeding the low-level limit, and if all is disposed of, it is 1.48×1015 Bq, exceeding the total limit of 3.04×1014 Bq of C-14 in the first stage disposal facility. Therefore, disposal is not possible at domestic low/medium-level disposal facilities. In addition, since the heavy water reactor waste resin mixture is stored at a ratio of about 20% activated carbon and zeolite mixture and about 80% waste resin, mixture extraction and separation technology and C-14 desorption and adsorption technology are required. Accordingly, research and development has been conducted domestically on methods to treat heavy water waste resin, but the waste resin mixture separation method is complex and inefficient, and there are limitations in applying it to the field due to the scale of the equipment being large compared to the field work space. Therefore, we would like to introduce a resin treatment technology that complements the problems of previous research. Previously, the waste resin mixture was extracted from the upper manhole and inspection hole of the storage tank, but in order to improve limitations such as worker safety, cost, and increased work time, the SRHS, which was planned at the time of nuclear power plant design, is utilized. In addition, by capturing high-purity 14CO2 in a liquid state in a high-pressure container, it ensures safety for long-term storage and is easy to handle when necessary, maximizing management efficiency. In addition, the modularization of the waste resin separation and withdrawal process from the storage tank, C-14 desorption and monitoring process, high-concentration 14CO2 capture and storage process, and 14CO2 adsorption process enables separation of each process, making it applicable to narrow work spaces. When this technology is used to treat waste resin mixtures in PHWR, it is expected to demonstrate its value as customized, high-efficiency equipment that can secure field applicability and safety and reflect the diverse needs of consumers according to changes in the working environment.

This study focuses on the development of a Last-Mile delivery service using unmanned vehicles to deliver goods directly to the end consumer utilizing drones to perform autonomous delivery missions and an image-based precision landing algorithm for handoff to a robot in an intermediate facility. As the logistics market continues to grow rapidly, parcel volumes increase exponentially each year. However, due to low delivery fees, the workload of delivery personnel is increasing, resulting in a decrease in the quality of delivery services. To address this issue, the research team conducted a study on a Last-Mile delivery service using unmanned vehicles and conducted research on the necessary technologies for drone-based goods transportation in this paper. The flight scenario begins with the drone carrying the goods from a pickup location to the rooftop of a building where the final delivery destination is located. There is a handoff facility on the rooftop of the building, and a marker on the roof must be accurately landed upon. The mission is complete once the goods are delivered and the drone returns to its original location. The research team developed a mission planning algorithm to perform the above scenario automatically and constructed an algorithm to recognize the marker through a camera sensor and achieve a precision landing. The performance of the developed system has been verified through multiple trial operations within ETRI.

오늘날 신학의 전 분야에서 기독교의 공공성, 즉 공공 신학에 대한 관심과 논의가 증대되고 있다. 이와 같은 현상은 특히 팬데믹을 겪으면서 더욱 가속화되고 있는데, 그 이유는 기독교 내에서는 물론이고, 기독교 외부에서도 이와 같은 사회 문제에 대해 기독교가 반응하고, 대사회적 책임을 다해야 한다는 생각을 갖게 되었기 때문이다. 즉, 교회 공동체의 신앙과 신학이 교회 안에만 머물러서는 안 된다는 인식이 널리 퍼지고 있는 것이다. 이와 비슷한 현상이 선교학 내에서도 일어나고 있다. 20세기 중반 이후부터, 선교학은 그 전까지와는 다른 주제들로 범위를 넓히게 되었는데, 그것은 정의와 해방과 같은 공적인 문제들과 깊은 관련을 갖고 있다. 오늘날 신학계와 선교학계에서 두드러지게 나타나는 두 가지 현상은 선교학의 공공성에 대해서 생각해 보게 만든다. 사실 선교학은 속성에 있어서 공공성을 띠고 있다. 그것은 공공 신학과 관련된 세 가지 요소를 비교했을 때 드러나는데, 첫 번째는 공공 신학과 선교학의 정의(definition) 와 공공성의 개념, 두 번째는 학문의 상황성과 간상황적 속성 (contextuality and intercontextuality), 마지막 세 번째로는 간학문성 과 구성주의적 방법론이다.

Postal logistics organizations are characterized as having high labor intensity and short response times. These characteristics, along with rapid change in mail volume, make load scheduling a fundamental concern. Load analysis of major postal infrastructures such as post offices, sorting centers, exchange centers, and delivery stations is required for optimal postal logistics operation. In particular, the performance of mail traffic forecasting is essential for optimizing the resource operation by accurate load analysis. This paper addresses a traffic forecast problem of postal parcel that arises at delivery stations of Korea Post. The main purpose of this paper is to describe a method for predicting short-term traffic of postal parcel based on self-similarity analysis and to introduce an application of the traffic prediction model to postal logistics system. The proposed scheme develops multiple regression models by the clusters resulted from feature engineering and individual models for delivery stations to reinforce prediction accuracy. The experiment with data supplied by main postal delivery stations shows the advantage in terms of prediction performance. Comparing with other technique, experimental results show that the proposed method improves the accuracy up to 45.8%.

세계화와 산업화가 이 세상을 축소시킴에 따라 기독교를 포함한 종교의 지형도 역시 변하고 있다. 이 변화는 현대인들이 이제 일상생활 속에서 타종교인들을 이전보다 훨씬 더 빈번하게 만날 수 있게 만들었다. 그래서 이제 종교에 관한 연구는 단순히 목회자나 선교사와 같은 기독교 전문가만의 영역이 아닌, 교회에 출석하는 일반 교인들에게도 중요한 영역이 되었다. 종교에 대한 연구의 기초 연구로서 복음주의 종교 신학은 지금까지 주로 구원론적 혹은 기독론적 관점에서 논의 되어 왔다. 그러나 일단의 현대 기독교 종교 신학자들은 이렇게 종교 신학의 과제를 구원론과 기독론에만 국한시키는 것은 종교 신학을 너무 편협한 학문 영역으로 환원시키는 것이라고 생각하게 되었고, 그들은 종교 신학 연구의 범위를 넓히기 위한 시도를 하게 되었는데, 특별히 성령론적 접근법이 새로운 방법론으로 등장 하게 되었다. 지금까지의 연구를 보았을 때, 성령론적 종교 신학은 창의적이 고 연구의 가치가 있음은 확실하다. 하지만, 이 방법론은 여전히 더 깊은 많은 연구를 필요로 한다. 이것은 미래의 복음주의 종교 신학의 과제다.

2017년 한해 동안 9개 공항만에서 중국 등 32개국, 120개 품목 8,660건을 조사한 결과, 523건에서 해충 검출이 있었다. 반입빈도가 높은 품목은 사과, 망고, 감귤, 배, 복숭아, 바나나, 오렌지, 오이, 고추. 호두(미탈각), 자두, 드래곤프릇, 포멜로, 토마토, 풋콩, 망고스틴, 대추 등의 순이었으며, 중국, 베트남, 일본, 필리핀, 대만, 태국 등의 나라에서 반입건수가 많았다. 해충 검출 빈도가 높은 품목은 망고스틴, 망고, 사과, 슈가애플, 람부탄, 고추, 자두, 구아바 등이며, 해충 검출 빈도가 높은 국가는 중국, 베트남, 태국 등이었다. 검출 해충류 중 금지해충으로 오리엔탈과실파리류(Bactrocera dorsalis sp. complex) 52건, 오이과실파리(Bactrocera cucurbitae) 1건, Bactrocera latifrons 2건이 있었으며, 과실파리류 32건이 동정중이며, 코드린나방(Cydia pomonella)이 1건 검출되었다.

To elucidate the effect of cellular phone electromagnetic wave (EMW) exposure on the developing cerebellar cortex of neonatal Sprague-Dawley rats, animals were exposed to cellular phone electromagnetic waves for 1 hr per day for 3 weeks. At the end of the experimental period, animals were sacrificed by cardiac perfusion, after which histological samples were prepared and observed microscopically. In the EMW exposure group, external granule cells were remained partially in the external granular layer without migrating into the internal granular layer. In addition, dark stained shrunken Purkinje cells with pyknotic nuclei increased and the outline of cells became irregular and showed degenerative signs, such as mitochondrial swelling and disrupted cristae. Moreover, the cisternae of rough endoplasmic reticula and Golgi complex were severely swollen. Bergmann glial cells adjacent to the dark stained Purkinje cells were swollen and cytoplasmic organelles were scant. Dark stained shrunken granule cells were also observed and the outline of cells was irregular. The results of the present study suggest that cellular phone EMW exposure to neonatal Sprague-Dawley rats leads to a partial delay of early migration of cerebellar cortical cells and degenerative changes in Purkinje cells, Bergmann glial cells and granule cells.