Environmental pollution has become an alarming issue for the modern world due to the extensive release of untreated chemical waste into freshwater bodies. Untreated chemical waste poses significant negative impacts on aquatic life and human health. The phenolic compounds are widely used in different industries for dyeing, as food preservatives, and for the production of pesticides. 2,4,6-Trichlorophenol (TCP) is among the most hazardous phenolic compounds that cause several serious health effects. Thus, it is important to monitor TCP in the environmental samples frequently. In the current work, it was aimed to develop a highly sensitive zinc oxide-doped (ZnO) reduce graphene oxide (rGO) composite-based electrochemical sensor for TCP monitoring in the real samples. In this regard, graphene oxide (GO) was simultaneously reduced and doped with ZnO using a facile microwave-assisted synthesis strategy. The resulting ZnO/rGO composite was successfully utilized to fabricate ZnO/rGO-modified glassy carbon electrode (ZnO/rGO/GCE) for the selective and trace level determination of TCP. The conductivity and electrocatalytic behaviors of ZnO/rGO/GCE were examined through different modes of electrochemical setup. Under the optimal operating conditions such as a scan rate of 80 mV.s−1, PBS electrolyte (pH 7.0), and the concentration range of 0.01–80 μM, the fabricated electrochemical sensor manifested outstanding responses for monitoring TCP. The limit of detection (LOD) and limit of quantification (LOQ) of the ZnO/rGO/GCE for TCP were found as 0.0067 μM and 0.019 μM, respectively. Moreover, the anti-interference profile and stable nature of ZnO/rGO/GCE made the suggested electrochemical sensor a superb tool for quantifying TCP in a real matrix.

In this study, we synthesized a reduced graphene oxide-manganese dioxide (rGO-MnO2) composite material using a one-step hydrothermal method and used it as a transducer layer in solid-state ion-selective electrodes (ISEs) for monitoring potassium and sodium ions in sweat. The rGO-MnO2 composite was characterized by scanning electron microscopy (SEM) and X-ray diffraction (XRD), revealing its unique surface morphology and crystalline structures. Electrochemical characterizations, including cyclic voltammetry (CV) and potential response testing, demonstrated the excellent performance of the rGO-MnO2 composite material as a transducer layer in ISEs. The fabricated electrodes displayed good linear responses to potassium and sodium ions, with a voltage response of 36.4 mV and 47.6 mV per unit concentration change, respectively. The electrodes also exhibited improved resistance to gas interference, such as O2, N2, and CO2. We utilized these ISEs to measure changes in potassium and sodium ion concentrations in sweat samples collected over nine days of exercise, demonstrating the practical application of the rGO-MnO2-based ISEs. This work highlights the potential of using graphene/metal oxide composites as solid contact materials in ISEs for cost-effective and stable ion sensing applications.

가상현실이란 디지털로 표현된 가상 환경을 뜻하며 인터넷 쇼핑, 아바타 등 기본적으로 디지털 환경을 일컫는 단어이며, 최근에는 머리에 장착하는 디스플레이(HMD : Head Mounted Display)의 등장으로 사용자가 현실과 유사한 환경을 직접 경험하는 체험형 콘텐츠로서 의미를 확장했다. 현재 가상현실은 게임을 비롯한 힐링 콘텐츠, 관광, 군사 시뮬레이션 다양한 분야에서 주목받고 있으며 HMD의 보급 또한 활발하다. 사용자가 가상현실 콘텐츠를 체험하기 위해서는 몇 가지 제약이 발생하는데, 사용자의 시야가 차단되 현실공간감각이 상실된다. 따라서 기존에 사용되었던 입력장치인 키보드, 마우스 등의 사용에 어려움이 있으며 HMD를 개발하는 개발사들은 위의 문제를 해결하고자 가상현실 체험에 특화된 핸드트래킹 디바이스를 제공한다. 하지만 이 또한 상호작용, 이동, 제스처가 손에 집중되어있어 가상환경에 익숙하지 않은 이용자의 사용자 편의가 낮다. 본 논문은 이러한 이동의 문제를 아두이노를 통해 제작한 발 트레킹 디바이스로 이동을 분리시켜 해결하고자 하였다. IMU의 각속도계와 가속도계를 이용해 다리의 궤적을 측정하려 하였고, 이때 발생한 오차는 상보필터를 통해 해결하였다. 또한 기본적으로 발생하는 센싱-통신-연산 과정에서의 노이즈는 두가지 이동평균기법과 생략평균값을 이용해 안정화 시켰다. 사용자는 해당 장비와 Oculus Rift를 착용하고 Unity3d환경으로 구축된 실험환경에서 임무 수행 속도, 이동방향 오차율등을 측정해 기존 HMD컨트롤러와 본 논문에서 제시하는 컨트롤러를 비교 검증했다. 실험 결과 임무 수행 속도와 이동 오차율 모두에서 본 논문에서 제시하는 장치가 우수한 데이터를 제공하였다. 본 실험 결과를 토대로 이동조작 분리가 높은 접근성을 제공한다는 것을 확인하였다. 본 논문은 HMD 이동 컨트롤러를 포함한 이후 개발되는 다양한 사용자 제스처 인식 컨트롤러에도 적용 가능할것으로 보인다.

Recently, measuring instruments for SHM of structures has been developed. In general, the wireless transmission of sensor signals, compared to its wired counterpart, is preferable due to the absence of triboelectric noise and elimination of the requirement of a cumbersome cable. However, in extreme environments, the sensor may be less sensitive to temperature changes and to the distance between the sensor and data logger. This may compromise on the performance of the sensor and instrumentation. Therefore, in this paper, free vibration experiments were conducted using wireless MEMS sensors at an actual site. Measurement was assessed in time and frequency domain by changing the temperature variation at(- 8℃, - 12℃ and - 16℃) and the communication distance (20m, 40m, 60m, 80m).

폐양액 발생을 최소화할 수 있는 배액제로형 수경재배기술 개발을 위하여 토마토 수경재배 시 배액제로 센서를 이용하여 배액을 제로화 또는 최소화하였을 때 표준배액량 처리와 비교하여 근권환경 변화와 토마토의 생육, 수량, 품질 등에 미치는 영향을 구명하였다. 처리별 주당 1일 공급량은 표준배액률 처리가 1.4, 배액제로 1처리가 0.9, 배액제로 2처리가 0.8L이었고, 배액률은 표준배액률 처리가 23.8, 배액제로 1처리가 8.6, 배액제로 2 처리가 3.7%이었다. 표준배액률 처리, 배액제로 1과, 2처리의 함수율과 배지 내 EC는 각각 64.5~88.0%와 1.5~3.5dS·m-1, 40.3~76.0%와 2.5~4.0dS·m-1, 그리고 56.3~69.0%, 2.7~3.7dS·m-1이었다. 토마토 생육은 표준배액률 처리에 비해 배액제로 처리에서 엽장, 엽수, 경경은 차이가 없었으나, 초장과 엽폭이 작은 경향을 보였다. 토마토 수량은 표준배액률 처리에 비해 배액제로 처리에서 상품수량이 7.7~12% 적고 1과중이 작았으나, 당도는 반대로 높았고 상품과률은 차이가 없었다.

Global localization is one of the essential issues for mobile robot navigation. In this study, an indoor global localization method is proposed which uses a Kinect sensor and a monocular upward-looking camera. The proposed method generates an environment map which consists of a grid map, a ceiling feature map from the upward-looking camera, and a spatial feature map obtained from the Kinect sensor. The method selects robot pose candidates using the spatial feature map and updates sample poses by particle filter based on the grid map. Localization success is determined by calculating the matching error from the ceiling feature map. In various experiments, the proposed method achieved a position accuracy of 0.12m and a position update speed of 10.4s, which is robust enough for real-world applications.

This paper presents URS (Ubiquitous Robotic Space) Modeling and service technique for the robotic security service while bridging between virtual space and physical space. First, this paper introduces a concept of virtual URS and responsive virtual URS. Second, this paper addresses modeling of URS which covers modeling of indoor geometry and environment sensor. Third, this paper describes virtual URS services including interactive virual-physical bridging service.

This paper introduces a prototype smart home environment that is built in the research building to demonstrate the feasibility of a robot-assisted future home environment. Localization, navigation, object recognition and handling are core functionalities that an intelligent service robot should provide. A huge amount of research effort has been made to make the service robot perform these functions with its own sensors, actuators and a knowledge base. With all complicated configuration of sensors, actuators and a database, the robot could only perform the given tasks in a predefined environment or show the limited capabilities in a natural environment. We started a smart home environment for service robots for simple service robots to provide reliable services by communicating with the environment through the wireless sensor networks. In this paper, we introduce various types of smart devices that are developed for assisting the robot in the environment by providing sensor and actuator capabilities. In addition, we present how the devices are integrated to constitute the smart home environment for service robots.