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.

We used the measurement data derived from a proton transfer reaction time-offlight mass spectrometry (PTR-ToF-MS) to ascertain the source profile of volatile organic compounds (VOCs) from 4 major industrial classifications which showed the highest emissions from a total of 26 industrial classifications of A industrial complex. Methanol (MOH) was indicated as the highest VOC in the industrial classification of fabricated metal manufacture, and it was followed by dichloromethane (DM), ethanol (EN) and acetaldehyde (AAE). In the industrial classification of printing and recording media, the emission of ethylacetate (EA) and toluene (TOL) were the highest, and were followed by acetone (ACT), ethanol (EN) and acetic acid (AA). TOL, MOH, 2-butanol (MEK) and AAE were measured at high concentrations in the classification of rubber and plastic manufacture. In the classification of sewage, wastewater and manure treatment, TOL was the highest, and it was followed by MOH, H2S, and ethylbenzene (EBZ). In future studies, the source profiles for various industrial classifications which can provide scientific evidence must be completed, and then specified mitigation plans of VOCs for each industrial classification should be established.

항공기는 대표적인 인간-기계시스템이다. 인간의 조작과 기계의 작동 완료 시점 사이에는 기계가 작동되기 시작하 는 시간과 기계에 힘이 전달되기 시작하여 완료되는 시간 등의 지연이 발생하며 항공기 조종은 시스템의 지연을 예 측한 타이밍 작업을 통해 이루어진다. 시간지각은 타이밍 작업의 중요한 요소이며, 높은 각성작용과 관련된 불안에 영향을 받는 것으로 알려져 있다. 본 연구는 가상현실 환경에서 현직 조종사를 대상으로 기상, 비행 및 시간 조건이 조종사에게 발생하는 불안과 시간지각에 미치는 영향을 검증하였다. 기상조건은 시계비행 기상 상황과 악기상 상황 으로 구분하였고 비행 및 시간 조건을 달리하여 실험 1, 2를 실시하였다. 실험 1은 비교적 운동량의 변화가 적고 지연이 적은 제자리비행과 수평비행 상황에서 조종간에 추가된 버튼을 사용하여 시간지각을 측정하였다. 실험 2는 운동량의 변화가 많고 지연이 많이 발생하는 이륙상황에서 조종간만을 사용하게 하여 자연스럽게 헬리콥터를 이륙 시키는 과정에서 시간지각을 측정하였다. 실험결과 악기상 상황에서 불안과 심박수가 증가하는 것으로 나타났으며, 특히 실험 1, 2의 모든 비행조건 중 불안이 증가한 상황에서 시간을 과대 추정하는 것으로 나타났다. 이 결과는 불안 의 영향으로 시간을 과대 추정하여 타이밍 작업을 실패할 수 있으며, 이로 인해 조종에 어려움을 겪고 사고로 연결될 가능성이 있음을 시사한다.

Purpose：Conventional pre-saturation pulse for suppressing venous signals cannot be applied to time-of-flight magnetic resonance angiography(TOF-MRA) at 7 Tesla MRI due to specific absorption rate(SAR) limitation. The SAR could be attenuated with using low saturation flip angle, but a few repetitions are needed to reach signals below the steady-state signal of the brain tissues. The purpose of this study was to suppress venous system with clinically acceptable acquisition time by using 90 degree flip angle. Methods：The standard slab-selective radio-frequency and gradient waveform were modified to new-shaped models by minimum-time variable-rate selective excitation(Min-VERSE) algorithm. Excitation slice profile was measured and evaluated by a phantom scan. In volunteer measurement, the vessel-tissue contrast ratio of the sinuses(VTCR_S) and middle cerebral artery(VTCR_MCA) were assessed in correlation to surrounding tissue and compared to the values measured by the conventional TOF(cTOF) pulse sequence. Results：The experimentally-measured profiles showed that there was good agreement between conventional and modified pulse. The total scan time was 5 min 55 sec(Min-VERSE 90 FA, TR 28 ms) and 8 min 50 sec(90 FA, TR 42 ms). The quantitative results of ROI analysis were nearly similar, except the venous signal and VTCR_S at Min-VERSE 90 FA. Conclusions：We have presented that the use of Min-VERSE with high flip angle was useful. The total acquisition time was faster about 3 minutes and the signal analysis was hardly different to the values acquired by the values of 90 FA at cTOF. Since 7T MRI has been suitable for ultra-high resolution imaging, our protocol would be used by default for diagnosing various intracranial vascular pathologies.

본 연구에서는 piperazine 기반 상용화 된 NE70 분리막 표면 성분인 아마이드기가, 산 가수분해 이후 생성된다고 알려져 있는 카르복실과 아민기에 대한 분석을 하고자 한다. 실험 방법으로 15 w/v% 황산 수용액 조건에서 7일간 노출 전/후의 NE70 분리막을 ToF-SIMS 기기를 이용하여 카르복실산과 아민기를 포함하는, Molecular weight이 120 미만인 이차이온들을 비교하였다. 또한, 상대적으로 내산성이 있는 m-phenylene diamine 기반 상용화 된 NE90 분리막을 15 w/v% 황산 수용액 조건에서 63일간 노출 전/후 샘플을 비교군으로 두어 NE70 분리막에서 발생 되는 peak intensity 차이는 산 가수분해로 인해 발생한 것임을 추가로 확인 하였다.

Proteomics may help to detect subtle pollution-related changes, such as responses to mixture pollution at low concentrations, where clear signs of toxicity are absent. Also proteomics provide potential in the discovery of new sensitive biomarkers for environmental pollution. We utilized SELDI-TOF MS (surface enhanced laser desorption. / ionization time-of-flight mass spectrometry) to analyze the proteomic profile of Heterocypris incongruens exposed to several heavy metals (lead, mercury, copper, cadmium and chromium) and pesticides (emamectin benzoate, endosulfan, cypermethrin, mancozeb and paraquat dichloride). Several highly significant biomarkers were selected to make a model of classification analysis. data sets obtained from H. incongruens exposed to pollutants were investigated for differential protein expression by SELDI-TOF MS and decision tree classification. Decision tree model was developed with training set, and then validated with test set from profiling data of H. incongruens. Machine learning techniques provide a promising approach to process the information from mass spectrometry data. Even thought the identification of protein would be ideal, class discrimination does not need it. In the future, this decision tree model would be validated with various levels of pollutants to apply field samples.

This study was conducted to examine the potential of surface enhanced laser desorption/ionization time-of-flight mass spectrometry (SELDI-TOF MS) to screen Tetranychus urticae resistance to pyridaben and dicofol. T. urticae is one of the most important pests in greenhouse and orchard, and huge expense is needed to control because of its strong resistance to acaricides. Consequently speedy and accurate monitoring of acaricidal resistance is the key factor of IPM for T. urticae. SELDI-TOF MS is a novel approach to biomarker discovery that combines two powerful techniques: chromatography and mass spectrometry. It can provide a rapid protein expression profile of acaricidal sensitive and resistant T. urticae. In this study we had different protein and peptide patterns between sensitive and resistant strains to pyridaben and dicofol. In the future this results could be a useful data to develop a good monitoring tool of site and host specific mite resistance to various acaricides.

Metabolomics aims at the comprehensive, qualitative and quantitative analysis of wide arrays of endogenous metabolites in biological samples. It has shown particular promise in the area of toxicology and drug development, functional genomics, system biology and clinical diagnosis. In this study, analytical technique of MS instrument with high resolution mass measurement, such as time-of-flight (TOF) was validated for the purpose of investigation of amino acids, sugars and fatty acids. Rat urine and serum samples were extracted by selected each solvent (50% acetonitrile, 100% acetonitrile, acetone, methanol, water, ether) extraction method. We determined the optimized liquid chromatography/time-of-flight mass spectrometry (LC/TOFMS) system and selected appropriated columns, mobile phases, fragment energy and collision energy, which could search 17 metabolites. The spectral data collected from LC/TOFMS were tested by ANOVA. Obtained with the use of LC/TOFMS technique, our results indicated that (1) MS and MS/MS parameters were optimized and most abundant product ion of each metabolite were selected to be monitorized; (2) with design of experiment analysis, methanol yielded the optimal extraction efficiency. Therefore, the results of this study are expected to be useful in the endogenous metabolite fields according to validated SOP for endogenous amino acids, sugars and fatty acids.

Bacillus thuringiensis (B. t.) strains are important microorganism because they produced a large amount of δ-endotoxin protein per bacterial cell and their toxins are highly toxic to Lepidoptera, Coleoptera, and Diptera depending on B. t. To date, more than a hundred Cry proteins have been identified and classified into 195 holotypes, based on the amino acid sequence identity. The Cry proteins or cry genes from the Korean native B. t. isolates in this study were not identified yet. The electrospray ionization of quadrupole time of flight mass spectrometry (ESI Q-TOF MS) was used to get the internal amino acid sequences of the endotoxin-spore culture mixtures of B. t. isolates, for which polymerase chain reaction (PCR) techniques were unable to detect the cognate genes. Most of Cry proteins seperated, excized, and extracted from the one dimensional - polyacrylamide gel electrophoresis (1D-PAGE), instead of 2D-PAGE, were matched with protein databases using MS-MASCOT search program. The internal amino acid sequences which were submitted to protein BLAST (basic local alignment search tool) had partially homology with the Cry protein databases. Hence, present data strongly suggest that the de novo amino acid sequencing and ESI Q-TOF/MS analysis along with MASCOT search could be used as a simple and rapid method for detection of novel Cry toxins from B. t. isolates and identification of B. t. isolates.

3D depth perception has played an important role in robotics, and many sensory methods have also proposed for it. As a photodetector for 3D sensing, single photon avalanche diode (SPAD) is suggested due to sensitivity and accuracy. We have researched for applying a SPAD chip in our fusion system of time-of-fight (ToF) sensor and stereo camera. Our goal is to upsample of SPAD resolution using RGB stereo camera. Currently, we have 64 x 32 resolution SPAD ToF Sensor, even though there are higher resolution depth sensors such as Kinect V2 and Cube-Eye. This may be a weak point of our system, however we exploit this gap using a transition of idea. A convolution neural network (CNN) is designed to upsample our low resolution depth map using the data of the higher resolution depth as label data. Then, the upsampled depth data using CNN and stereo camera depth data are fused using semi-global matching (SGM) algorithm. We proposed simplified fusion method created for the embedded system.

본 연구는 천연 인듐의 중성자폭획 후에 발생된 감마선을 12개의 BGO(Bi4Ge3O12)섬광검출기로 구성된 검출장치를 이용하여 즉발감마선을 측정하여 중성자공명에의해서 발생된 감마선을 분석하여 중성자의 에너지 1 ~ 300 eV영역에 대하여 공명에너지를 분석하였다. 사용되어진 검출장치는 시료에서 발생된 즉발감마선에 대하여 모든 감마선을 측정할 수 있는 기하학적인 구조로 만들어졌다. 중성자원으로는 교토대학의 원자로연구소의 46-MeV 전자선형가속기의 광핵반응에서 발생하는 중성자를 이용하였다. 중성자발생원으로부터 검출기까지의 거리가 12.7 ± 0.02m 이므로 광핵반응에서 발생하는 강한 X선의 영향을 고려하여 수 keV영역이하의 중성자에너지에 대하여 중성자공명을 측정하였다. 측정되어진 공명들은 1 eV이상의 에너지 영역에서 거대 공명들을 측정하였고 이들 공명들은 이론 에서 알려진 값들과 비교하였다. 본 연구를 통하여 기존에 알려진 거대 공명의 에너지를 확인하였고, 100 eV이상의에너지 영역에서의 공명에너지들에 대한 평가에 의한 이론값들이 실제로 존재하는 공명임을 실험적으로 확인하였다. 1 keV이상의 영역에 대하여는 공명이 연속적인 구조를 보이고 있음을 실험적으로 확인했으며 공명에 대하여 통계적인 평가가 있어야함을 알았다. 91.49 eV 공명은 본 연구를 통하여 처음 발견되어진 공명이라 볼 수 있다.

Cereal seeds, sorghum, foxtail millet, hog millet, adlay, and corn are traditionally used as health assistant as well as energy supplying food in Korea. While beneficial phytochemicals to human have revealed in cereals, the information on peptides from cereals is far less accumulated than major reserve protein. Here, we analyzed peptide profiles using surface enhanced laser desorption/ionization time of flight mass spectrometry (SELDI-TOF MS) in cereal seeds for construction of peptide information and attempted to develop peptide biomarkers for cereal identification. To optimize the analysis condition of SELDI-TOF MS, the effect of dilution factor on binding affinity to protein chips was tested using CM10 and Q10 arrays. Peptide clusters were significantly different at the level of 0.01 p-value. Peak spectra were the most stable in 1:50 of dilution factor in both chip arrays. Numbers of detected peak of 5 cereal seeds were 131 in CM10 and 74 in Q10 array. Each cereal was grouped as a cluster and well discriminated into different cluster in the level of 0.01 p-value. Numbers of potentially identified peptide biomarkers are 11, 13, 9, 5 and 12 in sorghum, foxtail millet, hog millet, adlay and corn, respectively. This study demonstrates that each cereal seed have own distinguishable specific peptides although their function are not identified yet in this study. In addition, the proteomic profiling using SELDI-TOF MS techniques could be a useful and powerful tool to discover peptide biomarker for discrimination and assess crop species, especially under 20 kDa.

Discovery, identification, and informatics of low molecular weight peptide are extensively rising in the field of proteomics research. In this study, we analyzed protein profiles to discover peptide based biomarker for twelve different soybean seeds with three different agronomic types using surface-enhanced laser desorption/ionization time-of-flight mass spectrometry (SELDI-TOF MS). For optimization of SELDI-TOF MS in soybean seed proteome analysis, four different extraction buffers were tested with urea solubilization buffer, thiourea/urea solubilization buffer, phenol extraction buffer, and modified trichloroacetic acid (TCA)/acetone precipitation/urea solubilization extraction buffer. Two different type of ProteinChip arrays, cation exchange (CM10) and anion exchange (Q10), applied to profile peptides. Among the four different extraction buffers, phenol extraction was selected to protein extraction methodology. Numbers of detected peak cluster in twelve soybean seeds were 125 at CM10 and 90 at Q10 array in the mass range from 2 to 40 kDa. Among them, 82 peak clusters at CM10 and 33 peak clusters at Q10 array showed significantly different peak clusters at p<0.00004 (CM10) and p<0.00005 (Q10) among twelve different soybean cultivars. Moreover, 29 peak clusters at CM10 and 17 peak clusters at Q10 array were detected in all cultivars as an ‘universally existed peptide’. In comparison with three different agronomic types, total of 55 peak clusters (CM10) and 23 peak clusters (Q10) were significantly different peak clusters at p<0.00004 and p<0.0001, respectively. In these probability levels, soybean seeds were well discriminated into different cultivar and different type with each other. Also we could find several specific peptide biomarkers for agronomic type.

The neutron capture spectrum for the light nuclide was very useful to study the nuclear structure. In the present study, the capture gamma-ray from the 27-keV resonance of 19F(n,g)20F reaction were measured with an anti-Compton NaI(Tl) spectrometer and the 3-MV Pelletron accelerator of the Research Laboratory for Nuclear Reactors at the Tokyo institute of technology. A neutron Time-of-Flight method was adopted with a 1.5 ns pulsed neutron source by the 7Li(p,n)7Be reaction. In the present experiment, a Teflon((CF2)n) sample was used The sample was disk with a diameter of 90mm. The thickness of sample was determined so that reasonable counting rates could be obtained and the correction was not so large for the self-shielding and multiple scattering of neutrons in the sample, and was 5mm. The primary gamma-ray transitions were compared with previous measurement of Kenny.

금속제련공학 및 환경과학 분야에 있어서 물질전체를 구성하고 있는 화학적 조성이 중요한 요소이나, 입자 표면의 화학조성과 미분화된 입자들의 표면 반응성을 제어함과 동시에, 입자 계면에서 일어나는 중금속과 유기물질등의 반응은 제련공정과 환경오염에 중요한 역할을 한다. 그러므로, 수용액상에 존재하는 여러 종류의 화학 물질과 광물입자 표면 사이에서 일어나는 계면반응 과정의 이해는 상당히 중요한 것이다. 일반적으로 입자 표면 분석에는 ex-situ 법을 사용하는 X-ray photo-electron spectroscopy (XPS) 분석 방법이 많이 적용되고 있으나, 이는 분석대상시료의 크기가 보통 100 마이크론에서 1 cm 정도의 범위 안에 혼재-혼합되어있는 고체 입자들을 분석하기 때문에 채취 분석된 X-ray의 원래 발산한 입자표면을 분석할 수는 없다. 그래서 본 연구에서는 Time-of-Flight Secondary-Ion Mass Spectroscopy (TOF-SIMS)를 응용하여 황화광물의 부유선광 공정 중 생성된 미세한 유화광물입자(30~75 microns) 표면에 형성된 무기, 유기물의 반응 관찰을 통해 이들의 정성분석 및 상대적 정량분석법을 연구하고자 하였다.