• KIPS Transactions on Software and Data Engineering
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• v.12 no.10
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• pp.445-454
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• 2023

Recently, various fault diagnosis studies are being conducted utilizing data from collaborative robots. Existing studies performing fault diagnosis on collaborative robots use static data collected based on the assumed operation of predefined devices. Therefore, the fault diagnosis model has a limitation of increasing dependency on the learned data patterns. Additionally, there is a limitation in that a diagnosis reflecting the characteristics of collaborative robots operating with multiple joints could not be conducted due to experiments using a single motor. This paper proposes an LSTM diagnostic model that can overcome these two limitations. The proposed method selects representative normal patterns using the correlation analysis of vibration and current data in single-axis and multi-axis work environments, and generates residual patterns through differences from the normal representative patterns. An LSTM model that can perform gear wear diagnosis for each axis is created using the generated residual patterns as inputs. This fault diagnosis model can not only reduce the dependence on the model's learning data patterns through representative patterns for each operation, but also diagnose faults occurring during multi-axis operation. Finally, reflecting both internal and external data characteristics, the fault diagnosis performance was improved, showing a high diagnostic performance of 98.57%.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.04a
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• pp.5-9
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• 2004

In this paper, we studied the OCT(Optical Coherence Tomography) system which it has been extensively studied because of having some advantages such as high resolution cross-sectional images, low cost, and small size configuration. A basic principle of OCT system is Michelson interferometer. The characteristics of light source determine the resolution and the transmission depth. As a results, the light source have a commercial SLD with a central wavelength of 1,285 nm and FWHM(Full Width at Half Maximum) of 35.3 nm. The optical delay line part is necessary to equal of the optical path length with scattered light or reflected light from sample. In order to equal the optical path length, the stage which is attached to reference mirror is moved linearly by step motor And the interferometer is configured with the Michelson interferometer using single mod fiber, the scanner can be focused of the sample by using the reference arm. Also, the 2-dimensional cross-sectional images were measured with scanning the transverse direction of the sample by using step motor. After detecting the internal signal of lateral direction at a paint of sample, scanner is moved to obtain the cross-sectional image of 2-demensional by using step motor. Photodiode has been used which has high detection sensitivity, excellent noise characteristic, and dynamic range from 800 nm to 1,700 nm. It is detected mixed small signal between noise and interference signal with high frequency After filtering and amplifying this signal, only envelope curve of interference signal is detected. And then, cross-sectional image is shown through converting this signal into digitalized signal using A／D converter. The resolution of the OCT system is about 30$\mu\textrm{m}$ which corresponds to the theoretical resolution. Also, the cross-sectional image of ping-pong ball is measured. The OCT system is configured with Michelson interferometer which has a low contrast because of reducing the power of feedback interference light. Such a problem is overcomed by using the improved inteferometer. Also, in order to obtain the cross-sectional image within a short time, it is necessary to reduce the measurement time for improving the optical delay line.

• Journal of Life Science
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• v.17 no.2 s.82
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• pp.167-173
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• 2007

To study the transcriptional mechanisms by which expression of the murine glial cell-derived neurotrophic factor inducible transcription factor (mGIF) gene is regulated, a murine genomic clone was iso-lated using a mGIF cDNA as probe. A 13-kb genomic fragment, which comprises 4-kb upstream of the transcription initiation site was sequenced. The promoter region lacks a TATA box and CAAT box, is rich in G+C content, and has multiple putative binding sites for the transcription factor Spl. The mGIF gene also has consensus sequences for AP2 binding sites. The transcriptional activity of five deletion mutants of a 2.1-kb fragment was analyzed by modulating transcription of the heterologous luciferase gene in the promoterless plasmid pGL2-Basic. All mutants showed significant transcriptional activity in the murine neuroblastoma cell line NB41A3. Transient expression assays suggested the presence of a positive regulator between -213 and -129 while a negative regulator was found in the region between -806 and -214. Relatively strong transcriptional activity was observed in neuronal NB41A3, glial C6 cells and hepatic HepG2, but very weak activity in skeletal muscle C2C12 cells. These findings confirm the tissue-specific activity of the mGIF promoter and suggest that this gene shares structural and functional similarities with the dopamine receptor genes that it regulates.

• Applied Biological Chemistry
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• v.39 no.6
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• pp.443-448
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• 1996

In order to investigate the function of xylA promoter(Pxyl) as regulatory region Pxyl-lacZ fusion gene was constructed by the insertion of xylA promoter to the multiple cloning site of upstream of lacZ gene in a multicopy numbered plasmid pMC1403 containing promoterless lac operon, which was designated pMCX191, and Pxyl-lacZ fragment from pMCX191 was inserted to low copy numbered plasmid pLG339, designated pLGX191. The expressions of ${\beta}-galactosidase$ in these recombinant plasmids containing Pxyl-lacZ fusion gene were induced strongly by the addition of xylose, repressed by the addition of 0.2% glucose in the presence of xylose. The catabolite repressions were derepressed by the addition of 1 mM cAMP as same as native xylA gene. The fragment of xylA promoter was partially deleted from the upstream of xylA promoter by exonuclease III to investigate the regulation site of xylA promoter and the degrees of deletion derivatives of xylA promoter were analyzed by the DNA base sequencing. By the investigations of the induction by xylose, repression by glucose and derepression by cAMP on xylose isomerase production, the regulation site of xylA promoter may be located in segment between -165 and -59 bp upstream from the initiation site of xylA translation.

• Journal of Korean Society of Environmental Engineers
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• v.34 no.10
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• pp.694-701
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• 2012

The main purpose of this study is to evaluate of backwash system of hydrodynamic separator filter (HSF) with solar powered submerged pumps. It consists of a photovoltaic solar array, control electronics, battery, and two submersible pump powered by a 12 voltage DC motor. The laboratory scale study on treatable potential of micro particles using backwash HSF that was a combined with perlite filter cartridge and backwash nozzles. Since it was not easy to use actual storm water in the scaled-down hydraulic model investigations, it was necessary to reproduce ranges of particle sizes with synthetic materials. The synthesized storm runoff was made with water and addition of particles; ion exchange resin partices, silica gel particles, and commercial area manhole sediment particles. HSF was made of acryl resin with 250 mm of diameter filter chamber and overall height of 800 mm. Four case test were performed with different backwashing conditions and determined the SS removal efficiency with various surface loading rates. The operated range of surface loading rate was about 308~$1,250m^3/m^2/day$. It was found that SS removal efficiency of HSF using two submersible pumps improved by about 18% compared with HSF without backwash. Nonpoint control devices with solar water pumping systems would be useful for backwashing the filter in areas with not suppling electricity and reduce filter media exchange cost.

• Fire Science and Engineering
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• v.26 no.1
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• pp.61-67
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• 2012

In the three-phase power system using the three-phase motor, when any one-phase is open-phase, the unbalanced current flows and the single-phase power supplied by power supply produces overcurrent to motor coil. As a result, the enormous damage and electrical fire can be given to the power system. Recently, the thermal over-current relay (THR) or electronic motor protection relay (EMPR) is mostly used as the open-phase detection device of the three-phase motor. When the over-current or overheat of electric line is generated, it detects and operates circuit breaker, but there is the defect that the sensing speed is slow, the operation can be sometimes failed, and the precision is decreased. In order to improve these problems, this paper is proposed a new control circuit topology for openphase protection using semiconductor devices. Therefore, the proposed open-phase protection device (OPPD) enhances the sensing speed and precision, and has the advantage of simple fitting in the three-phase motor control panel in the field, as it manufactures into small size and light weight. As a result, the proposed OPPD protects the three-phase motor, minimizes the electrical fire from openphase, and contributes for the stable driving of the power system. The performance and confidence of the proposed OPPD is confirmed by a great variety of the experiments of operation characteristic.

• Clean Technology
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• v.19 no.2
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• pp.140-147
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• 2013

In this study, chemical demulsification and electrical treatment methods were investigated for improving the efficiency of water separation from a water/bitumen emulsion. Two types of motor oils (GS Caltex, Deluxe Gold V 7.5 W/30 and, Hyundai gear oil 85 W/140) were used as model oils in basic experiments to investigate the effects of a demulsifier on water/oil emulsion separation. Chemical demulsifiers showing good water separation performance were then used in asphalt emulsion and bitumen emulsion separation trials. Maleic anhydride and e-caprolactam were shown to be good oil soluble demulsifiers and 2-ethylhexyl acrylate and acrylic acid were effective as water soluble demulsifiers. Based on the results obtained in basic experiments, these four demulsifiers were used in further asphalt emulsion experiments. The oil soluble demulsifiers showed higher water separation efficiencies than the water soluble demulsifiers. To investigate the water separation efficiency using a combined chemical and electrical treatment method, the water/bitumen emulsion was separated with the electrical oil treatment apparatus after a chemical demulsifier had been added to it.

• Journal of Life Science
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• v.14 no.3
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• pp.435-440
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• 2004

The gene encoding a extremely thermostable 4-$\alpha$-glucanotransferase from a hyperthermophilic archaeon, Thermococcus litoralis, was cloned, sequenced and expressed in Escherichia coli. The amino acid sequence of the enzyme was distantly related to other functionally-related ones, such as D-enzymes. The enzyme is of industrial interest because of a novel activity of producing cycloamylose and is also important for fundamental studies of protein, sugar-metabolizing enzymes. In this paper, the overexpression of 4-$\alpha$-glucanotransferase in E. coli was carried out expression vector system with lac and T7 promoters. The enzyme was successfully overexpressed, and purified by the heat treatment of a cell-free extract, successive Butyl-Toyopearl and Mono Q chromatographies. The purified recombinant enzyme showed the same specific activity and the same mobility in SDS-PAGE as natural enzyme.

• Horticultural Science & Technology
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• v.17 no.1
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• pp.7-10
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• 1999

This study was carried out with the purpose of looking into the transcriptionally regulated genes related to the anther development, characterizing them, and applying their promoters to induce male-sterile plants and restore their fertility. Fifteen anther-specific clones were isolated from the anther cDNA library of Chinese cabbage through the differential screening and sequenced partially at both ends. These partial sequence data showed that cDNA clones BAN52, 84, 101, and 229 are very similar to polygalacturonase, ascorbate oxidase, $H^+-translocating$ ATPase, and pectin esterase genes respectively. However, the other clones have not been matched to any of gene sequences in data bank. In northern dot blot analysis, the transcripts of cDNA clone BAN5, 10, 33, 52, 57, 102, 103, 215, 229 appeared in the flower bud of 2.1 mm in length and their amounts were gradually increased along with the anther development. Transcription of cDNA clone BAN32, 54, 62, 84, 101 began in flower bud of 3.9 mm, which is the late stage in anther development. However, the transcription of BAN87 was very small, but its transcript was detected in all anther developmental stages.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.10a
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• pp.21-25
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• 2001

기계부품의 소형화 , 고속화, 그리고 저공해, 저소음이 요구되는 세계적인 추세에서 정밀가공기술은 기계 및 전자산 업에서 중요한 위치를 차지하게 되었다. 특히, 무심연삭공정(Centerless Grinding)은 높은 생산성과 정확한 치수 형성의 능력이 있어서 원통형상을 가공하는 중요한 생산공정으로 사용되어 왔다. 예컨대 VCR의 소형 축. Computer Disk Drive, 초소형 모터, 연료분사기등은 쎈터레스 연삭공정을 통하여 높은 정밀도를 얻고 있다. 하지만 이 공정의 특수성과 측정의 어려움으로 인하여 이러한 정밀형상의 형성과정은 아직도 잘 밝혀져있지 않다. 무심연연삭 공정에서는 부품이 기계에 고정되어 있지 않고 공작물 받침날 위에 올려져 있으며 조절바퀴와 연삭바퀴 사이에 눌려져 있다. 조절바퀴가 마찰력으로 공작물을 돌려주며 연삭바퀴에서 연삭가공이 일어나게 된다. 조절바퀴와 연삭바퀴사이의 거리는 기계 자체의 탄성변형으로 인하여 항시 변화하게 되며 이 거리의 변화가 공작물의 정밀형상 형성에 결정적인 영향을 미치게 된다. 본 연구에서는 무심연삭공정중 공작물과 받침날, 조절바퀴, 연삭바퀴의 상대운동을 기하학적으로 해석하였다. 특히 간섭조건을 사용하여 실제 공작물의 운동을 해석하여 순간 명목 절삭깊이를 구하였다. 또한 연삭 특성실험식을 이용하여 수직 연삭력을 구하고 연삭기의 탄성변형을 구하여 순간 실제 절삭깊이를 계산하였다. 그로부터 진원도형성에 관한 기본식을 유도하였다. 본 연구에서 유도된 진원도 형성 식을 이용하여 실험과 동일한 조건으로 컴퓨터 시뮬레이션을 수행하였다. 그리고 원형중의 어떤 이상형상, 즉, 홈또는 돌기는 반복되어서 다른 돌기 또는 홈을 형성 하게되며 그 반복주기는 공작물이 조절바퀴와 연삭바퀴위에 떠있는 각도에 따라 결점 됨을 확인하였다.'유창성' 에 그 목표를 두고 있는 점을 감안한다면, 시작단계부터 반드시 정확한 발음을 지녀야 하는 가의 문제도 생각해 볼 필요가 있다. 경우에 따라서는, 정확한 발음은 그 언어에 대한 숙련도가 점차 높아짐에 따라 이와 병행하여 이루어지는 경우도 흔히 경험하는 일이기 때문이다. 결국 초등영어 교육과정에도 명시되어 있듯이 '...영어에 대한 친숙함과 자신감을 심어주고, 영어에 대한 흥미와 관심을 지속적으로 유지시키는 것이 중요하기' 때문에 무엇보다 중요한 측면은 흥미와 관심을 유지시키는 지적인 학습활동보다는 정의적인 학습활동의 전개가 필요하다고 하겠다. 유리된 AA의 세포독설과 관련된 세포내의 역할에 대해 의문이 제기되었다., PCL에 SOD-1도 경미하게 나타났으나, 경련이 나타난 쥐에서는 KA만을 투여한 흰쥐와 구별되지 않았다. 이상의 APT의 항산화 효과는 KA로 인한 뇌세포 변성 개선에 중요한 인자로 작용할 것으로 사료되나, 보다 명확한 APT의 기전을 검색하고 직접 임상에 응응하기 위하여는 보다 다양한 실험 조건이 보완되어야 찰 것으로 생각된다. 항우울약들의 항혈소판작용은 PKC-기질인 41-43 kD와 20 kD의 인산화를 억제함에 기인되는 것으로 사료된다.다. 것으로 사료된다.다.바와 같이 MCl에서 작은 Dv 값을 갖는데, 이것은 CdCl$_{4}$$^{2-}$ 착이온을 형성하거나 ZnCl$_{4}$$^{2-}$ , ZnCl$_{3}$$^{-}$같은 이온과 MgCl$^{+}$, MgCl$_{2}$같은 이온종을 형성하기 때문인것 같다. 한편 어떠한 용리액에서던지 NH$_{4}$