• KIPS Transactions on Software and Data Engineering
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• v.3 no.9
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• pp.369-374
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• 2014

Path generation methods are required for safe and efficient driving in unmanned autonomous vehicles. There are two kinds of paths: global and local. A global path consists of all the way points including the source and the destination. A local path is the trajectory that a vehicle needs to follow from a way point to the next in the global path. In this paper, we propose a novel method for local path generation through machine learning, with an effective curve function used for initializing the trajectory. First, reinforcement learning is applied to a set of candidate paths to produce the best trajectory with maximal reward. Then the optimal steering angle with respect to the trajectory is determined by training an artificial neural network. Our method outperformed existing approaches and successfully found quality paths in various experimental settings, including the cases with obstacles.

• Journal of the Institute of Convergence Signal Processing
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• v.23 no.4
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• pp.185-193
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• 2022

This paper proposes an adaptive sliding mode control with radial basis function neural network(RBFNN) scheme to enhance the performance of position and attitude tracking control of quadrotor UAV. The RBFNN is utilized on the approximation of nonlinear function in the UAV dynmic model and the weights of the RBFNN are adjusted online according to adaptive law from the Lyapunov stability analysis to ensure the state hitting the sliding surface and sliding along it. In order to compensate the network approximation error and eliminate the existing chattering problems, the sliding mode control term is adjusted by adaptive laws, which can enhance the robust performance of the system. The simulation results of the proposed control method confirm the effectiveness of the proposed controller which applied for a nonlinear quadrotor UAV is presented. Form the results, it's shown that the developed control system is achieved satisfactory control performance and robustness.

• Annual Conference of KIPS
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• 2001.04a
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• pp.441-444
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• 2001

본 논문은 이동 에이전트 시스템이 안고 있는 보안 문제를 해결하고자 하였다. 제안된 프로토콜은 이동 에이전트 및 에이전트 시스템 보안 위험에 대처하기 위하여 ID를 이용한 키 분배 기법과 fit-Shamir 디지털 서명 방식에 기초한 다중 서명 방법을 이용하여 에이전트와 에이전트 플랫폼의 양방향 인증, 실행 결과 데이터의 보호, 생명성 보장을 함께 처리하였으며 중간 검증이 가능하도록 제안되어 불필요한 오버헤드를 갖지 않도록 하였다. 제안된 이동 에이전트 보안 프로토콜을 적용하였을 때 얻을 수 있는 장점은 첫째, 이동에이전트의 생명성을 보장할 수 있으며 둘째, 에이전트의 실행 결과 데이터의 기밀성, 무결성을 보장할 수 있고, 세째, 에이전트 실행의 전 단계를 매 시스템마다 검증함으로써 변경, 삭제 등의 문제가 발생하는 즉시 발견할 수 있다.

• Korean Journal of Food Science and Technology
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• v.31 no.4
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• pp.1115-1119
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• 1999

Chitosan was used to treat lavers during the production of dried lavers. In the procedure of washing the harvested lavers, the lavers were treated with various solutions of 0.1 and 0.01% of 30 cp chitosan and of 0.005 and 0.04% of 90 cp chitosan. Then treated lavers were processed as usual for the production of dried lavers. Significant differences between chitosan-treated and non-treated lavers were observed in flavor, in total microbial counts, and in the number of coliform microorganisms. Off-flavor of dried lavers was reduced significantly by treating with chitosan. Total microbial count was $3.7{\times}10^{4}$ cells/g in the non-treated dried lavers, but they were $5.7{\times}10^{3}$ cells/g and $2.1{\times}10^{3}$ cells/g, respectively, in the dried lavers treated with 0.01% and 0.1% of 30 cp chitosan. The number of coliform microorganisms was 240 cells/g in non-treated dried lavers. However, coliform microorganisms were not detected in the dried lavers treated with 0.1% of 30 cp chitosan. When the dried lavers were used to make Kimbab (rice rolled with laver), the number of total microorganisms increased very slowly during storage time at $20^{\circ}C$ in the Kimbab rolled with chitosan-treated dried lavers compared to that in the Kimbab rolled with non-treated dried lavers.

• Journal of the Korean Society for Marine Environment & Energy
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• v.8 no.4
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• pp.227-235
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• 2005

This study aimed at suggesting management policy directions for the uninhabited islands of Korea which are national land resources with economic potential for tourism and development and strategic value for boundary delineation of territorial waters and exclusive economic zone as well as their unique ecological status. Review of existing management arrangements related to the uninhabited islands revealed six management issues to be addressed: insufficient data and their low reliability, lack of management policy directions, increase in ecosystem deterioration and perturbation by human activities, lack of policy measures for meeting utilization and development demands, weak management base with insufficient personnel and budget, and legal measures not taking Into account their unique ecological and socioeconomic characteristics. The management policy directions to improve the management of the uninhabited islands of Korea include management directions and strategies, and suggestions for legal improvement. Considering the unique ecological value of the uninhabited islands, management directions suggested are anti-degradation in which current and future demands for their utilization and development do not degrade the ecological potential of the uninhabited islands and integration in which land and sea areas are managed as an integrated management unit. Four strategies proposed to follow the management directions are enhancement of the knowledge base through a comprehensive survey, development and legislation of guidelines for the rational management of utilization and development demands, establishment of the comprehensive island debris collection and disposal system, and enhancement of management capacity. Legal improvement for the effective implementation of the management policy directions should include comprehensive uninhabited islands survey, legal utilization restraints and management guidelines based on classification of the islands, management boundary, and improvement of regulations on designated islands.

• Journal of the Korean Society of Food Science and Nutrition
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• v.34 no.1
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• pp.113-119
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• 2005

This study was performed to evaluate the effects of the addition of medicinal herb extracts on shelf-life and quality of seasoning beef. The pH of seasoning beef treated with medicinal herbs was more stable than those without medicinal herbs. The moisture content of non-treated group decreased than that of group treated with medicinal herbs. The shear forces of seasoning beef revealed that non-treated group and other group treated with medicinal herbs were higher than those with medicinal herb extracts less than 0.5% adding medicinal herb extracts. As the storage time increased, the redness of group treated with 2.0% medicinal herbs was most stable among the seasoning beef color. The increase of TBA value was observed as the storage period increased. The total bacterial count of non-treated group was detected to 10$^{8}$ CFU/g, but that of group with medicinal herbs was counted from 10$^4$ CFU/g to 10$^{5}$ CFU/g at 6 days of storage time. The sensory evaluation indicated that the changes of group treated with various concentration of medicinal herbs were scored relatively higher than that of non-treated groups.

• The Korean Journal of Applied Statistics
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• v.18 no.3
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• pp.597-606
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• 2005

The nonresponse in sample survey causes a problem when it comes time to analyze dataset in public-use files where the user has only complete-data methods available and has limited information about the reasons for nonresponse. Recently imputation for nonresponse is becoming a standard approach for handling nonresponse and various imputation methods have been devised . However, most imputation methods concern with continuous traits while many interesting features are measured by binary or ordered categorical scales in sample survey. In this note. an imputation method for ignorable nonresponse in binary or ordered categorical traits is considered.

• Korean Journal of Plant Resources
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• v.10 no.1
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• pp.45-49
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• 1997

This experiment was carried out to know the effects of aerial part cutting on the growth and root yield of Achyranthes japonica. The various cutting treatments were tested. Cutting treaments were 20cm and 30cm cutting from the apical part of plant, when plant height was 30cm and 50cm, respectively. The seed amount was the largest at non-cutting, indication that cutting treatment inhibits fruiting. The most effective treatment for the root growth was 30cm cutting just before flowering time. Cutting just before flowering time increased root diameter, length and root weight comparing with non-cutting.

• Korean Journal of Food Science and Technology
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• v.43 no.1
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• pp.98-104
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• 2011

The storage quality of fresh buckwheat sprouts, as influenced by pretreatment and packaging within processing steps, was investigated to establish appropriate postharvest handling treatment for the commodity. After harvest, the sprouts were dipped in chlorine water (100 ppm), rinsed twice with clean water, pre-cooled with iced water, de-watered, and packed in plastic trays. Sprout samples taken from each processing step were stored at $5^{\circ}C$ for 6 days to measure quality attributes. Viable cell counts of mesophilic aerobes and coliform bacteria were lower by about 1 log scale in the postharvest treated samples compared to an untreated control, although the initial microbial reduction due to the postharvest treatments was offset by cell growth during storage. All sprout samples showed a decrease of fresh weight by approximately 4% after 6 days of storage. However, moisture and soluble solid contents were maintained at the initial levels of the sprouts. No significant difference in surface color was observed among sample treatments. For sensory properties including discoloration, wilting, decay, and visual quality, there were no significant differences among sample treatments. The present results suggest that proper postharvest processing treatments can exert positive effects on extending the shelf-life of fresh buckwheat sprout.

• Korean Journal of Medicinal Crop Science
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• v.7 no.4
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• pp.296-302
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• 1999

This experiment was conducted to study the effect of $CO_2$(0, 2, 500, 5, 000, 10, 000ppm) enrichment by enabling ventilation on micropropagation of multi-shoot and on the saponin contents in vitro in Korean ginseng (Panax ginseng C. A. Meyer). Embryo was cultured in Murashige and Skoog medium added 3mg/ l of Indolbutyric acid, Benzyladenin and Gibberellic acid $(GA_3)$, respectively. $CO_2$, enrichment had little effects on the number of adventitious buds and shoots originated from adventitious buds. The ratio of differentiated shoots to adventitious buds were about 50% in $CO_2$, enrichment treatment. The shoots originated from adventitious bud showed more rapid growth and had larger leaf area than the shoots originated from the leaf primordia did. The number of shoot primordia was the highest in 2, 500ppm of $CO_2$ enrichment treatment. On the contrary, 10,000ppm of $CO_2$, enrichment made smaller the number of shoot primordia and ratio of shoots to shoot primordia. The range of shoots differentiated was from shoot primordia were 15. 4 to 23. 9. The rate of dry weight of cultured shoots showed lowest (7. 5%) in control and highest (8. 59%) in 2, 500ppm of $CO_2$, enrichment. Rate of in vitro flower in control was 7.6% and that in 2500ppm of $CO_2$ was about twice (15.7-16.3%) as much as in control. Flower number per a embryo cultured was about 1.2-1.3. In the multi-shoots with callus enriched by 2, 500ppm of $CO_2$, the contents of crude saponin and ginsenosides in multi-shoots alone were higher than in multi-shoots with callus. The characteristics of ginsenosides in multi-shoots were especially the higher content of ginsenoside Rd, Re, and $Rg_1$.