• Journal of the Korean Institute of Telematics and Electronics S
• /
• v.35S no.10
• /
• pp.64-76
• /
• 1998

In this paper, we propose the dynamic modeling, path planning and tracking algorithms of 4-wheeled 2-d.o.f.(degree of freedom) mobile robot(WMR). The gaussian functions are applied to design the smooth path of WMR. To calculate the WMR position in real time, we use three components of inertial measurement units(IMU). These units have initial error because of the rotation rate of earth, gravity acceleration and so on. Therefore we derive the initial error model of IMU, and compare the fitness diagnosis about probability characteristics of real data adn estimated data. The performance of IMU with error model and Kalman filter is compared to that without filter and error model. The simulation results show that the proposed dynamic model, path planning and tracking algorithms are more useful than the conventional control algorithm.

• Korean Journal of Plant Resources
• /
• v.20 no.3
• /
• pp.234-241
• /
• 2007

The present study was undertaken to classify and describe the riparian vegetation of the 6 river${\cdot}$stream of Korea Peninsula. As a result the vegetation was divided into nineteen communities. The vegetation units obtained in the present study were as follow: A: Salix koreensis community, B: Salix gracilistyla community, C: Robinia pseudo-acacia community, D: Amorpha fluticosa community, E: Brousonnetia papyrifera community, F: Phyllostachys bambusoides community, G: Rubus corchorifolius community, H: Phramities japonica community, I: Phramites communis community, J: Miscanthus sacchariflorus community, K: Miscanthus sinesis var. purpurascens community, L: Artemisia princeps var. orientalis community, M: Humulus japonicus community, N: Zoysia japonica community, O: Inperata cylindrica var. koenigii community, P: Agropyron tsukushiense var. transiens community, Q: Juncos effusus var. decipiens community, R: Rumex crispus community, S: Persicaria hydropiper community. The vegetation characteristics of riversides was recovered in the surveyed results according to river${\cdot}$stream basin, in other words, 10 communities in the upper river${\cdot}$stream riparian, 15 communities in the middle river${\cdot}$stream riparian, 10 communities in the down river${\cdot}$stream riparian. The Phragmites japonica community in the upper and Phragmites communis community in the down was analyzed by common community of the 6 river${\cdot}$stream riparian, respectively, but none in the middle. The standing profile of vegetation across 6 river${\cdot}$stream was seen stepwise Phragmites japonica community, Salix gracilistyla community, Miscanthus sinensis var. purpurascens community, shrub community by natural waterway in the upper, Salix gracilistyla community, Phragmites communis community, Rumex crispus community, Miscanthus sacchariflorus community, Humulus japonicus community in the middle, Phragmites communis community in the down. The differences of distributional featurs of vegetation emerged from the riparian of the 6 river${\cdot}$stream, but don't from the 6 river${\cdot}$stream.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
• /
• 2003.05a
• /
• pp.149-156
• /
• 2003

This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. The errors of inertial measurement units increase with time due to the bias errors of gyros and accelerometers. A navigational system model is derived to include the error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors and correct the state equation when the measurements are available. Simulation was performed with the 6-d.o.f. equations of motion of SAUV in a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass and a depth senor. The error of the estimated position still slowly drifts in horizontal plane about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.

• Journal of Life Science
• /
• v.28 no.4
• /
• pp.435-443
• /
• 2018

AMP-activated protein kinase (AMPK) functions as a metabolic master through regulating and restoring cellular energy balance. In skeletal muscle, AMPK increases myofibril protein degradation through the expression of muscle-specific ubiquitin ligases. Mori Folium, the leaf of Morus alba, is a traditional medicinal herb with various pharmacological functions; however, the effects associated with muscle atrophy have not been fully identified. In this study, we confirmed the effects of AMPK activation by examining the effects of 5-aminoimidazole-4-carboxamide ribonucleotide (AICAR), an activator of AMPK, on the induction of atrophy and expression of atrophy-related genes in C2C12 myotubes. We also investigated the effects of the ethanol extract of Mori Folium (EEMF) on the recovery of AICAR-induced muscle atrophy in C2C12 myotubes. It was found that exposure to AICAR resulted in the stimulation of Forkhead box O3a (FOXO3a); an up-regulation of muscle-specific ubiquitin ligases such as Muscle Atrophy F-box (MAFbx)/atrogin-1 and muscle RING finger-1 (MuRF1), and a down-regulation of muscle-specific transcription factors, such as MyoD and myogenin; with the activation of AMPK. In addition, AICAR without cytotoxicity indicated a decrease in diameter of C2C12 myotubes. However, treatment with EEMF significantly suppressed AICAR-induced muscle atrophy of C2C12 myotubes in a dose-dependent manner as confirmed by a decrease in myotube diameter, which is associated with a reversed stimulation of FOXO3a by the inhibition of AMPK activation. These results indicate that the activation of AMPK by AICAR induces muscle atrophy, and EEMF has preeminent effects on the inhibition of AICAR-induced muscle atrophy through the AMPK signaling pathway.

• Journal of the Korean Institute of Telematics and Electronics D
• /
• v.36D no.1
• /
• pp.29-37
• /
• 1999

In this study, we have prepared PLT thin films having various La concentrations by using sol-gel method and studied on the effect of La concentration on the electrical properties of PLT thin films. As the La concentration increases from 5mol% to 28mol%, the dielectric constant at 10kHz increases from 428 to 761, while the loss tangent decreases from 0.063 to 0.024. Also, the leakage current density at 150kV/cm has a tendency to decrease from 6.96${\mu}A/cm^2$ to 0.79${\mu}A/cm^2$. In the result of hysteresis loops of PLT thin films, the remanent polariation and the coercive field decrease from 9.55${\mu}C/cm^2$ to 1.10${\mu}C/cm^2$ and from 46.4kV/cm to 13.7kV/cm, respectively. With the result of the fatigue test on the PLT thin films, we have found that the fatigue properties are improved remarkably as the La concentration increases from 5 mol% to 28mol%. In particular, the PLT28) has paraelectric phase and its charge storage clensity and leakage current density at 5V are 134fC/${\mu}cm^2$ and 1.01${\mu}A/cm^2$, respectively. The remanent polarization and coercive field of the PLT(10) film are 6.96${\mu}C/cm^2$ and 40.2kV/cm, respectively. After applying of $10^9$ square pulses with ${\pm}5V$, the remanent polarilzation of the PLT(10) film decreases about 20% from the initial state. In the results, we conclude that the 10mol% and the 28mol% La doped PLT thin films are very suitable for the capacitor dielectrics of new generation of DRAM and NVFRAM respecitively.

• Korean Journal of Materials Research
• /
• v.22 no.2
• /
• pp.103-109
• /
• 2012

Red-emitting $Eu^{3+}$-activated $(Y_{0.95-x}Al_x)VO_4$ (0 < x $\leq$ 0.12) nanophosphors with the particle size of ~30 nm and the high crystallinity have been successfully synthesized by a hydrothermal reaction. In the synthetic process, deionized water as a solvent and ethylene glycol as a capping agent were used. The crystalline phase, particle morphology, and the photoluminescence properties of the excitation spectrum, emission intensity, color coordinates and decay time, of the prepared $(Y_{0.95-x}Al_x)VO_4:Eu^{3+}$ nanophosphors were compared with those of the $YVO_4:Eu^{3+}$. Under 147 nm excitation, $(Y_{0.95-x}Al_x)VO_4$ nanophosphors showed strong red luminescence due to the $^5D_0-^7F_2$ transition of $Eu^{3+}$ at 619 nm. The luminescence intensity of $YVO_4:Eu^{3+}$ enhanced with partial substitution of $Al^{3+}$ for $Y^{3+}$ and the maximum emission intensity was accomplished at the $Al^{3+}$ content of 10 mol%. By the addition of $Al^{3+}$, decay time of the $(Y,Al)VO_4:Eu^{3+}$ nanophosphor was decreased in comparison with that of the $YVO_4:Eu^{3+}$ nanophosphor. Also, the substitution of $Al^{3+}$ for $Y^{3+}$ invited the improvement of color coordinates due to the increase of R/O ratio in emission intensity. For the formation of transparent layer, the red nanophosphors were fabricated to the paste with ethyl celluloses, anhydrous terpineol, ethanol and deionized water. By screen printing method, a transparent red phosphor layer was formed onto a glass substrate from the paste. The transparent red phosphor layer exhibited the red emission at 619 nm under 147 nm excitation and the transmittance of ~80% at 600 nm.

• Asian-Australasian Journal of Animal Sciences
• /
• v.19 no.1
• /
• pp.97-101
• /
• 2006

Certain amino acids are essential precursors of a variety of important biomolecules in addition to their major function as protein building blocks. ${\delta}$-Aminolevulinic acid (ALA) is synthesized from the condensed form of succinyl-CoA with glycine after decarboxylation catalyzed by ALA synthase. The objective of the study was to determine the effects of ALA supplementation on growth performance, behavioral characteristics and hematological/immune status in nursery pigs. A total of 144 pigs weaned at 21 d of age were allotted to three dietary treatments representing (-) control (w/o antibiotics; NC), (+) control (w/carbadox at 50 mg/kg; PC), and the treatment group with ALA supplementation (0.05%; TA). Each treatment had 6 pens (replicates) with 8 pigs per pen. Pigs were fed phase 1 (21.9% CP, 1.40% Lys) and 2 (20.6% CP, 1.15% Lys) experimental diets for 3 and 2 wks, respectively. Feed intake and weight gain were measured weekly during phase 1 and at the end of phase 2. At the end of phase 2, blood samples were taken and analyzed using an automated hematology analyzer. Skin color and activity of pigs (48 h) from all pens in each treatment were measured at the second week of phase 2. Growth performance was not affected (p>0.05) by the dietary supplementation of ALA during the 5 wk nursery period. Pigs in the TA (6.46) and PC (6.68) had a higher (p<0.05) number of red blood cells ($10^6cell/{\mu}L$) than pigs in the NC (6.15). Pigs in PC (12.16) had a higher (p<0.05) hemoglobin level (g/dL) than pigs in the NC group (11.29) and the TA group (11.47). Pigs in the TA and PC had darker (p<0.05) and less (p<0.05) yellow skin color than pigs in the NC. Pigs in the PC tended (p = 0.081) to be less active than pigs in the other groups. There were no differences in behavioral characteristics between the NC and the TA. The data suggest that ALA supplementation has no adverse effects on growth performance of nursery pigs. Moreover, ALA supplementation increased red blood cell counts which may be beneficial to pigs.

• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• 2002.07a
• /
• pp.195-201
• /
• 2002

입고ㆍ예냉ㆍ출고까지 전 공정을 자동화하고 진공압력을 작물의 품온에 따라 능동적으로 제어할 수 있고 진공챔버내에 콜드트랩을 설치하여 냉각효율을 향상시킨 진공예냉장치를 개발하여 고랭지 배추와 느타리버섯, 상추를 대상으로 예냉성능을 평가하고 예냉이 이들 작물에 미치는 영향을 분석하였다. 가. 새로 개발된 진공식 예냉장치는 공급컨베이어, 좌우 자동 슬라이딩 문, 이송컨베이어, 진공챔버, 진공펌프 콜드트랩, 냉동기로 구성되어 있다. 팔레트를 공급컨베이어에 올려놓고 작동을 시작하면, 입구문이 열리고 팔레트가 진공챔버내로 이송되면, 진공펌프에 의해 진공챔버내의 압력을 떨어뜨리고, 콜드트랩과 냉동기가 작동되어 예냉이 시작된다. 예냉이 완료되면 출구문이 열리고 이송컨베이어가 역회전하여 밖으로 배출되도록 되어있다. 나. 제작된 예냉장치의 예냉성능을 평가하기 위하여 느타리버섯, 고랭지 배추, 상추를 대상으로 냉각속도, 냉각균일도, 예냉후 저장중 품질변화시험을 실시하였다. 다. 시험결과 냉각소요시간은 느타리버섯의 경우 초기품온 15.2$^{\circ}C$에서 $1.5^{\circ}C$까지 냉각시키는데 24분, 고랭지배추는 13.5$^{\circ}C$에서 3.7$^{\circ}C$까지 냉각시키는데 18분, 상추는 13.4$^{\circ}C$에서 2.$0^{\circ}C$까지 냉각시키는데 24분 소요되었다. 평균냉각속도는 느타리버섯이 34.3$^{\circ}C$/h, 고랭지배추 32.6$^{\circ}C$/h, 상추 28.5$^{\circ}C$/h로 나타났다. 라. 또한 각층간의 냉각균일도를 알아보기 위하여 포장상자내에서 표면 품온과 내부품온변화를 조사한 결과 차이가 거의 없어 균일한 냉각이 가능하였다.생기 양단의 온도차는 높게 나타났고, 재생기 양단의 압력 차는 낮게 나타났다. 재생기 축열재로서 철망-철선을 사용할 경우 철선-철망 ø1.2-150이 전열 표면적은 작으나 재생기 양단의 온도차가 가장 큰 것으로 나타났으며 재생기 양단의 압력 차는 가장 낮게 나타나 공시 철망- 철선 혼합 축열재중 가장 우수함을 알 수 있다. 4. 철망사이에 철선을 삽입한 축열재의 경우, 철망사이에 삽입한 철선의 직경이 큰 것이 철선의 직경이 작은 것보다 재생기의 양단의 온도차가 높게 나타났고 재생기 양단의 압력차는 작게 나타났다. 그러므로 철망사이에 철선을 삽입한 것 중 성능이 우수한 것은 150-ø2. 0-150으로 나타났다. 5. 실험한 재생기 축열재들 중에서 성능이 우수한 것들을 비교한 결과, 복합 철선 ø1.2-1 50이 가장 성능이 좋은 것으로 나타났다.적외선.열풍 복합건조방법이 높게 나타나 이것은 곡물 표면에 원적외선 방사에의한 복사열이 전달되어 열장해를 받았기 때문으로 판단되며, 금후 더 연구하여 적정 열풍온도 및 방사체 크기를 구명해야 할 것이다.으로 보여진다 따라서 옻나무 유래 F는 포유동물의 생식기능에 중요하게 작용하는 것으로 사료된다.된다.정량 분석한 결과이다. 시편의 조성은 33.6 at% U, 66.4 at% O의 결과를 얻었다. 산화물 핵연료의 표면 관찰 및 정량 분석 시험시 시편 표면을 전도성 물질로 증착시키지 않고, Silver Paint 에 시편을 접착하는 방법으로도 만족한 시험 결과를 얻을 수 있었다.째, 회복기 중에 일어나는 입자들의 유입은 자기폭풍의 지속시간을 연장시키는 경향을 보이며 큰 자기폭풍일수록 현저했다. 주상에서 관측된 이러한 특성은 서브스톰 확장기 활동이 자기폭풍의 발달과 밀접한 관계가 있음을 시사한다.se that were all low in two aspects, named "the Nonsignificant group". And th

• Restorative Dentistry and Endodontics
• /
• v.20 no.2
• /
• pp.645-654
• /
• 1995

Porphyromonas endodontalis is a black-pigmented anaerobic Gram negative rod which is associated with endodontal infections. It has been isolated from infected dental root canals and submucous abscesses of endodontal origin. DNA probe is an available alternative, offering the direct detection of a specific microorganism. Nucleic-acid probes can be off different types: whole different: whole-genomic, cloned or oligonucleotide probes. Wholegenomic probes are the most sensitive because the entire genome is used for possible hybridization sites. However, as genetically similar species of bacteria are likely to be present in specimences, cross-reactions need to be considered. Cloned probes are isolated sequences of DNA that do not show cross-reactivity and are produced in quantity by cloning in a plasmid vector. Cloned probes can approach the sensitivity found with whole-genomic probes while avoiding known cross-reacting species. Porphyromonas endodontalis ATCC 35406 (serotype $O_1K_1$) was selected in this experiment to develop specific cloned DNA probes. EcoR I-digested genomic DNA fragments of P. endodontalis ATCC 35406 were cloned into pUC18 plasmid vector. From the E. coli transformed with the recombinant plasmid 4 clones were selected to be tested as specific DNA probes. Restriction-digested whole-genomic DNAs prepared from P. gingivalis 38(serotype a), W50(serotype b), A7A1-28(serotype C), P. intermedia 9336(serotype b), G8-9K-3(serotype C), P. endodontalis ATCC 35406(serotype $O_1K_1$), A. a Y4(serotype b), 75(serotype a), 67(serotype c), were each seperated on agarose gel electrophoresis, blotted on nylon membranes, and were hybridized with digoxigenin-dUTP labeled probe. The results were as follows: 1. Three clones of 1.6kb(probe e), 1.6kb(probe f), and 0.9kb(probe h) in size, were obtained. These clones were identified to be a part of the genomic DNA of P. endodontalis ATCC 35406 judging from their specific hybridization to the genomic DNA fragments of their own size on Southern blot. 2. The clones of 4.9kb(probe i) was identified to be a part of the genomic DNA of P. endodontalis ATCC 35406. but not to specific for itself. It was hybridized to P. gingivalis A7A1-28, P. intermedia G89K-3.

• Journal of Korean Academy of Nursing
• /
• v.3 no.3
• /
• pp.78-96
• /
• 1973

This study of 855 clinical nurses was conducted using a questionnaire that include tour different scales; the motives of determining their profession, the attitudes toward their profession, the general items, and desire and expectation to their profession and society. The data were analyzed by Chi-Square Test and Percentage. The results of this study included Hypothesis are as follows; The respondents were 855 (78.6%) among 1088 clinical nurses who were employed by General of Educational hospitals through the city of Seoul, Pusan, Taegu, Daejun, Kwangju, and Wonju. 1) a. In the Age Distribution, the majority of respondents were under the age of 30yrs(88.2%) and the minority were above 31yrs(11.2%), and the preponderance of the majority to minority(9:1) was noted. In compared with area, a group above 31yrs old in Seoul (6.9%) was lower than other area (16.3%). b. The types of Educational background were 16.3% in Voc.Tr. School, 66.5% in Diploma and 17.1% in Degree.146 clinical nurses were from the Degree course, and 142 (97.3%) CN among those of them were occupied around Seoul and 4(2.7%) around other area. c. In the Marital Status,71,5% were the unmarried and 28.5% were the married. And compared with the area was 20.4% in Seoul and 41.4% in other area. d. Most common Length of Clinical Experience after graduation was under tile 2yrs (55.4%), 3yrs(14.2%, and 4yrs (6.2%). In compared with area, Seoul (15.3%) was lower than other area (38.1%) above 5yrs of clinical experience, and the preponderance of tile other area to Seoul as 2.5: I was noted. 2) a. Hypothesis 1 was significant relation between the types of Educational Background of the CN and their motives for selection of Nursing, P-value was below 0.01. b. There was a significance on hypothesis 2 (P＜0.01): that was relation between their motives for selection of clinical nursing field after their graduation and the area which they were employed. c. Hypothesis 4 was accepted as significant relation between the level of satisfaction of their clinical experience after their graduation and the types of educational back ground, P-value was below 0.01. d. There was a significance on hypothesis 5(P＜0.01) that was relation between the CN's response about the orientation program and the area which they were employed. e. Hypothesis 6 was retained as significant relation between the area and inservice educational programme of their employed hospital was practising or not. P-value was 0.01. f. Hypothesis 7 was retained as significant relation between the area and the CN's response about the inservice educational programme of their employed. P-value was below 0.01. g. There was a significance on hypothesis 8 (P<0.0l) that was relation between the CN's experience on attending the professional meeting and the area. h. Hypothesis 10 was accepted as significant relation between the response about the present licence system and their educational background. p-value was below 0.01. i. There was a significance on hypothesis 11 (P fO.01) that was relation between the carrying out the regular and delivery vacation and the area. J. Hypothesis 12 was accepted as significant relation between the CN's consideration of the lack of leisure and their marital status. p-value was below 0.01' k. There was a significance on hypothesis 13 (P <0.01) that was relation between the CN's response about their salary and their marital status. l. Hypothesis 14 was significant relation between the most difficulties of CN during their working and the hospital which they were employed. p-value was below 0.01.