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Development of Robot Platform for Autonomous Underwater Intervention (수중 자율작업용 로봇 플랫폼 개발)

  • Yeu, Taekyeong;Choi, Hyun Taek;Lee, Yoongeon;Chae, Junbo;Lee, Yeongjun;Kim, Seong Soon;Park, Sanghyun;Lee, Tae Hee
    • Journal of Ocean Engineering and Technology
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    • v.33 no.2
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    • pp.168-177
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    • 2019
  • KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.

Antibacterial effect of Zingiberaceae extracts mediated photodynamic therapy on Streptococcus mutans (Streptococcus mutans에 대한 생강과 천연추출물의 광역학 항균효과)

  • Hwang, Hye-Rim;Kang, Si-Mook;Lee, Eun-song;Kim, Baek-Il
    • The Journal of the Korean dental association
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    • v.57 no.10
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    • pp.560-568
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    • 2019
  • Purpose: This study evaluated the antibacterial effects of curcuma, ginger, and finger root extracts in water-soluble powder on planktonic Streptococcus mutans(S.mutans), which is known to cause dental caries, in order to confirm whether these extracts could perform as photosensitizers for the effects of photodynamic therapy (PDT). Methods: This study used the strain of streptococcus mutans ATCC 25175 distributed by the Korean Collection for Type Cultures of the Korea Research Institute of Bioscience & Biotechnology. Commercial edible curcuma, ginger and finger root were used as the natural extracts for the use of photosensitizer. To extract organic solvent, 3 g of each powder was mixed in $30m{\ell}$ of dimethyl sulfoxide (DMSO, VWR, Germany) before extraction. $1.8m{\ell}$ of the photosensitizer solution, manufactured in the concentrations of 5, 0.5, and $0.05mg/m{\ell}$, was mixed with $0.2m{\ell}$ of the S. mutans culture medium that had been cultured for 2 days. To induce the photodynamic reaction, Qraycam (AIOBIO, Seoul, Korea) equipped with 405 nm LED was used to expose light for 5 minutes to irradiate 59 nW energy for 300 seconds. Results: Compared with the case with no light, a higher photodynamic therapeutic effect was confirmed with $0.05mg/m{\ell}$ curcuma powder extract, the concentration of $0.5mg/m{\ell}$ and LED light of 405 nm wavelength (p=0.000, p=0.003). $0.05mg/m{\ell}$ of curcuma powder extract and the concentration of $0.5mg/m{\ell}$ showed 100% antibacterial effect when exposed to light, whereas the concentration of $5mg/m{\ell}$ showed 11.95% antibacterial effect. When exposed to light, $0.05mg/m{\ell}$ of ginger powder extract showed an antibacterial effect which didn't statistically decrease. The concentrations of $0.5mg/m{\ell}$ and $5mg/m{\ell}$ did not show any antibacterial effects. As a result of examining any photodynamic therapeutic effects of finger root powder extract on S. mutans, no statistically significant effect was found. Conclusion: The curcuma powder extract is expected to perform as a photosensitizer. Even though belonging to the same ginger family, ginger powder and finger root powder seem difficult to perform as photosensitizer.

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Relationships of Cocaine and Amphetamine Regulated Transcript with Serotonin in the Brain

  • Park, S. H.;B. S. Kwon;J. R. Chun;J. W. Jahng;Lee, H. T.;K. S. Chung
    • Proceedings of the KSAR Conference
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    • 2001.03a
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    • pp.51-51
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    • 2001
  • Cocaine and amphetamine-regulated transcript (CART) is a satiety factor that is regulated by leptin. It was reported that the mice intracerebroventricularly injected with CART showed behavioral changes resembled with the typical behavioral alterations found in the mice carrying disorders in the brain serotonergic (5-HT) system. Hence, this study was conducted to find out the relationships between CART and 5-HT. We first examined the mRNA levels of CART after the injections of para-chlorophenylalanine (pCPA, 300 mg/kg i.p., single injection or daily for three consecutive days) in the rat brains by in situ hybridization using the mouse CART cDNA probe cloned in our laboratory. Systemic administrations of pCPA, a potent inhibitor of tryptophan hydroxylase, the rate limiting enzyme of 5-HT biosynthesis, acutely depletes the brain 5-HT transporter (5-HTT) in the dorsal raphe nucleus (DRN), which reuptakes terminal 5-HT. Results indicated that the mRNA level of CART significantly decreased in the arcuate nucleus, paraventricular nucleus, and lateral hypothalamic nucleus by three days of daily injection with pCPA with no noticeable change detected 24 hrs after the single injection. The message levels of 5-HTT in DRN decreased in both single and three days of injections. Secondly, to investigate whether CART affect to 5-HT, mouse genomic CART gene, which is consist of 3 exons and 2 introns and mouse neurofilament light (NF-L) chain promoter were cloned. Then, we constructed neuron specific expression vector, which was transfected into HeLa cell using lipid-mediated transfection system. Expression of GFP and CART linked to NF-L-chain promoter in the transfected HeLa cell were detected by using fluorescent microscope and RT-PCR. These results confirmed normal expression of DNA constructs in vitro. Then, to increase brain specific expression of CART in vivo transgenic mice carrying CART gene controlled the deleted NF-L-chain promoter were generated by the DNA microinjection into pronuclei of fertilized embryos. Transgenic mice were detected by Southern blot. Further study is necessary to examine CART expression and 5-HTT in these transgenic mice. Therefore, these results suggest that there maybe a positive molecular correlation between CART and 5-HT in responding to the stimuli.

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Fabrication of High Density and High Uniformity Irradiation Light Source for Exposure Curing System Using 365 nm and 385 nm Wavelength SMD LED and High Transmittance Silicone Resin TIR Bar Type Lens (365 nm 및 385 nm SMD LED와 TIR 바형 렌즈를 이용하는 고밀도 고균일성 특성의 경화용 광원모듈 제작 )

  • Pil Hong Jeong;Beom Jin Kim;Yeong Jin Kim;Dong Gyu Jeon;Hyo Min Kim;Jae Hyeon Kim;Hyeong Min Kim;Gyu Seong Lee;Kawan Anil;Eung Ryul Park;Soon Jae Yu;Min Jun Ann;Do Won Hwang
    • Journal of the Korean Institute of Electrical and Electronic Material Engineers
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    • v.37 no.4
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    • pp.394-399
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    • 2024
  • An irradiator is developed using two UVA wavelength ranges of SMD LEDs as a curing light source. This module has dimensions of 545×111×300 mm3 and is equipped with a TIR bar-shaped lens made of PDMS silicone resin. The developed irradiator offers high uniformity, with 89% in the centerline of the horizontal axis direction, for two different wavelength ranges of 365 nm and 385 nm. The radiation intensity from the light source module shows highly directional characteristics, and the irradiator provides a maximum irradiance of 1,634 mW/cm2 at a working distance of 50 mm. During the initial 5 minutes of operation, the irradiance experiences a rapid decrease. However, this issue is addressed by optimizing the LED's current reduction characteristics and managing the Transistor's temperature rise in the constant current circuit. After continuous operation for approximately 60 minutes. The highest temperature, near the central part of the irradiating surface, reaches 69.7℃, while the lowest temperature, near the edges, is 41.1℃.

A Study on the Dimensions, Surface Area and Volume of Grains (곡립(穀粒)의 치수, 표면적(表面積) 및 체적(體積)에 관(關)한 연구(硏究))

  • Park, Jong Min;Kim, Man Soo
    • Korean Journal of Agricultural Science
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    • v.16 no.1
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    • pp.84-101
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    • 1989
  • An accurate measurement of size, surface area and volume of agricultural products is essential in many engineering operations such as handling and sorting, and in heat transfer studies on heating and cooling processes. Little information is available on these properties due to their irregular shape, and moreover very little information on the rough rice, soybean, barley, and wheat has been published. Physical dimensions of grain, such as length, width, thickness, surface area, and volume vary according to the variety, environmental conditions, temperature, and moisture content. Especially, recent research has emphasized on the variation of these properties with the important factors such as moisture content. The objectives of this study were to determine physical dimensions such as length, width and thickness, surface area and volume of the rough rice, soybean, barley, and wheat as a function of moisture content, to investigate the effect of moisture content on the properties, and to develop exponential equations to predict the surface area and the volume of the grains as a function of physical dimensions. The varieties of the rough rice used in this study were Akibare, Milyang 15, Seomjin, Samkang, Chilseong, and Yongmun, as a soybean sample Jangyeobkong and Hwangkeumkong, as a barley sample Olbori and Salbori, and as a wheat sample Eunpa and Guru were selected, respectively. The physical properties of the grain samples were determined at four levels of moisture content and ten or fifteen replications were run at each moisture content level and each variety. The results of this study are summarized as follows; 1. In comparison of the surface area and the volume of the 0.0375m diameter-sphere measured in this study with the calculated values by the formula the percent error between them showed least values of 0.65% and 0.77% at the rotational degree interval of 15 degree respectively. 2. The statistical test(t-test) results of the physical properties between the types of rough rice, and between the varieties of soybean and wheat indicated that there were significant difference at the 5% level between them. 3. The physical dimensions varied linearly with the moisture content, and the ratios of length to thickness (L/T) and of width to thickness (W/T) in rough rice decreased with increase of moisture content, while increased in soybean, but uniform tendency of the ratios in barley and wheat was not shown. In all of the sample grains except Olbori, sphericity decreased with increase of moisture content. 4. Over the experimental moisture levels, the surface area and the volume were in the ranges of about $45{\sim}51{\times}10^{-6}m^2$, $25{\sim}30{\times}10^{-9}m^3$ for Japonica-type rough rice, about $42{\sim}47{\times}10^{-6}m^2$, $21{\sim}26{\times}10^{-9}m^3$ for Indica${\times}$Japonica type rough rice, about $188{\sim}200{\times}10^{-6}m^2$, $277{\sim}300{\times}10^{-9}m^3$ for Jangyeobkong, about $180{\sim}201{\times}10^{-6}m^2$, $190{\sim}253{\times}10^{-9}m^3$ for Hwangkeumkong, about $60{\sim}69{\times}10^{-6}m^2$, $36{\sim}45{\times}10^{-9}m^3$ for Covered barley, about $47{\sim}60{\times}10^{-6}m^2$, $22{\sim}28{\times}10^{-9}m^3$ for Naked barley, about $51{\sim}20{\times}10^{-6}m^2$, $23{\sim}31{\times}10^{-9}m^3$ for Eunpamill, and about $57{\sim}69{\times}10^{-6}m^2$, $27{\sim}34{\times}10^{-9}m^3$ for Gurumill, respectively. 5. The increasing rate of surface area and volume with increase of moisture content was higher in soybean than other sample grains, and that of Japonica-type was slightly higher than Indica${\times}$Japonica type in rough rice. 6. The regression equations of physical dimensions, surface area and volume were developed as a function of moisture content, the exponential equations of surface area and volume were also developed as a function of physical dimensions, and the regression equations of surface area were also developed as a function of volume in all grain samples.

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Analysis of Indicator Microorganism Concentration in the Rice Cultural Plot after Reclaimed Water Irrigation (하수처리수 관개후 벼재배 시험구에서 지표미생물 거동 분석)

  • Jung, Kwang-Wook;Jeon, Ji-Hong;Ham, Jong-Hwa;Yoon, Chun-Gyeong
    • Korean Journal of Ecology and Environment
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    • v.37 no.1 s.106
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    • pp.112-121
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    • 2004
  • A study was performed to examine the effects of UV-disinfected reclaimed water on microorganism concentration during rice culture. Four treatments were used and each one was triplicated to evaluate the changes of microorganism concentrations: stream water irrigation (STR), biofilter effluent irrigation (BE), UV-disinfected water irrigation with dose of 6 mW ${\cdot}$ s $cm{-2}$ (UV-6), and UV-disinfected water irrigation with dose of 16 mW ${\cdot}$ s $cm{-2}$ (UV-16). The indicator microorganisms of interest were total coliform (TC), fecal coliform (FC), and E. coli. The biofilter effluent from 16-unit apartment sewage treatment plant was used as reclaimed water and flowthrough type UV-disinfection system was used. Concentrations of indicator microorganisms in the treatment plots ranged from $10^2$ to $10^5$ MPN/100 mL during 24 hours after irrigation in May and June, where initial irrigation water for transplanting reparation was biofilter-effluent without UV-disinfection. It implies that initial irrigation using only non-disinfected reclaimed water for puddling in paddy field can be health-concerned because of more chance of farmer's physical contact with elevated concentration of microorganisms. The concentrations of microorganisms varied widely with rainfall, and treatments using UV-disinfected water irrigation showed significantly lower concentrations than others and their levels were within the range of paddy rice field with normal surface water irrigation. The mean concentrations of STR and BE during growing season were in the range of 4 ${\times}\;10^3$ MPN/100 mL for TC, and 2${\times}\;10^3$ MPN/100 mL for FC and E, Coli, While mean concentrations of UV-S and UV-lS were less than 1${\times}\;10^3$ MPN/100 mL for all the indicator microorganisms. Overall, UV-disinfection was thought to be feasible and practical alternative for agricultural reuse of secondary level effluent in Korea.

Efficient Red-Color Emission of InGaN/GaN Double Hetero-Structure Formed on Nano-Pyramid Structure

  • Go, Yeong-Ho;Kim, Je-Hyeong;Gong, Su-Hyeon;Kim, Ju-Seong;Kim, Taek;Jo, Yong-Hun
    • Proceedings of the Korean Vacuum Society Conference
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    • 2012.08a
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    • pp.174-175
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    • 2012
  • (In, Ga) N-based III-nitride semiconductor materials have been viewed as the most promising materials for the applications of blue and green light emitting devices such as light-emitting diodes (LEDs) and laser diodes. Although the InGaN alloy can have wide range of visible wavelength by changing the In composition, it is very hard to grow high quality epilayers of In-rich InGaN because of the thermal instability as well as the large lattice and thermal mismatches. In order to avoid phase separation of InGaN, various kinds of structures of InGaN have been studied. If high-quality In-rich InGaN/GaN multiple quantum well (MQW) structures are available, it is expected to achieve highly efficient phosphor-free white LEDs. In this study, we proposed a novel InGaN double hetero-structure grown on GaN nano-pyramids to generate broad-band red-color emission with high quantum efficiency. In this work, we systematically studied the optical properties of the InGaN pyramid structures. The nano-sized hexagonal pyramid structures were grown on the n-type GaN template by metalorganic chemical vapor deposition. SiNx mask was formed on the n-type GaN template with uniformly patterned circle pattern by laser holography. GaN pyramid structures were selectively grown on the opening area of mask by lateral over-growth followed by growth of InGaN/GaN double hetero-structure. The bird's eye-view scanning electron microscope (SEM) image shows that uniform hexagonal pyramid structures are well arranged. We showed that the pyramid structures have high crystal quality and the thickness of InGaN is varied along the height of pyramids via transmission electron microscope. Because the InGaN/GaN double hetero-structure was grown on the nano-pyramid GaN and on the planar GaN, simultaneously, we investigated the comparative study of the optical properties. Photoluminescence (PL) spectra of nano-pyramid sample and planar sample measured at 10 K. Although the growth condition were exactly the same for two samples, the nano-pyramid sample have much lower energy emission centered at 615 nm, compared to 438 nm for planar sample. Moreover, nano-pyramid sample shows broad-band spectrum, which is originate from structural properties of nano-pyramid structure. To study thermal activation energy and potential fluctuation, we measured PL with changing temperature from 10 K to 300 K. We also measured PL with changing the excitation power from 48 ${\mu}W$ to 48 mW. We can discriminate the origin of the broad-band spectra from the defect-related yellow luminescence of GaN by carrying out PL excitation experiments. The nano-pyramid structure provided highly efficient broad-band red-color emission for the future applications of phosphor-free white LEDs.

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Analysis of Microsatellite DNA Polymorphism for Parentage Testing in Dog Breeds (개의 친자감정을 위한 Microsatellite DNA 다형성 분석)

  • Cho, G. J.;Cho, B. W.;Kim, S. K.;Lee, K. W.;Kim, Y. K.
    • Journal of Animal Science and Technology
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    • v.45 no.2
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    • pp.191-198
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    • 2003
  • This study was carried out to investigate a usefulness of the microsatellite DNA markers for individual identification and parentage verification in three dog breeds. A total of 59 random dog (31 Chiwawa, 20 Poongsan, 8 Labrador Retriever) samples were genotyped by using 14 markers (Chiwawa dog), 16 markers (Poongsan dog), and 12 markers (Labrador Retriever dog) among the 17 international standard markers (PEZ1, 3, 5, 6, 8, 10, 11, 12, 13, 15, 16, 17, 20, 21, FHC2010, FHC2054 and FHC2079), respectively. The number of alleles per locus varied from 4 to 14 with a mean value of 6.07 in Chiwawa dog, 2 to 9 with a mean of 4.75 in Poongsan dog, and 3 to 5 with a mean of 4.00 in Labrador Retriever dog. Observed heterozygosity was ranged 0.419${\sim}$0.968 (mean 0.755), 0.300${\sim}$0.950 (mean 0.597) and 0.125${\sim}$0.750 (mean 0.604), and expected heterozygosity was ranged 0.432${\sim}$0.883 (mean 0.711), 0.262${\sim}$0.817 (mean 0.559) and 0.425${\sim}$0.808 (mean 0.660) in these three dog breeds. PIC value was ranged 0.397${\sim}$0.856 (mean 0.659), 0.222${\sim}$0.772 (mean 0.503) and 0.354${\sim}$0.717 (mean 0.563) in these three dog breeds. Of the 17 markers, PEZ1, PEZ3, PEZ6, PEZ10, PEZ12 loci, PEZ1, PEZ6, PEZ13 loci, and PEZ8, PEZ12 loci have relatively high PIC value (>0.7) in Chiwawa dog, Poongsan dog and Labrador Retriever dog, respectively. The exclusion probability was ranged 0.240${\sim}$0.741, 0.111${\sim}$0.616, and 0.198${\sim}$0.529, and the combination of microsatellite loci was 0.9999, 0.9991, and 0.9968 in Chiwawa dog, Poongsan dog and Labrador Retriever dog, respectively. These results can give basic information for developing parentage verification and individual identification system in these three dog breeds.

Effect of Feeding Aspergillus oryzae Inoculant Food-waste Diets on Performance, $NH_3$ Emission and Fecal Microflora in Broiler Chickens (Aspergilius Oryzae 접종 남은 음식물 사료가 육계의 생산성, $NH_3$ 발생량 및 분내 미생물 성상에 미치는 영향)

  • Hwangbo J.;Hong E. C.;Lee B. S.;Bae H. D.;Kim W.;Nho W. G.;Kim J. H.;Kim I. H.
    • Korean Journal of Poultry Science
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    • v.32 no.4
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    • pp.281-289
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    • 2005
  • This study investigated the effect of dried food-waste diets(FW) fermented by Aspergillus oryzae(AO), on broiler growth performance, $NH_3$, emission and fecal microflora. Three hundreds broilers, two week old Hubbard strain, were randomly allotted to 4 experiments and fed with standards early boiler diet replaced with FW and AFW. In experiment 1, eighty four broilers were distributed into 7 treatments with 4 pens at 3 birds per replicate(pen). The dietary treatments ; T1 was com-soy bean meal based broiler diet(Control), T2, T3, T4 were for basal diet replaced with dried food waste without AO(FW) at the level of 20, 40 and $60\%$, respectively and T5, T6 and T7 followed the same levels for the basal diet but using Aspergillus oryzae inoculate food-waste(AFW). For experiments 2, 3, 4, seventy two broilers were distributed into 6 treatments with 4 pens at 3 birds per replicate(pen), respectively. The dietary treatments were the com-soy bean meal based broiler diet replacement with different combinations of FW and AFW, 1:0, 3:1, 1:1, 1:3, 0:1. at level of 20, 40 and $60\%$, respectively. In Exp. 1, it tended to be decreased in weight gain, however, there were no statistical differences among treatments except FW $60\%$ level of replacement(p<0.05). Feed intake and feed efficiency was not different among treatments. Total bacterial counts were not different between the control and FW diet, but E. coli decreased as the AFW levels of replacement were increased(p<0.05). There were no differences in weight gain, feed intake and feed efficiency among treatments in Exp. 2 and weight gains were lower fur FW diet compared with the control and AFW diet in Exp. 3(p<0.05). In Exp. 4, there were no differences in feed intakes among treatments, but lower in weight gain and feed efficiency in FW diet than that the control. In experiment 3, the $NH_3$ emission was the highest among treatments in FW/AFW 1:0 diet(p<0.05). From these results, it seems that FW would be supplemented up to $20\%$ in broiler diets and AO culture extract could improve FW value as feed supplements.

Analysis of Heavy Metals in $[^{201}Tl]$TICI Injection Using Polarography (폴라로그래피를 이용한 $[^{201}Tl]$염화탈륨 주사액의 중금속 분석)

  • Chun, Kwon-Soo;Suh, Yong-Sup;Yang, Seung-Dae;Ahn, Soon-Hyuk;Kim, Sang-Wook;Choi, Kang-Hyuk;Lee, Dong-Hoon;Lim, Sang-Moo;Yu, Kook-Hyun
    • The Korean Journal of Nuclear Medicine
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    • v.34 no.4
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    • pp.336-343
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    • 2000
  • Purpose: Thallous-201 chloride produced at Korea Cancer Center Hospital(KCCH) is used in detecting cardiovascular disease and cancer. Thallium impurity can cause emesis, catharsis and nausea, so the presence of thallium and other metal impurities should be determined. According to USP and KP, their amounts must be less than 2 ppm in thallium and 5 ppm in total. In this study, the detection method of trace amounts of metal impurities in $[^{201}Tl]$TICI injection with polarography was optimized without environmental contamination. Materials and Methods: For the detection of metal impurities, Osteryoung Square Wave Stripping Voltammetry method was used in Bio-Analytical System (BAS) 50W polarograph. The voltammetry was composed of Dropping Mercury Electrode (DME) as a working electrode, Ag/AgCl as a reference electrode and Pt wire as a counter electrode. Square wave stripping method, which makes use of formation and deformation of amalgam, was adopted to determine the metal impurities, and pH 7 phosphate buffer was used as supporting electrolyte. Results: Tl, Cu and Pb in thallous-201 chloride solution were detected by scanning from 300 mV to -800 mV Calibration curves were made by using $TINO_3,\;CuSO_4\;and\;Pb(NO_3){_2}$ as standard solutions. Tl was confirmed at -450 mV peak potential and Cu at -50 mV Less than 2 ppm of Tl and Cu was detected and Pb was not detected in KCCH-produced thallous-201 chloride injection. Conclusion: Detection limit of thallium and copper is approximately 50 ppb with this method. As a result of this experiment, thallium and other metal impurities in thallous-201 chloride injection, produced at Korea Cancer Center Hospital, are in the regulation of USP and KP Polarograph could be applied for the determination of metal impurities in the quality control of radiopharmaceuticals conveniently without environmental contamination.

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