• Proceedings of the Korean Society of Crop Science Conference
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• 2022.10a
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• pp.161-161
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• 2022

This study aimed to investigate the effect of growth regulators on the formation of the organ in the in vitro propagation of diploid and tetraploid Codonopsis lanceolata, and gain the basic data for in vitro propagation of superior C. lanceolata. In the case of diploid C. lanceolata, the highestshoot formation (3.0) was observed at 0.5 mg·L^-1 addition medium with low IBA concentration. The shoot formation of tetraploid C. lanceolata was suppressed by addition of IBA. In the addition of lAA, the shoot formation of diploid C. lanceolata was slightly higher at 1.0 mg·-L^-1 addition medium than that of control group, whereas tetraploid C. lanceolata showed the highest number (5.4) from control group. In the case of NAA, the shoot formation of diploid and tetra C. lanceolata tended to decrease at higher concentration. In terms of BA addition, the shoot formation of diploid C. lanceolata was increased by the addition of BA, whereaswhile the growth of shoot was decreased by the addition of BA. In the case of tetraploid C. lanceolata, shoot was found to be formed by the addition of low concentration of BA, and the growth of shoot was inhibited with the higher addition concentration of BA. With the addition of kinetin, the shoot formation of diploid C. lanceolata was slightly higher than that of control group, and the formation of adventitious root was highest (5.3) in the control group. In the case of tetraploid C. lanceolata, the shoot formation was similar in all treatment groups, but the formation and growth of adventitious root were significantly lower than that of diploid C. lanceolata. In the case of TDZ addition, the shoot formation of diploid C. lanceolata showed the pronounced results at 5.0 mg·L^-1 addition medium, and the growth of shoot was inhibited by the addition of TDZ. The formation of adventitious root was 5.3 and 4.9 in the control group and 0.1 mg·L^-1 addition medium respectively. The formation of the shoot of tetraploid C. lanceolata showed better results with the higher concentration of TDZ, and the growth was better with the lower concentration of TDZ. The formation and growth of adventitious root were significantly slower than that of diploid C. lanceolata.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.339-349
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• 2017

In this paper, we present a finite-time sliding mode control (FSMC) with an integral finite-time sliding surface for applying the concept of graph theory to a distributed wheeled mobile robot (WMR) system. The kinematic and dynamic property of the WMR system are considered simultaneously to design a finite-time sliding mode controller. Next, consensus and formation control laws for distributed WMR systems are derived by using the graph theory. The kinematic and dynamic controllers are applied simultaneously to compensate the dynamic effect of the WMR system. Compared to the conventional sliding mode control (SMC), fast convergence is assured and the finite-time performance index is derived using extended Lyapunov function with adaptive law to describe the uncertainty. Numerical simulation results of formation control for WMR systems shows the efficacy of the proposed controller.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.60 no.2
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• pp.63-67
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• 2011

This paper presents the mobile robot control based on vision system. The proposed vision based controller consist of the camera tracking controller and the formation controller. Th e camera controller has the adaptive gain based on IBVS. The formation controller which is designed in the sense of the Lyapunov stability follows the leader. Simluation results show that the proposed vision based mobile robot control is validated for indoor mobile robot applications.

• Journal of Periodontal and Implant Science
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• v.29 no.1
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• pp.153-171
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• 1999

The purpose of this study was to evaluate the effect of modified calcium sulfate paste on periodontal regeneration. l-wall intrabony defect(mesio-distal width: 4mm, depth: 4mm) was surgically created on the distal side of P2 and mesial side of p4 in four dogs. The control group(GFS) was treated with conventional flap operation alone, and the experimental group(CS) was treated with conventional flap operation with modified calcium sulfate paste application. Both control and experimental groups were sacrificed after 8weeks of healing period, The results of histological and histometric observations were as follows. 1. The length of the junctional epithelium was 0.41${\pm}$0.01mm in the control groups, 0.47${\pm}$0.01mm in the experimental group. 2. The connective tissue attachment was 0.28${\pm}$0.02mm(6.15${\pm}$0.28%) in the control group, 0.18${\pm}$0.01mm(3.41${\pm}$0.14%) in the experimental group. The control group showed more connective tissue attachment. 3. The new cementum formation was 3.80${\pm}$0.06mm(84.80${\pm}$0.33%) in the control group, 4.49${\pm}$0.06mm(87.57${\pm}$0.15%) in the experimental group. Both groups showed a lot of new cementum formation. 4. The new bone formation was 1.43${\pm}$0.03mm(32.37%) in the control group, 2.04${\pm}$O.09mm(40.94%) in the experimental group. 5. The inflamatory cells were observed partially around resorbed calcium sulfate in the connective tissue of the experimental group. 6. Partially resorbed calcium sulfate were found within the connective tissue, around alveolar bone, and in the newly formed alveolar bone, On the basis of these results, newly formed calcium sulfate paste enhanced new bone formation and new cementum formation. The resorption rate of calcium sulfate seems to be controlled by the add-in compounds. Thus research about biocompatibility and adequate resorptionrate is required to develop a improved material.

• Journal of Astronomy and Space Sciences
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• v.23 no.4
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• pp.405-414
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• 2006

Satellite formation flying has become a critical issue in the aerospace engineering because it is considered as an enabling technology for many space missions. Thus, many nonlinear control theories have been developed for the tracking problem of satellite formation flying, which include full-nonlinear dynamics, external disturbances and parameter uncertainty. In this study, nonlinear adaptive control law is developed using an adaptive backstepping technique to solve the relative position tracking problem of the satellite formation flying in the presence of mass uncertainty and the bounded external disturbance. Simulation studies are included to demonstrate the proposed controller performance. The proposed controller is shown to guarantee the system stability against the external bounded disturbances in the presence of mass uncertainty.

• Ocean and Polar Research
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• v.36 no.4
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• pp.465-473
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• 2014

This paper proposes a formation control method by which multi-mining robots maintain a specified formation and follow a path. To secure the path tracking performance, a pure-pursuit algorithm is considered for each individual robot, and to minimize the deviation from the reference path, speed reduction in the steering motion is added. For the formation, in which two robots are parallel in a lateral direction, the robots track the specified path at a constant distance. In this way, the Leader-Follower method is adopted and the following robot knows the position and heading angle of the leader robot. Through the experimental test using two ground vehicle models, the performance is verified.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.11
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• pp.1023-1030
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• 2014

This paper presents a new method to control swarm robots so that they can keep the formation while following a curved path. The main idea is to utilize the information on the instant center of gyration. For a given path, location of the instant center of the formation center is calculated, and individual robots follow the circular path around the calculated instant center. Performance of curvature-radius based method is compared with leader-follower referenced method via MATLAB simulation.

• Journal of Astronomy and Space Sciences
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• v.20 no.4
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• pp.365-374
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• 2003

Satellite formation flying is currently an active area of research in the aerospace engineering. So it has been researched by various authors. In this study, a tracking controller using sliding mode techniques was designed to control a satellite for the satellite formation flying. In general, Hill's equations are used to describe the relative motion of the follower satellite with respect to the leader satellite. However the modified Hill's equations considering the $J_2$ perturbation were used for the design of sliding mode controller. The extended Kalman filter was applied to estimate the state vector based on the measurements of relative distance and velocity between two satellites. The simulation results show that the follower satellite tracks the desired trajectory well by thruster operations based on the sliding mode control law.

• The Journal of Korea Robotics Society
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• v.3 no.2
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• pp.106-111
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• 2008

This paper presents a decentralized coordination for a small-scale mobile robot teams performing a task through cooperation. Robot teams are required to generate and maintain various geometric patterns adapting to an environment and/or a task in many cooperative applications. In particular, all robots must continue to strive toward achieving the team's mission even if some members fail to perform their role. Toward this end, given the number of robots in a team, an effective coordination is investigated for decentralized formation control strategies. Specifically, all members are required first to reach agreement on their coordinate system and have an identifier (ID) for role assignment in a self-organizing way. Then, employing IDs on individual robots within a common coordinate system, a decentralized neighbor-referenced formation control is realized to generate, keep, and switch between different geometric shapes. This approach is verified using an in-house simulator and physical mobile robots. We detail and evaluate the formation control approach, whose common features include self-organization, robustness, and flexibility.

• Journal of Periodontal and Implant Science
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• v.35 no.4
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• pp.823-837
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• 2005

The purpose of this study was to study the histopathological correlation between the use of platelet-rich plasma and enamel matrix protein used in conjunction with xenograft. compared to a control group with regards to bone regeneration at the grade III furcation area in beagle dogs. Control group was treated with bovine derived bone $powder(Biocera^{(R)})$, and experimental I group was treated with bovine derived bone powder and Platelet-rich plasma and experimental II group was treated with bovine derived bone powder and Enamel matrix $protein(Emdogain^{(R)})$. The regeneration rate of bone formation was observed and compared histopathologically at 2. 4, and 8 weeks after surgery. The results were as follows: 1. In control group and both experimental groups. inflammatory cells were observed but, new bone formation wasn't. 2. In control group, new cementum on the notch was found in 4 weeks, less mature periodontal ligament when compared to that of experimental group was found and cementum formation was great but, regeneration couldn't be seen in 8 weeks. 3. Experimental I group. new bone formation in the area adjacent to alveolar bone and graft material surrounded by more dense connective tissue were found in 4 weeks. New bone formation up to crown portion was found and periodontal ligament was aligned functionally and cementum more mature. 4. Experimental II group, new bone formation was found under the defect area in 4 weeks and new bone formation around graft material in 8 weeks, too, and there were a number of fibroblasts, blood vessels, acellular cementum, which was less mature when compared to that of experimental I group, and dense collagen fiber like which normal periodontal ligament has in periodontal ligament of experimental II group in 8 weeks. 5. As a result of histologic finding, bone formation rate were 18.0${\pm}$7.87%(control group), 34. 05${pm}$7.25%(experimental I group), 19.33 ${pm}$5.15%(experimental II group) in 4 weeks and 21.89${pm}$1.58%(control group), 38.82${pm}$3.2(experimental I group), 37.65${pm}$9.22%(experimental II group) in 8 weeks. 6. Statistically significant ratio of bone formation was observed in experimental I group in 4 weeks and in experimental II group in 8 weeks. When experimental I group was compared to experimental II group, the ratio of bone formation in experimental I group was higher than that in experimental II group in 4 weeks(p<0.05). This results suggest that platelet-rich plasma showed more new bone formation than enamel matrix protein within 4 weeks. And use of enamel matrix protein in the treatment of periodontal bone defects starts to enhance regeneration after 8 weeks in beagle dogs.