• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.293-299
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• 2010

The multiple block localization method in a wide area for multiple robots using iGS is proposed in this paper. The iGS is developed for the indoor global localization using ultrasonic and RF sensors. To measure the distance between a mobile robot and a beacon, the tag on the mobile robot wakes up one beacon to send out the ultrasonic signal and measures the traveling time from the beacon to the mobile robot. As the number of robots is increased, the sampling time of localization also becomes longer. Note that only one robot can localize its own position calling beacons one by one during each of the sampling interval. This is a severe constraint for the localization of multiple robots in a wide area. This paper proposes an efficient localization algorithm for the multiple robots in a wide area which can be divided into multiple blocks. For a given block, a master beacon is designated to synchronize robots. By the access of the synchronization signal, each beacon in the selected group sends out an ultrasonic signal. When the robots in the block receive the ultrasonic signal, they can calculate their own locations based on the distances to the beacons, which are obtained by the multiplication of flight time and velocity of the ultrasonic signal. The efficiency of the algorithm is verified through the real experiments.

• Korean Journal of English Language and Linguistics
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• v.2 no.2
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• pp.185-205
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• 2002

Within the framework of Generalized Sympathy (GS) (Jun 1999), this paper investigates the reasons why phonological rules such as Cluster Simplification, Closed Syllable ${\ae}$-Tensing, and Belfast Dentalization overapply or underapply in Class 2 affixed words in English. According to GS, a morphologically independent word can be treated as a derived word in that it is assumed to have any possible outputs as bases to resemble. As a result, a correspondence relation is triggered between a morphologically independent word being represented as Derived (D) and any possible outputs represented as Base (B), i.e., BD-Faith. In analyses of affixed words, BA-Faith is evoked, instead of BD-Faith. Furthermore, as Benua (1997) suggests, BA-Faith is classified into two correspondence relations; $BA_1$-Faith between Base and Class 1 affixed words, and $BA_2$-Faith between Base and Class 2 affixed words. When the $BA_1$-Faith takes precedence over phonological constraints three rules misapply in Class 2 affixed words. In other words, the misapplications are driven by base-identity effects.

• Journal of Korean Society on Water Environment
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• v.27 no.2
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• pp.218-227
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• 2011

The objective approach for assessment of stream naturalness is an essential part of the stream restoration project. This study proposes the methodology for the assessment of stream naturalness considering physical, biological and chemical factors. Physical factors consists of riffle and pool, river bed material, bank protection, floodplain vegetation and levee materials; biological factors are benthic macroinvertebrate, KSI (Korean Saprobic Index), and IBI (Index of Biological Integrity) and chemical factors are pH, DO (dissolved oxygen), and TP (total phosphorus). This procedure is applied to the Mokgamcheon. As a result, the downstream of Mokgamcheon (zone I) needs the prompt improvement of stream naturalness, compared to the others (zone II and III). This evaluation technique will be an effective tool to quantify the stream naturalness and can be used to set the target of stream restoration project.

• IEIE Transactions on Smart Processing and Computing
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• v.3 no.5
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• pp.338-344
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• 2014

As the role of information collection becomes increasingly important in the enormous data environment, there is growing demand for more intelligent information technologies for managing complex data. On the other hand, it is difficult to find a solution because of the data complexity and big scaled amount. Accordingly, there is a need for a special intelligent knowledge base frame that can be operated by itself flexibly. In this paper, by adopting switching function for signal transmission in the synapse of the human brain, I/E selective activation based knowledge reconfiguring mechanism is proposed for building more intelligent information management system. In particular, knowledge network design, a special knowledge node structure, Type definition, I/E gauge definition and I/E matching scheme are provided. Using these concepts, the proposed system makes the functions of activation by I/E Gauge, selection and reconfiguration. In a more efficient manner, the routing and reasoning process was performed based on the knowledge reconfiguration network. In the experiments, the process of selection by I/E matching, knowledge reconfiguration and routing & reasoning results are described.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.2
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• pp.117-122
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• 2016

Recently, the detection of pH with real-time and in vivo has been focal pointed in the environmental or medical fields. In this work, we developed the pH sensor using graphene sheet. Graphene has high biocompatibility. We fabricated flexible solution-gated field-effect transistors (SGFETs) on graphene sheet transferred on the polyethylene terephthalate (PET) substrate to detect pH in electrolyte solution. The gate length was $500{\mu}m$ and the gate width was 8 mm. We evaluated the current-voltage (I-V) transfer characteristics of graphene SGFETs in pH solution. The drain-source current ($I_{DS}$) and the gate-source voltage ($V_{GS}$) curves of graphene SGFETs were depended on pH value. The Dirac point of graphene SGFETs linearly shifted to the positive direction about 19.32 mV/pH depending on the pH value in electrolyte solution.

• Korean Journal of Environment and Ecology
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• v.31 no.6
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• pp.508-519
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• 2017

There have been many studies on monitoring of biodiversity changes and preservation of Gwangneung Forest Biosphere Reserve (GFBR) in South Korea in recognition of the rare ecosystem that has been preserved for a long period. However, there are few studies on diversity and community characteristics of benthic macroinvertebrates as an indicator of stream health of GFBR. The purpose of this study was to assess the water quality of Bongseonsa Stream that penetrated through Gwangneung Forest and the nearby torrents by analyzing the benthic macroinvertebrates community during April to September 2016. The investigation collected a total of 114 species of benthic macroinvertebrates belonging to 56 families, 17 orders, 8 classes, and 5 phyla from the Bongseonsa Stream and Kwangneung Stream. Ephemeroptera and Trichoptera were the largest groups in species diversity with 30 species (32.3%) and 16 species (17.2%), respectively, and Tubificidae sp., Baetis fuscatus, Antocha KUa, and Cheumatopsyche brevilineata, which usually habit in contaminated streams, appeared frequently. Among the feeding function groups, the gatherers and hunters appeared relatively frequently, and the shredders and scrapers appeared frequently in the torrents. Among the habitat oriented groups, the clingers and burrower appeared more frequently and represented the microhabitats in the shallow areas. The result of the analysis of benthic macroinvertebrates community showed that the dominant index was $0.48{\pm}0.10$ in average while it was lowest with 0.33 in GS 8 of the Gwangneung Forest torrent and highest in BS 1 of Bongseonsa Stream. The diversity and richness indices were inversely proportional to the dominant index and were 2.53 and 4.22, respectively, in GS 8 where the dominant index was low. The result of the analysis of community stability showed that area I, which had high resistance and restoration, was high in Bongseonsa Stream while the area III, which had low resistance and restoration, was high in Gwangneung Forest, indicating that the water system in Gwangneung Forest had a wider distribution of specifies sensitive to agitation. The biological water quality assessment showed ESB of $50.88{\pm}17.69$, KSI of $1.11{\pm}0.57$, and BMI of $78.55{\pm}11.05$. GS 8 of Gwangneung Forest torrent was judged to be the highest priority protective water area with the best water environment and I class water quality with ESB of 63, KSI of 0.55, and BMI of 89.9. On the contrary, BS 1 of Bongseonsa Stream was judged to be the high priority improvement area that had the lowest water quality rating of III with ESB of 25, KSI of 2.13, and BMI of 62.7. Although the diversity of water beetle was higher in the water system of nearby Bongseonsa Stream than the water system inside the Gwangneung Forest, the annual community structure appeared to have distinct differences.

• The Korea Journal of Herbology
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• v.24 no.1
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• pp.89-98
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• 2009

Objectives : The purpose of this study was to evaluate effects of processed sulfur with red ginseng on streptozotocin(STZ) induced diabetic rats for expansion of processed sulfur internal application. Methods : We prepared red ginseng with non processed sulfur extracts(GS), red ginseng with processed sulfur I extracts(GPS I) and red ginseng with processed sulfur II extracts(GPS II). In the present study, we examined about contents of crdue saponin, antioxidant activity, $\alpha$-glucosidase inhibitory activity, and effects of STZ induced diabetic rats. Results : Contents of crude saponin increased by processed sulfur, and GPS II was shown highest contents in crude saponin and sulfur compared with another groups. Electron donating ability of GPS II was shown highest activity compared with GS and GPS I, SOD-like activity showed same tendency as electron donating ability at 1 $mg/m\ell$ concentration. Inhibitory activity of $\alpha$-glucosidase was approximately same level in acarbose and GPS II. Blood glucose level of GPS II group was decreased 18.34% compared with DC(diabetes control) group and maintained stability range in glucose level. but GS and GPS I showed high level compared to GPS II. Serum triglycerides concentration also showed lowest level in GPS II. The activity of ALT, AST and ALP was shown high level in diabetic induced groups, and lowest level in GPS II. Creatinine was shown non-significantly difference in each groups and GPS II was shown lowest level in BUN. Conclusions : These results suggested that processed sulfur with red ginseng have improvement effects on diabetes and internal application of processed sulfur with red ginseng have no specific toxicity in liver and kidney.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.6
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• pp.2793-2800
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• 2011

The purpose of this research is to develop and optimize a lane departure warning application based on a smartphone which can be applicable as a new platform for various mobile information applications. Recently, a lane detection warning system which is a representative application among safe driving assistant solutions is being commercialized. Due to the necessity of powerful embedded hardware platform and its price, its market is still not growing. In this research, it is proposed to develop and optimize a lane departure warning application on iPhone 3GS. OpenCV is used for efficient image processing, and for lane detection a heuristic algorithm based on Hough Transform is proposed. The application was developed under Macintosh PC platform with Xcode 3.2.4 development tools, downloaded to the iPhone and has been tested on the real paved road. The experimental result has shown that the detection ratio of the straight lane was over 90% and the processing speed was 1.52fps. For the enhancement of the speed, a few optimization methods were introduced and the fastest speed was 3.84fps. Through the improvement of lane detection algorithm, additional optimization works and the adoption of a new powerful platform, it will be successfully commercialized on smartphone application market.

• Bulletin of the Korean Chemical Society
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• v.34 no.10
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• pp.2877-2882
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• 2013

Second-order rate constants ($k_{Ox^-}$) have been measured spectrophotometrically for nucleophilic substitution reactions of 4-nitrophenyl X-substituted-cinnamates (7a-7e) and Y-substituted-phenyl cinnamates (8a-8e) with butane-2,3-dione monoximate ($Ox^-$) in 80 mol % $H_2O$/20 mol % DMSO at $25.0{\pm}0.1^{\circ}C$. The Hammett plot for the reactions of 7a-7e consists of two intersecting straight lines while the Yukawa-Tsuno plot exhibits an excellent linearity with ${\rho}_X$=0.85 and r=0.58, indicating that the nonlinear Hammett plot is not due to a change in the rate-determining step but is caused by resonance stabilization of the ground state (GS) of the substrate possessing an electron-donating group (EDG). The Br${\o}$nsted-type plot for the reactions of Y-substituted-phenyl cinnamates (8a-8e) is linear with ${\beta}_{lg}$ = -0.64, which is typical of reactions reported previously to proceed through a concerted mechanism. The ${\alpha}$-nucleophile ($Ox^-$) is more reactive than the reference normal-nucleophile ($4-ClPhO^-$). The magnitude of the ${\alpha}$-effect (i.e., the $k_{Ox^-}/k_{4-ClPhO^-}$ ratio) is independent of the electronic nature of the substituent X in the nonleaving group but increases linearly as the substituent Y in the leaving group becomes a weaker electron-withdrawing group (EWG). It has been concluded that the difference in solvation energy between $Ox^-$ and $4-ClPhO^-$ (i.e., GS effect) is not solely responsible for the ${\alpha}$-effect but stabilization of transition state (TS) through a cyclic TS structure contributes also to the Y-dependent ${\alpha}$-effect trend (i.e., TS effect).

• Archives of Pharmacal Research
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• v.20 no.1
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• pp.39-45
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• 1997

Changes in glutamatergic nervous activities following intracerebroventricular (icv) administration of ethylcholine aziridinium (AF64A) were studied in rats. The levels of total glutamate, those of glutamate in cerebrospinal fluid (CSF) and in extracellular fluid (ECF) of striatum, the activities of glutamine synthetase (GS), glutaminase and glutamate dehydrogenase (GDH) and the specific binding sites of $[^3H]$MK801 in striatum, hippocampus and frontal cortex were assessed a week after the infusion of AF64A (3 nmol) into lateral ventricle. The levels of total glutamate were significantly decreased in striatum, hippocampus and frontal cortex after AF64A treatment. Although the levels of glutamate in CSF weren't changed after AF64A treatment, the levels of glutamate in ECF of striatum were significantly decreased (62.6%). GS activities in striatum were significantly decreased. But, glutaminase activities in striatum were significantly increased. However, the activities of GS and glutaminase in frontal cortex and hippocampus weren't changed. Although GDH activities in frontal cortex were significantly decreased, those in striatum and hippocampus weren't altered. The striatal densities of $[^3H]$MK 801 binding sites were increased without changes in its affinity. Also, the specific binding sites of $[^3H]$MK801 were increased in frontal cortex but not in hippocampus. These results indicate that the glutamatergic nervous activities were altered with the infusion of AF64A into lateral ventricle. Furthermore, it suggest that the decreased levels of glutamate after AF64A treatment may affect the change in the other parameters of glutamatergic neuronal activities.