• Advances in robotics research
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• 제2권2호
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.

• 천문학논총
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• 제10권1호
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• pp.79-90
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• 1995

The unique compact radio source, Sgr $A^*$, at the Galactic center show many observational signs that it is powered by supermassive black hole. Recent observations also imply that it is surrounded by winds from nearby IR sources. So we explore the model in which multiwavelength spectrum from Sgr $A^*$ is due to the spherical accretion of these winds onto the central supermassive black hole. Improving upon the previous work, we allowed the possibility that ions and electrons have different temperatures, included the Compton effects and pair processes. Electrons radiate via cyclosynchrotron and bresstrahlung with comptoniztion. We find that ion approaches the virial temperature ${\sim}10^{13}K$ while electron temperature saturates at ${\sim}10^{10}K$. However, decoupling between ion and electron does not greatly affect the shape of the emission spectrum. When the mass of the black hole is ${\sim}10^6M_{\odot}$, radio, IR, X-ray, $\gamma$-ray band spectrum is reasonably explained by the model. Yet Compton effect which is neglected in previous works produces significant emission in IR band, which is marginally compatible with observations. Pair production is negligible and annihilation lines cannot be observed.

• 천문학회지
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• 제48권4호
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• pp.207-212
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• 2015

We introduce the Lee Sang Gak Telescope (LSGT), a remotely operated, robotic 0.43-meter telescope. The telescope was installed at the Siding Spring Observatory, Australia, in 2014 October, to secure regular and exclusive access to the dark sky and excellent atmospheric conditions in the southern hemisphere from the Seoul National University (SNU) campus. Here, we describe the LSGT system and its performance, present example images from early observations, and discuss a future plan to upgrade the system. The use of the telescope includes (i) long-term monitoring observations of nearby galaxies, active galactic nuclei, and supernovae; (ii) rapid follow-up observations of transients such as gamma-ray bursts and gravitational wave sources; and (iii) observations for educational activities at SNU. Based on observations performed so far, we find that the telescope is capable of providing images to a depth of R = 21:5 mag (point source detection) at 5-σ with 15 min total integration time under good observing conditions.

• 센서학회지
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• 제19권1호
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• pp.52-57
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• 2010

In this study, we have fabricated a scintillating fiber-optic dosimeter for a radiotherapy dosimetry. And ${\gamma}$-rays generated by a Co-60 are measured using a scintillating fiber-optic dosimeter and percent depth dose curves are obtained according to the different depths of solid water phantoms. Also, Cerenkov radiations generated by primary or secondary electrons are measured at different depths of water phantom using a background optical fiber.

• 대한수의학회지
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• 제48권4호
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• pp.451-455
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• 2008

Body weights and blood biochemical values in chickens infected with reticuloendotheliosis virus (REV)-HI, a Korean isolate, were studied. REV-HI causes severe body weight depression in chickens inoculated but not in chicken contact-infected. Body weights of infected chickens in 3, 4, and 5 weeks after infection were 78%, 76% and 65% of those of control respectively. Blood glucose levels in REVinfected chickens were extremely high compared with those in control (226 $\geq$ 21 vs. 814 $\geq$91.3 mg/dl in week 2) during the experiment period. Triglyceride levels in REV-infected chickens were significantly higher in week 2 and 3, whereas in week 4, REV-infected chickens showed significantly lower levels than the control. Blood lipase, amylase and alkaline phosphatase levels of REV-infected chickens in week 2 were significantly higher, whereas cholesterol, magnesium and calcium values in week 4 were significantly lower than the control. Other blood biochemical values such as alkaline aminotransferase, aspartate aminotransferase, and $\gamma$-glutamyltransferase were nonsignificantly different from the control. These above results suggest that weight depression by REV may be related with increase of blood glucose, which indicated that REV-infected chickens could not use blood glucose as energy source.

• 미생물학회지
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• 제20권3호
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• pp.119-124
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• 1982

As a basic study to elucidate nutritional physiology and composition of synthetic medium of red rotting bacteria, Erwinia carotovora, of ginseng, the effects of hydrogen ion concentration, various kinds of carbon sources, nitrogen source, micrometallic salts and it's concentration on the gorwth of the bacteria were investigated and the results were as follows. Optimal pH in the basal medium for the growth of the bacteria was 6.5. After incubation the pH in culture media was neutralized. Among the various kinds of carbon sources, sucrose, glucose mannitol, but organic acids were not utilized effectively as nutrients. After incubation the pH turned acidic. Alanine as organic nitrogen sources nad ammonium sulfate as inorganic nitrogen promoted the growth, but L-valine and sodium nitrite were the least effective. Ferric chloride 1.0mg/dl and ferrous sulfate 100mg/dl were the most effective as micrometallic sources. Control and boric acid were the least effective. New synthetic medium based on the above results was follows ; Alanine 1.0g, $KH_2PO_4\;1.0g, \;sucrose\;30.0g, \;MgSo_4{\cdot}7H_2O\;0.5g, \;FeCl_3{\cdot}6H_2O\;1.0mg\;thiamine\;200{\gamma}g$, and distilled water 1000ml, pH6.5.

• Nuclear Engineering and Technology
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• 제10권4호
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• pp.195-201
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• 1978

감마선을 이용하여 폴리에스터직포에 methacylic acid와 methyl methacylate를 graft 종합반응시켜서 그 반응성을 보았다. 폴리에스터직포에 acrylic acid, methacrylic acid, methyl methacrylate를 중합반응 시켰을 때 graft 효율은 monomer 혼합용액내에 포함되어 있는 용매의 dielectric constant에 따라 상당한 차이를 나타내었다. Graft 수율은 방사선 선량과 monomer 농도 및 swelling agent의 농도에 좌우되었다. MA graft copolymer의 glass transition temperature (101$^{\circ}C$)와 melting point (238$^{\circ}C$)를 측정하였고, 정전기 효과는 frictional electricity 8,000V에서 half life가 0 sec이었으며, moisture regain는 5.6%, wicking time은 1 sec이었다.

• 분석과학
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• 제12권6호
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• pp.558-564
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• 1999

TL 연대측정법을 이용하여 백제 토기 시편의 고고학적 선량 분석방법을 확립하였다. TL 측정을 위한 시료는 토기 시편으로부터 $90{\sim}125{\mu}m$ 크기의 석영 결정만을 분리하여 준비하였다. TL 측정을 통하여 얻어진 글로우 곡선에 대한 plateau 평가 결과 $265{\sim}300^{\circ}C$ 영역에서 비정상적인 fading이 없는 안정된 TL이 방출됨을 확인하였다. 토기 시료에 축적된 자연 TL량과 감마선원인 $^{137}Cs$을 인위적으로 조사하여 얻어진 선량에 따른 TL량의 외삽을 통하여 시편의 선량을 결정하였다. 그 결과 백제 토기 시편에 축적된 고고학적 선량은 7.43 Gy이었다.

• Journal of Electrical Engineering and Technology
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• 제12권4호
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• pp.1619-1626
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• 2017

Electronic components that are used in high-level radiation environment require a semiconductor device having a radiation-hardened characteristic. In this paper, we proposed a radiation-hardened I-gate n-MOSFET (n-type Metal Oxide Semiconductors Field Effect Transistors) using a layout modification technique only. The proposed I-gate n-MOSFET structure is modified as an I-shaped gate poly in order to mitigate a radiation-induced leakage current in the standard n-MOSFET structure. For verification of its radiation-hardened characteristic, the M&S (Modeling and Simulation) of the 3D (3-Dimension) structure is performed by TCAD (Technology Computer Aided Design) tool. In addition, we carried out an evaluation test using a $Co^{60}$ gamma-ray source of 10kGy(Si)/h. As a result, we have confirmed the radiation-hardened level up to a total ionizing dose of 20kGy(Si).

• Journal of Microbiology and Biotechnology
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• 제15권5호
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• pp.938-945
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• 2005

For elucidating excessive growth of biofilm that subsequently leads to the clogging problem in a small town's sewer lines of Wisconsin, the FISH method was employed. At the beginning of the simulated experiments, ${\beta}$-subclass proteobacteria prevailed in runs fed with industrial wastewater, while ${\gamma}$-subclass proteobacteria dominated in runs with domestic wastewater. However, the bacterial community structure changed significantly over six weeks; Cytophaga-Flavobacterium (CF)­group bacteria dominated in most runs fed with the small town's wastewater regardless of their source, while CF-group decreased strongly in run fed with domestic sewage from another city (Madison). It was also microscopically confirmed that most of those clogging materials was toilet tissue, which in turn may lead to vigorous growth of cellulose-degrading CF-group bacteria. This dominant presence of CF-group bacteria in the small town's sewer indicates that the main constituent of biofilm, toilet tissue (cellulose) in sewage, might have induced the unique pattern of their microbial community structure. Therefore, it suggests that molecular technique is useful for monitoring the clogging problems in sewer lines.