• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1095-1098
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• 1996

In this work, attitude determination with Inertial Reference Unit as attitude sensor is considered. Usually, the attitude error from IRU increases because of gyro rate bias and noise. Therefore, other attitude sensors(sun sensor, horizon sensor, star tracker) are needed to compensate for error from IRU. In this paper, we use the extended Kalman filter for attitude estimation of spacecraft with IRU and star tracker.

• Microbiology and Biotechnology Letters
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• v.47 no.4
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• pp.498-508
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• 2019

Bacillus species were isolated from iru, a traditional fermented condiment in Nigeria. Polyphasic approach was used to evaluate the phylogenetic relationship and strain sub-type of the isolated species. Additionally, the phylogenetic profiles of the species isolated from iru were compared with those of bacilli isolated from different continents. The phylogenetic diversity analysis was performed using the combination of 16S rRNA gene sequencing, ITS-PCR, ITS-PCR-RFLP, and M13 RAPD-PCR. The analysis revealed that Bacillus subtilis U170B and B. subtilis U146A isolated from iru were the closest relatives of strains belonging to the phylogeny of B. subtilis sensu stricto and were related to other bacilli isolated from different continents that had functional benefits. The two isolated species exhibited resistance to acidic pH (pH 2.0). The survival rates of B. subtilis U170B, B. subtilis U146A, and B. clausii UBBC-07 (commercial probiotic strain) cultured at pH 2.0 for 3 h were 33.45, 12.44, and 9.53%, respectively. The strains were highly tolerant to bile salts [0.3% (w/v)]. B. subtilis U170B exhibited the highest cell viability (43.45%) when cultured for 3 h in the presence of bile salts, followed by B. subtilis U146A (25%) and B. clausii UBBC-07 (18.94%). B. subtilis U170B and B. subtilis U146A did not exhibit haemolytic activity and were susceptible to different antibiotics. Additionally, these two strains exhibited weak antagonistic activity against B. cereus. The diverse wild strains of B. subtilis can be used as a safe multifunctional starter culture for the industrial production of condiments with health benefits.

• The Korean Journal of Food & Health Convergence
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• v.8 no.6
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• pp.1-10
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• 2022

Hypercholesterolaemia is one of the risk factors of coronary health in humans; hence this research was to investigate the effect of Parkia biglobosa seeds fermented with Lactobacillus plantarum on the cardiac risk factors of diet-induced hypercholesterolaemic Wistar rats. Hypercholesterolaemia in rats were experimentally induced and the hypercholesterolaemic Wistar rats were treated with iru samples. The total cholesterol, triglyceride, high density lipoprotein (HDL), low density lipoprotein (LDL), liver biomarkers and cardiac risks factors were determined after inducement and treatment with iru. Fourteen (14)-days after inducement, the rats in the group induced had the highest weight of 112.40 g while the control group had 94.30 g. The total cholesterol (TC) in the induced group was 100.80 mg/dl while the control had 51.40 mg/dl, triglyceride (TG) in the induced group was 111.75 mg/dl while the control group had 68.45 mg/dl. After 28 days of treatment, the group treated with fermented samples showed a reduction in the TC (100.80 to 56.99 mg/dl), Triglyceride (111.75 to 32.53 mg/dl), LDL (49.48 to 6.65 mg/dl), cardiac risk ratio (3.36 to 1.28), atherogenic coefficient (3.13-0.29) and atherogenic index (0.57 to 0.11). The result from this study reveals that fermented Parkia biglobosa sample reduced the cardiac risk of rats significantly.

• Aerospace Engineering and Technology
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• v.4 no.1
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• pp.114-121
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• 2005

다목적실용위성 2호 영상의 geo-location 정밀도 80 m (CE90) 요구사항을 만족시키기 위하여, 1개의 IRU 와 2개의 star tracker 들로부터 획득되는 데이터를 이용하여 지상에서 후처리 추정 과정을 거쳐 위성의 자세를 결정하는 정밀자세결정 시스템이 개발되었다. 정밀자세결정 시스템의 정밀도를 극대화하기 위해서는 우주 공간의 극심한 열적 환경으로 인해 발생하는 star tracker 정렬 오차를 효율적으로 보정하여야 한다. 정밀한 정렬 오차의 보정을 위해서는 영상 내에 촬영된 지상의 ground control point 데이터를 이용하여야 하는데, 현실적으로 한반도 모든 지역에 대해 ground control point 를 확보할 수 없다. 현재 항공우주연구원이 확보하고 있거나 이후 확보할 예정에 있는 고해상도 영상을 위한 ground control point 들은 대전지역에 국한될 예정이다. 이와 같은 상황에서 정밀자세결정 시스템의 성능을 높이기 위한 최적의 시스템 운용 개념을 본 연구에서 제시하였으며, 시뮬레이션을 통해 그 타당성을 분석하였다.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.110-114
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• 1995

This paper presents the on-board attitude determination algorithm for LEO (Low Earth Orbit) three-axis stabilized spacecraft. Two advanced star trackers and a three-axis Inertial Reference Unit (IRU) are assumed to be attitude sensors. The gyro in the IRU provides a direct measurement of the attitude rates. However, the attitude estimation error increases with time due to the gyro drift and noise. An update filter with measurements of star trackers and/or sun sensor is designed to update these gyro drift bias and to compensate the attitude error. Kalman Filter is adapted for the on-board update filter algorithm. Simulation results will be presented to investigate the attitude pointing performance.

• The KIPS Transactions:PartB
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• v.8B no.6
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• pp.685-692
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• 2001

This paper describes how to disambiguate the aspectual meaning of Japanese expression "-te iru" in Japanese-Korean machine translation Due to grammatical similarities of both languages, almost all Japanese- Korean MT systems have been developed under the direct MT strategy, in which the lexical disambiguation is essential to high-quality translation. Japanese has a progressive aspectual marker “-te iru" which is difficult to translate into Korean equivalents because in Korean there are two different progressive aspectual markers: "-ko issta" for "action progressive" and "-e issta" for "state progressive". Moreover, the aspectual system of both languages does not quite coincide with each other, so the Korean progressive aspect could not be determined by Japanese meaning of " te iru" alone. The progressive aspectural meaning may be parially determined by the meaning of predicates and also the semantic meaning of predicates may be partially reshicted by adverbials, so all Japanese predicates are classified into five classes : the 1nd verb is used only for "action progrssive",2nd verb generally for "action progressive" but occasionally for "state progressive", the 3rd verb only for "state progressive", the 4th verb generally for "state progressive", but occasIonally for "action progressive", and the 5th verb for the others. Some heuristic rules are defined for disambiguation of the 2nd and 4th verbs on the basis of adverbs and abverbial phrases. In an experimental evaluation using more than 15,000 sentances from "Asahi newspapers", the proposed method improved the translation quality by about 5%, which proves that it is effective in disambiguating "-te iru" for Japanese-Korean machine translation.translation quality by about 5%, which proves that it is effective in disambiguating "-te iru" for Japanese-Korean machine translation.anslation.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.45 no.3
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• pp.27-33
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• 2008

In this paper, we propose a cognitive beamforming scheme for coexistence of CR (Cognitive Radio) and IR (Incumbent Radio) systems. In order to maintain the priority of the IR in spectrum utilization the proposed cognitive beamforming scheme needs to have the CR not cause any interference to the IR systems occupying the same frequency band at the same time. In addition the proposed scheme has to provide maximum channel gain to the CRU (CR User) in a boundary of satisfying the former criterion. For this purpose, the proposed scheme does not cause any interference to the IRU (IR User), while the CRU is served without additional radio resource consumption. From simulation, we confirmed that when using the proposed scheme the CRU does not interfere with the IRU and there is little bit error rate performance degradation of the CRU as compared to that of the ideal beamforming system, which does not consider the IR priority.

• Bulletin of the Korean Space Science Society
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• 2004.10b
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• pp.296-299
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• 2004

KARI precision attitude determination system has been developed for high accurate geo-coding of KOMPSAT-2 image. Sensor data from two star trackers and a IRU are used as measurement and dynamic data. Sensor data from star tracker are composed of QUEST and unit vector filter. Filter algorithms consists of extended Kalman filter, unscented Kalman filter, and least square batch filter. The type of sensor data and filter algorithm can be chosen by user options. Estimated parameters are Euler angle from 12000 frame to optical bench frame, gyro drift rate bias, gyro scale factor, misalignment angle of star tracker coordinate frame with respect to optical bench frame, and misalignment angle of gyro coordinate frame with respect to optical bench frame. In particular, ground control point data can be applied for estimating misalignment angle of star tracker coordinate frame. Through the simulation, KPADS is able to satisfy the KOMPSAT-2 mission requirement in which geo-location accuracy of image is 80 m (CE90) without ground control point.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.162-167
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• 2003

In this paper, a novel feasible real-time system was researched for a differential driven wheeled autonomous mobile robot so that the mobile robot can move in a smooth, safe and elegant way. Least Square Minimum Path Planning was well used for the system to generate a smooth executable path for the mobile robot, and the point-to-point tracking algorithm was presented as well as its application in arbitrary path tracking. In order to make sure the robot can run elegantly and safely, trapezoidal speed was integrated into the point-to-point path tracking algorithm. The application to guest following for the autonomous mobile robot shows its wide application of the algorithm. The novel design was successfully proved to be feasible by our experiments on our mobile robot Interactive Robot Usher (IRU) in National University of Singapore.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1966-1971
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• 2004

As the remote sensing satellite technology grows, the acquisition of accurate attitude and position information of the satellite has become more and more important. Due to the data processing limitation of the on-board orbit propagator and attitude determination algorithm, it is required to develop much more accurate orbit and attitude determination, which are so called POD (precision orbit determination) and PAD (precision attitude determination) techniques. The sensor and attitude dynamics simulation takes a great part in developing a PAD algorithm for two reasons: 1. when a PAD algorithm is developed before the launch, realistic sensor data are not available, and 2. reference attitude data are necessary for the performance verification of a PAD algorithm. A realistic attitude dynamics and sensor (IRU and star tracker) outputs simulation considering their physical characteristics are presented in this paper, which is planned to be used for a PAD algorithm development, test and performance verification.