• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2259-2262
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• 2003

This paper describes visual tracking procedure of the underwater mobile robot for nuclear reactor vessel inspection, which is required to find the foreign objects such as loose parts. The yellowish underwater robot body tend to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color informations, yellow and indigo. The center coordinates extraction procedures is as follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences: binarization labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.2
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• pp.275-281
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• 2010

This research's goal is to process directly aspherics with big sagment and thin center thickness. If we can process directly aspherics with big sagment and thin center thickness, we think it greatly helps to reduce the time of developing optical system. We made very thin glass using diamond grinding whetstone regarding the trace of tool and the detailed drawing of tool super precisive aspherics that has 0.46mm center thickness and over $30^{\circ}$ segment, $0.1{\mu}m$ machining accuracy, 15nm surface accuracy. We think this research's result will be effective to open new market because it is applied not only cell phone optical system but also CCTV robot optical system, internet phone optical system. Also we expect to enhance the super strong brittle precisive process's possibility with super precisive processing technique that achieves 0.46mm glass center thickness as first in the world.

• Polymer(Korea)
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• v.29 no.4
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• pp.344-349
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• 2005

Polyurethanes(PUs) were synthesized by reaction of isophorone diisocyanate, acetylbutyl citrate, and 3 types of polycaprolactone diol. Their structures were confirmed by FT-IR and NMR spectrometer. And, their thermal and mechanical properties were measured by TGA ud UTM. The effective network chain lengths ($\bar{M}_c$), measured by compressive modulus apparatus, were about $8000\~24000$ g/mol. As crosslinking density and amount of hard segment increased, tensile strength increased and elongation decreased. As the crosslinking density of PUs increased, thermal property inproved. When the ratio of NCO/OH is 1.1, maximum crosslinking density was achieved.

• Korean Journal of Applied Biomechanics
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• v.24 no.3
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• pp.277-285
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• 2014

Nakcyguri is one of the offensive weapons most often used in Taekkyon games, The purpose of this study was to investigate kinetic factors on two types of Nakcyguri, one of which uses hip bending and the other uses little it. 12 taekkyoners (males) who are the students of Y University participated in this study. They have been practicing on Taekkyon for five years or more. Positions of CoM, the elapsed time of each phase, ROM of joint and segment angles, ground reaction forces, joint moments of supporting leg were analyzed for this study. The results were as follows; in Nakcyguri with hip bending than without hip bending, anterior/posterior ROM of pelvis, head and swing foot were larger by flexing-extending more, and both vertical and posterior components of GRF were larger during phase 4. It was considered that hip bending produced posterior momentum as well as vertical momentum of trunk during Nakcyguri. In conclusion hip bending was essential and so useful to the successful attack.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.329-330
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• 2006

The research and development of an actuator are accelerating in the robotics industry. The electricity polymer and SMA actuator are designed simply and are produced a lot of forces per unit volume. Their motions are similar to human's motion, But the repeatability of the electricity polymer actuator is lower. The reaction velocity of the SMA actuator is slow and the travel is short. In this paper, the dynamic characteristic of the segmented SMA is studied. The SMA wire is divided by using the Thermo-electric module(TEM) to control each of segments independently. The MOSFET circuit is used to supply constant currents fer the Thermo-electric module(TEM). The hysteresis and displacement of the SMA wire according to load are measured.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.2
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• pp.647-669
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• 2016

Multiple attribute for decision making including user preference will increase the complexity of route selection process. Various approaches have been proposed to solve the optimal route selection problem. In this paper, multi attribute decision making (MADM) algorithms such as Simple Additive Weighting (SAW), Weighted Product Method (WPM), Analytic Hierarchy Process (AHP) method and Total Order Preference by Similarity to the Ideal Solution (TOPSIS) methods have been proposed for acoustic signature based optimal route selection to facilitate user with better quality of service. The traffic density state conditions (very low, low, below medium, medium, above medium, high and very high) on the road segment is the occurrence and mixture weightings of traffic noise signals (Tyre, Engine, Air Turbulence, Exhaust, and Honks etc) is considered as one of the attribute in decision making process. The short-term spectral envelope features of the cumulative acoustic signals are extracted using Mel-Frequency Cepstral Coefficients (MFCC) and Adaptive Neuro-Fuzzy Classifier (ANFC) is used to model seven traffic density states. Simple point method and AHP has been used for calculation of weights of decision parameters. Numerical results show that WPM, AHP and TOPSIS provide similar performance.

• Journal of Veterinary Clinics
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• v.17 no.2
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• pp.381-387
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• 2000

Efficacy of a 1% solution of sodium carboxymethylcellulose (SCMC) infu7ed into the peritoneal cavity of dogs was evaluated for prevention of intraperitoneal adhesion, resulting from operations of the reproductive tract. Saline-treated deles (n = 5) were controls that underwent ventral midline celiotomy, and adhesions were cleated by incision and scraping about 5 cm segment of each uterine horn. Saline (7 ml/kg of body weight) was then infused into the peritoneal cavity. Others (n = 5) were treaded similarly to the saline-treated dogs. except that 1% SCMC :solution (7mH/kg of body weight) was infused into the peritoneal cavity. This group was studied to determine whether SCHC would prevent the adhesions in the peritoneal cavity, especially in the uterine horn model. Abdominal adhesions were evaluated and an adhesion severity score was assigned to each dog on the basis of severity of adhesions. At the time of necropsy. the mean adhesion score in the saline treated group was $2.65{\pm}0.22.$ In contrast, adhesion formation in the SCMC treated group was less ($mean score =1.70{\pm}0.26$). Statistic71 analysis was performed using the grouped t-test and paired t-test. A significanlty lower adhesion score was observed in dogs given SCMC than in the saline treated group (P<0.01). In summary, SCMC significantly reduced adhesion formation in the dog uterine horn model. The results of this study suggest that application of 1% SCMC solution, following various reproductive pelvic surgery, will present the adhesions.

• BMB Reports
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• v.41 no.8
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• pp.587-592
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• 2008

Cotesia vestalis is an endoparasitoid of Plutella xylostella larvae and injects a polydnavirus (CvBV) into its host during oviposition. In this report we characterize the gene, CvBV3307, and its products. CvBV3307 is located on segment S33 of the CvBV genome, is 517 bp, and encodes a putative protein of 122 amino acids, including a serine-rich region. The expression pattern of CvBV3307 in parasitized larvae and the subcellular localization of CvBV3307 only in granulocytes indicated that it might be involved in early protection of parasitoid eggs from host cellular encapsulation and in manipulating the hormone titer and developmental rhythm of host larvae. Western blot analysis showed that the size of the immunoreactive protein (about 55 kDa) in parasitized hosts at 48 hours post parasitization (h p.p.) is much larger than the predicted molecular weight of 13.6 kDa, which suggests that CvBV3307 undergoes extensive post-translational modification in hosts.

• Structural Engineering and Mechanics
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• v.40 no.1
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• pp.29-48
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• 2011

Under large storm loads sections of a long pipeline on the seabed can be uplifted. Numerically this loss of contact is extremely difficult to simulate, but accounting for uplift and any subsequent recontact behaviour is a critical component in pipeline on-bottom stability analysis. A simple method numerically accounting for this uplift and reattachment, while utilising efficient force-resultant models, is provided in this paper. While force-resultant models use a plasticity framework to directly relate the resultant forces on a segment of pipe to the corresponding displacement, their historical development has concentrated on precisely modelling increasing capacity with penetration. In this paper, the emphasis is placed on the description of loss of penetration during uplifting, modelled by 'strain-softening' of the force-resultant yield surface. The proposed method employs uplift and reattachment criteria to determine the pipe uplift and recontact. The pipe node is allowed to become free, and therefore, the resistance to the applied hydrodynamic loads to be redistributed along the pipeline. Without these criteria, a localised failure will be produced and the numerical program will terminate due to singular stiffness matrix. The proposed approach is verified with geotechnical centrifuge results. To further demonstrate the practicability of the proposed method, a computational example of a 1245 m long pipeline subjected to a large storm in conditions typical of offshore North-West Australia is discussed.

• Journal of Ginseng Research
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• v.32 no.2
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• pp.114-119
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• 2008

Terpene synthase plays a key role in biosynthesis of triterpene saponins (ginsenosides) and is intermediate in the biosynthesis of a number of secondary metabolites. A terpene synthase (PgTPS) cDNA was isolated and characterized from the root of Panax ginseng c.A. Meyer. The deduced amino acid sequence of PgTPS showed a similarity with A. deliciosa (AAX16121) 61%, V. vinifera (AAS66357) 61%, L. hirsutum (AAG41891) 55%, M. truncatula (AAV36464) 52%. And the segment of a terpene synthase gene was amplified by reverse transcriptase-polymerase chain reaction (RTPCR). We studied expression of terpene synthase under stressful conditions like chilling, salt, UV, and heavy metal stress treatment. Expression of PgTPS was increased gradually after exposure to stresses such as chilling, salt, and UV illumination. But its transcription seems to be reduced by cadmium and copper treatment.