• Journal of Aerospace System Engineering
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• v.14 no.2
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• pp.1-11
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• 2020

Detecting obstacles and generating a suitable path to avoid obstacles in real time is a prime mission requirement for UAVs. In areas, close to buildings and people, detecting obstacles in the path and estimating its own position (egomotion) in GPS degraded/denied environments are usually addressed with vision-based Simultaneous Localization and Mapping (SLAM) techniques. This presents possibilities and challenges for the feasible path generation with constraints of vehicle dynamics in the configuration space. In this paper, a near real-time feasible path is shown to be generated in the ORB-SLAM framework using a chain-based path planning approach in a force field with dynamic constraints on path length and minimum turn radius. The chain-based path plan approach generates a set of nodes which moves in a force field that permits modifications of path rapidly in real time as the reward function changes. This is different from the usual approach of generating potentials in the entire search space around UAV, instead a set of connected waypoints in a simulated chain. The popular ORB-SLAM, suited for real time approach is used for building the map of the environment and UAV position and the UAV path is then generated continuously in the shortest time to navigate to the goal position. The principal contribution are (a) Chain-based path planning approach with built in obstacle avoidance in conjunction with ORB-SLAM for the first time, (b) Generation of path with minimum overheads and (c) Implementation in near real time.

• Industrial Engineering and Management Systems
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• v.10 no.3
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• pp.185-190
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• 2011

A driver interacts directly with the car seat at all times. There are ergonomic characteristics that have to be followed to produce comfortable seats. However, most of previous researches focused on either static or dynamic condition only. In addition, research on car seat development is critically lacking although Malaysia herself manufactures its own car. Hence, this paper integrates objective measurements and subjective evaluation to predict seat discomfort. The objective measurements consider both static and dynamic conditions. Steven's psychophysics power law has been used in which after expansion; ${\psi}\;=\;a+b{\varphi}_s^{\alpha}+c{\varphi}_v^{\beta}$ where ${\psi}$ is discomfort sensation, ${\varphi}_s^{\alpha}$ is static modality with exponent ${\alpha}$ and ${\varphi}_v^{\beta}$ is dynamic modality with exponent ${\beta}$. The subjects in this study were local and the cars used were Malaysian made compact car. Static objective measurement was the seat pressure distribution measurement. The experiment was carried out on the driver's seat in a real car with the engine turned off. Meanwhile, the dynamic objective measurement was carried out in a moving car on real roads. During pressure distribution and vibration transmissibility experiments, subjects were requested to evaluate their discomfort levels using vehicle seat discomfort survey questionnaire together with body map diagram. From subjective evaluations, seat pressure and vibration dose values exponent for static modality ${\alpha}$ = 1.51 and exponent for dynamic modality ${\beta}$ = 1.24 were produced. The curves produced from the $E_{q.s}$ showed better $R_{-sq}$ values (99%) when both static and dynamic modalities were considered together as compared to Eq. with single modality only (static or dynamic only R-Sq = 95%). In conclusion, car seat discomfort prediction gives better result when seat development considered both static and dynamic modalities; and using ergonomic approach.

• Journal of the Korean Society of Safety
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• v.28 no.4
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• pp.26-32
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• 2013

A digital image correlation(DIC) method is a whole-field measurement technique that acquires surface displacements and strains from images information which characterized a random speckle as intensity grey levels. Recently years, this DIC method is being developed and used increasingly in various research. In this study, we tried to apply to aluminum alloy(Al 6061-T6) using DIC method and strain gauge. DIC results demonstrated the usefulness and ability to determine a strain. The test specimen used in this study was an aluminum alloy(Al 6061-T6, thickness 1 mm). For a strain measurement, a strain gauge was attached at the center of a specimen. A specimen was lightly sprayed with a white paint and a black dot pattern was sprayed on its fully dried white surface to obtain a random speckle. The experimental apparatus used to perform the tensile test consisted of universal dynamic tester(5 kN; T.O. Co.) under displacement speed of 0.5, 1.0 and 3.0 mm/min. A Model 5100 B Scanner(V. Co.) used to obtain a strain. A CCD camera connected to a PC uses to record the images of the specimen surface. After acquisition, the images were transferred to PC where the DIC software was implemented. An acquired image was evaluated by the DIC program. DIC method for displacement and strain was suggests and it results show a good consistent remarkably. DIC results demonstrated the usefulness and ability to determine surface strain was better than by using classical measurements. The strain field measurement using a DIC is so useful that it can be applied to map strain distributions at a full area. DIC method can evaluate a strain change so it can predict a location of fracture. The findings of the investigation suggest that the DIC method is an efficient and reliable tool for full-field monitoring and detailed damage characterization of materials.

• Asian-Australasian Journal of Animal Sciences
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• v.20 no.3
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• pp.307-312
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• 2007

The present study was carried out to investigate differentially expressed chicken muscle proteins using proteomics approach. More than 300 protein spots were investigated for the muscle samples in 2DE gels and the differentially expressed protein spots between pectoralis and peroneus longus muscles from Cornish and White Leghorn breeds were characterized by MALDI-TOF. In pectoralis muscles, PGAM1 protein was detected as differentially expressed between White Leghorn and Cornish breeds. On the other hand, 4 protein spots (SP22, nxf-2, SOD1, TNNI2) were differentially expressed between White Leghorn and Cornish breeds in peroneus longus muscles. These proteins assumed to be related with muscle development, growth, stress, and movements in chicken. In this experimental process, 2D reference map of the chicken muscle proteins was needed and 25 proteins, which were commonly expressed in both pectoralis and peroneus longus muscles in both breeds, were selected and characterized. Upon finishing the exact roles of the differentially expressed proteins, the identified 5 proteins will be used as valuable information for the fundamental mechanisms of muscle biology and underline genetics.

• Geotechnical Engineering
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• v.5 no.4
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• pp.5-16
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• 1989

This paper statistically analyses the freezing soil by frost group and frost depth in Korea with data from soil testing in the Korea National Housing Corporation, the climate data provided by the Central Weather Office and the data on the frost depth from the National Construction Laboratory Institute. In this paper, freezing variable are analysed such as percentage finer than 0.02 m by weight, plasticity index, freezing index, water contents of soil and frost depth etc‥‥ The result of the analysis is as follows. 1) The frost depth of Korea depends on the properties of soil rather thank the characte fistic of area. 2) The distribution map of design freezing index in 57 cities is drawn up with the maxi- mum freezing index, during past 14 years, calculated by the average of the air temperature observed four times(03 : 00.09 00, 15 : 00, 21 : 00) a day. 3) By correcting the OLS line estimated from the relationship between freezing index and frost depth, a method of utlizing the line with the upper confidence limit of 99.9% int-distribution as predicted maximum frost depth is newly introduced.

• Korean Journal of Microbiology
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• v.25 no.1
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• pp.40-45
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• 1987

The gene for the Bdi I modification enzyme, which is one of Bdi I restriction-modification system, fromBrevibacterium divaricatum FERM 5948 was cloned and expressed in E. coli. For cloning of the Bdi I methylase gene, we have initially used three cloning site(EcoRI, BamHI and Sal I) of plasmid vector pBR 322 and adopted the retransformation method after Bdi I restriction endonuclease cleavage. Selection of transformants carrying the gene was based on the resistance of the modified plasmid encoding the enzyme to cleavage by Bdi I restriction enzyme, and the recombinant plasmid pBDIM 116 containing 5.6kb EcoRI insery was proved to carry the gene. Crude cell extracts prepared from strains carrying the plasmid pBDIM 116 contained an S-adenosylmethionine-dependent methyltransferase activity specific for the Bdi I recognition site, ATCGAT. The restriction map was constructed with 11 restriction enzyme, and the Bdi I restriction-modification system was also discussed.

• Journal of Microbiology and Biotechnology
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• v.17 no.2
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• pp.262-270
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• 2007

Of the twelve lytic bacteriophages recovered from five different fermenting cucumber tanks that were inoculated with Pediococcus sp. LA0281, a lytic phage, ${\phi}ps05$, was characterized in the present study. The plaques were mostly clear and round-shaped on the lawn of starter strain, indicating lytic phage. Overall appearance indicated that it belongs to the Siphoviridae family or Bradley's group B1, with a small isometric head and a flexible noncontractile tail with swollen base plate. The average size was found to be 51.2 nm in head diameter and 11.6 nm wide ${\times}$ 129.6 nm long for the tail. The single-step growth kinetics curve showed that the eclipse and the latent period were 29 min and 34 min, respectively, and an average burst size was calculated to be 12 particles per infective center. The optimum proliferating temperature ($35^{\circ}C$) was slightly lower than that of cell growth ($35\;to\;40^{\circ}C$). The structural proteins revealed by SDS-PAGE consisted of one main protein of 33 kDa and three minor proteins of 85, 58, and 52 kDa. The phage genome was a linear double-stranded DNA without cohesive ends. Based on the single and double digestion patterns obtained by EcoRI, HindIII, and SalI, the physical map was constructed. The overall size of the phage genome was estimated to be 24.1 kb. The present report describes the presence of a lytic phage active against a commercial starter culture Pediococcus sp. LA0281 in cucumber fermentation, and a preliminary study characterizes the phage on bacterial successions in the process of starter-added cucumber fermentation.

• Korean Journal of Remote Sensing
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• v.23 no.3
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• pp.161-169
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• 2007

A study was conducted in the Hong Kong with the aim of deriving an algorithm for the retrieval of suspended sediment (SS) and sea surface salinity (SSS) concentrations from Aqua/MODIS level 1B reflectance data with 250m and 500m spatial resolutions. 'In-situ' measurements of SS and SSS were also compared with coincident MODIS spectral reflectance measurements over the ocean surface. This is the first study of SSS modeling in Southeast Asia using earth observation satellite images. Three analysis techniques such as multiple regression, linear regression, and principal component analysis (PCA) were performed on the MODIS data and the 'in-situ' measurement datasets of the SS and SSS. Correlation coefficients by each analysis method shows that the best correlation results are multiple regression from the 500m spatial resolution MODIS images, $R^2$= 0.82 for SS and $R^2$ = 0.81 for SSS. The Root Mean Square Error (RMSE) between satellite and 'in-situ' data are 0.92mg/L for SS and 1.63psu for SSS, respectively. These suggest that 500m spatial resolution MODIS data are suitable for water quality modeling in the study area. Furthermore, the application of these models to MODIS images of the Hong Kong and Pearl River Delta (PRO) Region are able to accurately reproduce the spatial distribution map of the high turbidity with realistic SS concentrations.

• Korean Journal of Environment and Ecology
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• v.25 no.1
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• pp.37-46
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• 2011

This study was written about the actual vegetation map by researchig current vegetation and on-site vegetation in the Deogyusan National Park. Current vegetation patterns were classified into 42 types according to correlation. And Quercus mongolica forest was 39.08% out of the total forest vegetation, and was dispersed the most widely. Next were Q. variabilis, Pinus densiflora, and Fraxinus mandshurica forests in order, so that the forests of Deogyusan are different from those of another national parks in that F. mandshurica forest is more widely dispersed. Forest vegetation of Deogyusan national park is broadly classified into three types: deciduous broad-leaved forest (Quercus forest and valley forest), coniferous forest(P. densiflora forest), and sub-alpine forest(Taxus cuspidata forest, Abies koreana, Rhododendron schlippenbachii shrub-forest, and prairie). Distribution of DBH of Q. mongolica and Q. variabillis had a higher frequency of young individuals and middle individuals, Q. serrata and Carpinus laxiflora had a higher frequency of young individuals, suggesting a continuous domination of these species over the other species for the time being. In contrast, F. mandshurica appeared limited to the valley of the sheet and a higher frequency of young individuals, suggesting a continuous domination of these species the development of a climax forest terrain. P. densiflora, Betula davurica, Cornus controversa, B. costata, A. koreana and T. cuspidata had a formality distribution, suggesting a continuous domination of these species over the other species for the time being.

• Investigative Magnetic Resonance Imaging
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• v.15 no.1
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• pp.11-21
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• 2011

Purpose : Localization using MRI is difficult due to susceptibility induced artifacts caused by metal electrodes. Here we took an advantage of the B0 pattern induced by the metal electrodes by using an oblique-view imaging method. Materials and Methods : Metal electrode models with various diameters and susceptibilities were simulated to understand the aspect of field distortion. We set localization criteria for a turbo spin-echo (TSE) sequence usingconventional ($90^{\circ}$ view) and $45^{\circ}$ oblique-view imaging method through simulation of images with various resolutions and validated the criteria usingphantom images acquired by a 3.0T clinical MRI system. For a gradient-refocused echo (GRE) sequence, which is relatively more sensitive to field inhomogeneity, we used phase images to find the center of electrode. Results : There was least field inhomogeneity along the $45^{\circ}$ line that penetrated the center of the electrode. Therefore, our criteria for the TSE sequence with $45^{\circ}$ oblique-view was coincided regardless of susceptibility. And with $45^{\circ}$ oblique-view angle images, pixel shifts were bidirectional so we can detect the location of electrodes even in low resolution. For the GRE sequence, the $45^{\circ}$ oblique-view anglemethod madethe lines where field polarity changes become coincident to the Cartesian grid so the localization of the center coordinates was more facilitated. Conclusion : We suggested the method for accurate localization of electrode using $45^{\circ}$ oblique-view angle imaging. It is expected to be a novelmethodto monitoring an electrophysiological brain study and brain neurosurgery.