• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.471-478
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• 2011

This UGV (Unmanned Ground Vehicle) is not only widely used in various practical applications but is also currently being researched in many disciplines. In particular, obstacle avoidance is considered one of the most important technologies in the navigation of an unmanned vehicle. In this paper, we introduce a simple algorithm for path planning in order to reach a destination while avoiding a polygonal-shaped static obstacle. To effectively avoid such an obstacle, a path planned near the obstacle is much shorter than a path planned far from the obstacle, on the condition that both paths guarantee that the robot will not collide with the obstacle. So, to generate a path near the obstacle, we have developed an algorithm that combines an edge detection method and a limit-cycle navigation method. The edge detection method, based on Hough Transform and IR sensors, finds an obstacle's edge, and the limit-cycle navigation method generates a path that is smooth enough to reach a detected obstacle's edge. And we proposed novel algorithm to solve local minima using the virtual wall in the local vision. Finally, we verify performances of the proposed algorithm through simulations and experiments.

• Journal of Food Hygiene and Safety
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• v.11 no.2
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• pp.129-132
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• 1996

Recently, as concern about the residual antibiotics in milk increase, the detection methods of residual antibiotics used extensevely at the present time were investigated and compared to their properties and the detection limits of variable antibiotics. At first, comparactive tests of the detectable sensitivity of 4 test organisms, B. cereus, B. subtilis, M.luteus, B.stearothermophilus C-953, were performed by disc assay. As a result, B.stearothermophilus was the most sensitive strain of all other strains and showe the detect limit of 5-50 ppb for penlicillins (PCs). And also, B.subitilis was showed the more effective detection limit, 200-400 ppb, for aminoglycosides (AGs) and M.luteus was showed predominant sensitivity , 50-500 ppb for macrolides(MLs) and B.cereus was the most sensitive strain for tetracyclines (TCs) and showed the detection limit of 100-400 ppb. Therefore, each test strains were showed a different sensitivity in the detection of the different antibiotic families. When the detection limit of disc assay and other methods were compared, TTCmethod was less sensitive than other methods showing 5-50 ppb detectable lebel for PCs. Also, for the detection of other antibiotic families TTC method was showed the worst sensitivity and Delvo and Charm Farm tests were similar to the detectable properties of AGs and MLs. Although disc assay was showed the similar detection limit for PCs with Delvo and Charm Farm, it was more widely effective for the detection of kanamycin, erythromycin, chlortetracycline, doxycycline, verginiamycin and so on than Delvo or Charm Farm. CharmII test was showed the best sensitivity for the most of antibiotics except neomycin and gentamycin. But it was necessary that different tests must be performed to each antibiotic family and so it was regarded that the effectiveness of that method was low.

• Structural Engineering and Mechanics
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• v.24 no.6
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• pp.765-769
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• 2006

• Journal of Environmental Science International
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• v.4 no.1
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• pp.91-103
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• 1995

The reaction rate, equilibrium, and flow injection analysis methods were fundamentally evaluated for the determination of aqueous ammonia. The selected indophenol blue method was based on the formation of indophenol blue in which ammonium ion reacted with hypochlorite and phenol in alkaline solution. In the optimized reaction condition, the reaction followed 1st order reaction kinetics and the final product was stable. The absorbance measurements before and after the equilibrium were utilized for the reaction rate and equilibrium methods. The reaction rate methods, based on the relative analytical signals for the possibility of eliminating interferents, were shown to have good linear calibration curves but the detection limit and the calibration sensitivity were poorer than those in the equilibrium method. The detection limits were 32-49 pub and 24 pub for the reaction rate and equilibrium methods, respectively In the flow injection analysis, the absorbance was measured before the equilibrium reached and thus resulted in 30% reduction of calibration sensitivity. However, the detection limit was 11 ppb, indicating that the peak-to-peak noise for the blank was remarkably improved. Compared to the manual methods, the optimized experimental condition in a closed reaction system reduced the blank absorbance and the inclusion of ammonia from the atmosphere was prevented. In addition, highly reproducible mixing of sample and reagents and analytical data extracted from continuous recording showed excellent reproducibility.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11c
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• pp.525-532
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• 2000

A new spectroscopic method for pesticide residues detection on agricultural products was developed. The general determination methods are high performance liquid chromatography (HPLC), gas chromatography (GC) or GC-mass spectrometry. They have provided relatively good detection limit and accuracy with complicated and time-consuming (5hrs above) procedures. In addition freshness is very important for evaluating qualities of agricultural products. This requires a simple and fast method for detection of pesticides. Reflectance, transmittance and fluorescence spectrometry of pesticides were tested using UV range because most of pesticides contain conjugation band in the molecular structures. Fluorescence spectrometry showed better sensitive to detect pesticide residues than did reflectance and transmittance spectrometry. Intensity and shape of fluorescence spectra showed different patterns with different structures of pesticides. Detection limit for fluorescence spectrometry was 0.1 ppm to 10 ppm depending on the structures of pesticides. Application of fluorescence spectrometry appears to be an easy method for detection of pesticide residues on agricultural products.

• Molecules and Cells
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• v.45 no.7
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• pp.502-511
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• 2022

Bacterial volatile compounds (BVCs) exert beneficial effects on plant protection both directly and indirectly. Although BVCs have been detected in vitro, their detection in situ remains challenging. The purpose of this study was to investigate the possibility of BVCs detection under in situ condition and estimate the potentials of in situ BVC to plants at below detection limit. We developed a method for detecting BVCs released by the soil bacteria Bacillus velezensis strain GB03 and Streptomyces griseus strain S4-7 in situ using solid-phase microextraction coupled with gas chromatography-mass spectrometry (SPME-GC-MS). Additionally, we evaluated the BVC detection limit in the rhizosphere and induction of systemic immune response in tomato plants grown in the greenhouse. Two signature BVCs, 2-nonanone and caryolan-1-ol, of GB03 and S4-7 respectively were successfully detected using the soil-vial system. However, these BVCs could not be detected in the rhizosphere pretreated with strains GB03 and S4-7. The detection limit of 2-nonanone in the tomato rhizosphere was 1 µM. Unexpectedly, drench application of 2-nonanone at 10 nM concentration, which is below its detection limit, protected tomato seedlings against Pseudomonas syringae pv. tomato. Our finding highlights that BVCs, including 2-nonanone, released by a soil bacterium are functional even when present at a concentration below the detection limit of SPME-GC-MS.

• Structural Engineering and Mechanics
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• v.63 no.6
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• pp.789-797
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• 2017

Recently, some integrated structural identification/damage detection and reliability evaluation of structures with uncertainties have been proposed. However, these techniques are applicable for off-line synthesis of structural identification and reliability evaluation. In this paper, based on the recursive formulation of the extended Kalman filter, an on-line integration of structural identification/damage detection and reliability evaluation of stochastic building structures is investigated. Structural limit state is expanded by the Taylor series in terms of uncertain variables to obtain the probability density function (PDF). Both structural component reliability with only one limit state function and system reliability with multi-limit state functions are studied. Then, it is extended to adopt the recent extended Kalman filter with unknown input (EKF-UI) proposed by the authors for on-line integration of structural identification/damage detection and structural reliability evaluation of stochastic building structures subject to unknown excitations. Numerical examples are used to demonstrate the proposed method. The evaluated results of structural component reliability and structural system reliability are compared with those by the Monte Carlo simulation to validate the performances of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.2
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• pp.246-255
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• 1998

This paper presents a novel method for real-time malfunction detection of plasma etching process using EPD signal traces. First, many reference EPD signal traces are collected using monochromator and data acquisition system in normal etching processes. Critical points are defined by applying differentiation and zero-crossing method to the collected reference signal traces. Critical parameters such as intensity, slope, time, peak, overshoot, etc., determined by critical points, and frame attributes transformed signal-to symbol of reference signal traces are saved. Also, UCL(Upper Control Limit) and LCL(Lower Control Limit) are obtained by mean and standard deviation of critical parameters. Then, test EPD signal traces are collected in the actual processes, and frame attributes and critical parameters are obtained using the above mentioned method. Process malfunctions are detected in real-time by applying SPC(Statistical Process Control) method to critical parameters. the Real-time malfunction detection method presented in this paper was applied to actual processes and the results indicated that it was proved to be able to supplement disadvantages of existing quality control check inspecting or testing random-selected devices and detect process malfunctions correctly in real-time.

• Journal of Microbiology and Biotechnology
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• v.9 no.2
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• pp.184-190
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• 1999

The use of the polymerase chain reaction (PCR) method was described using two sets of primers based on the ceuN gene (JEJ 1 and JEJ 2) which encodes a protein involved in siderophore transport and 16S rRNA gene (pA and pB) for the sensitive and specific detection of enteropathogen Campylobacter jejuni. Six oligonucleotides were utilized in an amplification experiment and PCR products of predicted sizes were generated from whole cells and boiled cell lysates at the same intensity. Two sets of the primer pairs, JEJ and pAB, were specific enough for all C. jejuni strains tested for the direct use of whole cells without DNA extraction or lysis steps. In the PCR using the pAB primer pair, the detection limit, as determined by the ethidium bromide staining of the amplification products on agarose gels, was at the level of $10^1$ bacteria cells or less in both the pure culture and artificially inoculated milk and chicken enrichment samples, whereas the detection limit with the JEJ primer pair was relatively low, i.e. $10^3$ cells or more in the same PCR samples. The PCR method using either a primer JEJ or pAB was both repeatable and specific for the detection of C. jejuni in food. This method is simply completed within 4 h.

• Journal of Biosystems Engineering
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• v.34 no.4
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• pp.254-259
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• 2009

Conventional methods for pathogen detection and identification are labor-intensive and take several days to complete. Recently developed biosensors have shown potential for the rapid detection of foodborne pathogens. In this study, an impedimetric biosensor was developed for rapid detection of Salmonella typhimurium. To develop the biosensor, an interdigitated microelectrode (IME) was fabricated by using semiconductor fabrication process. Anti-Salmonella antibodies were immobilized based on either avidin-biotin binding or self assembled monolayer (SAM) on the surface of the IME to form an active sensing layer. To evaluate effect of antibody immobilization methods on sensitivity of the sensor, detection limit of the biosensor was analyzed with Salmonella samples innoculated in phosphate buffered saline (PBS) or food extract. The impedimetric biosensor based on SAM immobilization method produced better detection limit. The biosensor could detect 107 CFU/mL of Salmonella in pork meat extract. This method may provide a simple, rapid, and sensitive method to detect foodborne pathogens.