• The Transactions of the Korean Institute of Electrical Engineers C
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• v.52 no.11
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• pp.516-520
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• 2003

A novel dual beam heterodyne Laser Doppler Vibrometer (LDV) in conjunction with FM demodulators, which utilizes a residual beam to eliminate the perturbationdue due to the vibrometer body vibration without any external reference surface, has been developed. Residual laser beam from the beam splitter is used to pick up the vibration of damper, which is mounted in the vibrometer, and combined with reference beam at the photodetector. The output signal of this detector and main signal are processed to extract the object vibration, using a least mean square adaptive algorithm. It is shown experimentally that the body vibration of 1-5 Hz can be effectively removed from the measured signal using DSP technology to extract unperturbed 100 Hz original signal.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.621-626
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• 2002

Two problems in the measurement of 6-DOF head vibration in very low frequency range were investigated in this study. One is how much error was involved in the estimation of three rotational and three translational motion at any specified point from measured 6 translational accelerations. The other is quantitative and qualitative influence of gravity on DC and AC component of the estimated accelerations in 6 degree of freedom, which were derived from pick-ups fixed on a helmet. In the study the effect of nonlinear terms on the estimation of 6 degree of freedom accelerations was negligible but gravity effect must be considered carefully.

• Journal of Plant Biology
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• v.14 no.2
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• pp.11-14
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• 1971

Zephyranthes candida, Narcissus pseudonarcissus and Crinum asiaticum pollen were placed near their pistil parts respectively on agar cultural media(microslides) containing 10% sucrose and 100mg/l botic acid plus 1% agar with or without calcium and some other calciumsupporting inorganic salts. If fresh pistils (100% moisture) were used pollen grew toward their pistil parts, showing "positive" tropism. This was also true when combinations among three different species were made. Pollen tubes grew away from the pistils if they were dried (below 10% moisture), showing "negative" tropism. Pollen could not show any tropic growth and thus grew at random of all directions if the pistil parts were incompletely dried (approximately 50% moisture). The similar tropic responses of pollen-tube growth with the three species could be demonstrated with etiehr wet or dried tooth-pick segments. Calcium jons in the basic medium merely promated pollen-tube growth and so either "positive" or "negative" tropism became rather distinctive, but they were not tropically active. Pollen tubes grow toward pistil parts with more moisture content and seem to be hydrotropically sensitive. This was assumed due to the cohesive force existing in water molecules.esive force existing in water molecules.

• Korean Institute of Interior Design Journal
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• v.23 no.5
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• pp.76-85
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• 2014

When conscious and unconscious exploring information of space-visitors which is contained in the information acquired in the process of seeing any space is analyzed, it can be found what those visitors pick up as factors in the space for its selection as visual information in order to put it into action. This study, with the object of the space reproduced in three dimensions from the cafe which was visited for conversation, has analyzed the process of acquiring space-information by sex to find out the features of scanning path, findings of which are the followings. First, the rate of scanning type of males was "Combination (50.5%)- Circulation (31.0%) and that of females "Horizontal (32.5%) - Combination (32.1%)", which shows that there was a big difference by sex in the scanning path which took place in the process of observing any space. Second, when the features of continuous observation frequency by sex is looked into, the trends of increased "horizontal" scanning and decreased "Combination" scanning of both showed the same as the frequency of continuous observations increased, while in case of "Circulation" scanning, that of females was found to decrease but that of males showed the aspect of confusion. Third, the 'Combination' scanning of males was found strong at the short observation time with three times of continuous observation frequency defined as "Attention Concentration" while the distinct feature was seen that the scanning type was dispersed to "combination-circulation" as the frequency of continuous observation increased. Females start the information acquirement with "combination-circulation" but in the process of visual appreciation they showed a strong "Horizontal" These scanning features can be defined as those by sex for acquiring space information and therefore are very significant because they are fundamental studies which will enable any customized space-design by sex.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.898-904
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• 2010

Unmanned autonomous forklifts have a great potential to enhance the productivity of material handling in various applications because these forklifts can pick up and deliver loads without an operator and any fixed guide. There are, however, many technical difficulties in developing such forklifts including localization, map building, sensor fusion, control and so on. Implementation, which is often neglected, is one of practical issues in developing such an autonomous device. This is because the system requires numerous sensors, actuators, and controllers that need to be connected with each other, and the number of connections grows very rapidly as the number of devices grows. Another requirement on the integration is that the system should allow changes in the system design so that modification and addition of system components can be accommodated without too much effort. This paper presents a network-based distributed approach where system components are connected to a shared CAN network, and control functions are divided into small tasks that are distributed over a number of microcontrollers with a limited computing capacity. This approach is successfully applied to develop an unmanned forklift.

• Journal of Communications and Networks
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• v.17 no.4
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• pp.440-448
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• 2015

In this paper, we study the problem of selfish behavior of secondary users (SUs) based on cognitive radio (CR) with the presence of primary users (PUs). SUs are assumed to contend on a channel using the carrier sense multiple access with collision avoidance (CSMA/CA) and PUs do not consider transmission of SUs, where CSMA/CA protocols rely on the random deference of packets. SUs are vulnerable to selfish attacks by which selfish users could pick short random deference to obtain a larger share of the available bandwidth at the expense of other SUs. In this paper, game theory is used to study the systematic cheating of SUs in the presence of PUs in multichannel CR networks. We study two cases: A single cheater and multiple cheaters acting without any restraint. We identify the Pareto-optimal point of operation of a network with multiple cheaters and also derive the Nash equilibrium of the network. We use cooperative game theory to drive the Pareto optimality of selfish SUs without interfering with the activity of PUs. We show the influence of the activity of PUs in the equilibrium of the whole network.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1051-1058
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• 2011

Unmanned autonomous forklifts have a great potential to enhance the productivity of material handling in various applications because these forklifts can pick up and deliver loads without an operator and any fixed guide. Especially, automation of pallet loading and unloading technique is useful for enhancing performance of logistics and reducing cost for automation system. There are, however, many technical difficulties in developing such forklifts including localization, map building, sensor fusion, control, and so on. This is because the system requires numerous sensors, actuators, and controllers that need to be connected with each other, and the number of connections grows very rapidly as the number of devices grows. This paper presents a vision sensorbased autonomous loading and unloading for network-based unmanned forklift where system components are connected to a shared CAN network. Functions such as image processing and control algorithm are divided into small tasks that are distributed over a number of microcontrollers with a limited computing capacity. And the experimental results show that proposed architecture can be an appropriate choice for autonomous loading in the unmanned forklift.

• Journal of Biosystems Engineering
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• v.26 no.2
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• pp.163-168
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• 2001

A manipulator for test-cup attachment modules, which was a part of a robot milking system, was developed to reduce cost and labor for cow milking processing. A Cartesian coordinate manipulator was designed for the milking process, because it was quite flexible and can be constructed more economically than any other configuration. The manipulator was made use of DC motors, screws for power transmission, a RS422 interface system for the transmission of coordinate values and a one-chip microprocessor, 89C52. Performance tests of the manipulator were conducted to measure experimentally the precision of all axes. Some of the results are as follows. 1. The Cartesian coordinate manipulator was designed and built. Dimension of the three perpendicular axes (X, Y, and Z) and one arm’s axis(W) to pick up and transfer the modules were 700㎜$\times$450㎜$\times$550㎜$\times$650㎜. The arm’s axis moved the teat-cup attachment module, which attached four teat-cup to four teats, detached four teat-cup from four teats, was designed and manufactured by using CAD, CAM and CNC. 3. After 10 replications of exercising the manipulator, mean precision values(positioning error) of X, Y, Z axes wee 0.48㎜, 0.20㎜, 0.19㎜, respectively. Therefore, we conclude the axes to have a precision better than 0.5㎜, had no problem to operate correctly the milking manipulator.

• Clinical and Experimental Reproductive Medicine
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• v.47 no.3
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• pp.227-232
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• 2020

Objective: The aim of this study was to compare in vitro fertilization outcomes between fresh day 3 or day 4 embryo transfer cycles with dual progesterone (P) administration (intramuscular and vaginal) and cycles with single intramuscular P administration for luteal support. Methods: We selected 124 cycles from 100 women (under age 40 years) who underwent oocyte pick-up (number of trials ≤ 3, 4-14 oocytes obtained) and transfer of two or three day 3 or day 4 embryos at two infertility centers from January 2014 to June 2019. Dual P (intramuscular P [50 mg] daily+vaginal P) was used in 52 cycles and a single intramuscular administration of P (50 mg daily) was used in 72 cycles. Results: Women's age, infertility factors, number of oocytes retrieved, number of transferred embryos, and mean embryo score were similar between the dual P group and the single P group. Although the number of trial cycles was significantly higher (1.9 vs. 1.5), and the mean endometrial thickness on the trigger day (10.0 mm vs. 11.0 mm) was significantly lower in the dual P group, the implantation rate, clinical pregnancy rate, ongoing pregnancy rate, and miscarriage rate for both day 3 and day 4 transfers were similar between the two groups. Conclusion: In fresh day 3 or day 4 embryo transfer cycles, dual P administration did not demonstrate any clinical advantages. Intramuscular P alone appears to be sufficient for luteal support.

• Journal of Embryo Transfer
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• v.16 no.3
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• pp.193-201
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• 2001

This study was designed to examine the factors affecting in fertilization and development of embryos in vitro, and to examine whether zone drilling by laser irradiation can improve the hatching rate of IVF embryos from DNA marker-proved Hanwoo. DNA markers related to marbling score were identified using DNA fingerprinting with Ml3 probe and restriction enzyme Hae III. Oocytes were aspirated from immature ovarian follicles using a combined method of rectal ovarian-palpation and transvaginal ultrasound-guidance(6.5MHz) under local anesthesia. The aspirated oocytes were washed twice with fresh D-PBS containing 5% FBS and were rewashed 4 to 5 times with TCM-199 containing 5% FBS. A morphological grade of I to IV was assigned to each oocyte. Data were analyzed using the GLM procedure of SAS. Sperm separation methods did not have any significant effect on cleavage or developmental abilities of IVF embryos. Significantly(P<0.05) higher cleavage rate was observed in embryos from GI(60.0%, 3/5), GII(69.2%, 18/26) and GIII(62.1%, 59/95) compared to embryos from GIV oocytes(36.2%, 25/69). And the developmental rate to blastocyst stage was higher(P<0.05) in embryos from GI(33.3%, 1/3) and GII oocytes(38.9%, 7/18) than those from GIII(16.9%,10/59) and GIV oocytes(4.0%, 1/25). There was no significant difference in development of IVF embryos to blastocyst by media for in vitro culture. Proportion of hatched blastocyst was significantly(P<0.05) higher in embryos received zona drilling by laser than those of non-drilled.