• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.04a
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• pp.56-63
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• 2000

Abstract - In this paper, an adaptive mechanism based on immune algorithm is designed and it is applied for the autonomous guided vehicle(AGV) driving. When the immune algorithm is applied to the PID controller, there exists the case that the plant is damaged due to the abrupt change of PID parameters since the parameters are adjusted almost randomly. To solve this problem, a neural network is used to model the plant and the parameter tuning of the model is performed by the immune algorithm. After the PID parameters are determined in this off-line manner, these gains are then applied to the plant for the on-line control using immune adaptive algorithm. Moreover, even though the neural network model may not be accurate enough intially, the weighting parameters are adjusted to be accurate through the on-line fine tuning. The computer simulation for the control of steering and speed of AGV is performed. The results show that the proposed controller has better performances than other conventional controllers.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.4
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• pp.201-212
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• 2000

In this paper, an adaptive mechanism based on immune algorithm is designed and it is applied for the autonomous guided vehicle(AGV) driving. When the immune algorithm is applied to the PID controller, there exists the cast that the plant is damaged due to the abrupt change of PID parameters since the parameters are adjusted almost randomly. To solve this problem, a neural network is used to model the plant and the parameter tuning of the model is performed by the immune algorithm. After the PID parameters are determined in this off-line manner, these gains are then applied to the plant for the on-line control using immune adaptive algorithm. Moreover, even though the neural network model may not be accurate enough intially, the weighting parameters are adjusted to be accurate through the on-line fine tuning. The computer simulation for the control of steering and speed of AGV is performed. The results show that the proposed controller has better performances than other conventional controllers.

• Journal of Korean Port Research
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• v.14 no.2
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• pp.187-197
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• 2000

In this paper, an adaptive mechanism based on immune algorithm is designed and it is applied to the driving control of the autonomous guided vehicle(AGV). When the immune algorithm is applied to the PID controller, there exists the case that the plant is damaged by the abrupt change of PID parameters since the parameters are adjusted almost randomly. To solve this problem, a neural network used to model the plant and the parameter tuning of the model is performed by the immune algorithm. After the PID parameters are determined through this off-line manner, these parameters are then applied to the plant for the on-line control using immune adaptive algorithm. Moreover, even though the neural network model may not be accurate enough initially, the weighting parameters are adjusted more accurately through the on-line fine tuning. The experiment for the control of steering and speed of AGV is performed. The results show that the proposed controller provides better performances than other conventional controllers.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.2
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• pp.67-72
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• 1996

This paper presents a parameter adaptive control law that stabilizes and asymptotically regulates any single-input, linear time-invariant, controllable and observable, discrete-time system when only the upper bounds on the order of the system is given. The algorithm presented in this paper comprises basically a nonlinear state feedback law which is represented by functions of the state vector in the controllable subspace of the model, an adaptive identifier of plant parameters which uses inputs and outputs of a certain length, and an adaptive law for feedback gain adjustment. A new psedu-inverse algorithm is used for the adaptive feedback gain adjustment rather than a least-square algorithm. The proposed feedback law results in not only uniform boundedness of the state vector to zero. The superiority of the proposed algorithm over other algorithms is shown through some examples.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.2
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• pp.127-136
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• 1989

This paper describes the parameter convergence properties of an adaptive system to identify a single-input single-output plant model. It is demonstrated that, by using power spectrum analysis, the persistency of excitation (PE) condition in order to guarantee the exponential stability of the adaptive control system can be transformed into the positive definite behavior for the auto-correlation function matrix of adaptive signal. The existence of parameter nominal values can be analyzed by this condition and the convergence rates of parameter are determined by examining the auto-correlation function. We may use the sufficient richness (SR) of input spectrum instead of the PE condition to analyze the parameter boundedness. It can be shown that the eigen values of the auto-correlation function are always related with adaptive gain, input amplitude and positions or numbers of input spectra. In each case, the variation of parameter convergence rate can be also verified.

• The Korea Journal of Herbology
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• v.31 no.5
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• pp.55-62
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• 2016

Objective : TM-MC was constructed to provide information on the chemical compounds of medicinal plant materials which were listed in Korean, Chinese, and Japanese pharmacopoeias. The aim of this study was to compare of the chemical compounds of TM-MC with those of domestic pharmacopoeias.Methods : First of all, TM-MC was updated on medicinal materials and chemical compounds which were extracted from articles up to the PubMed identifier of 26 millions. After searching for medicinal plant materials with information on their major compounds in Korean pharmacopoeias, we identified that the information on medicinal materials and chemical compounds were also existed in TM-MC. Then, we figured out how much the compounds have been studied by counting the number of articles for those compounds in TM-MC.Results : Information on 9 medicinal materials and about 1,700 compounds was newly added to TM-MC after manually curating 645 articles. Korean pharmacopoeias contained a total of 91compounds from 53 medicinal plant materials, while TM-MC provided information on the 89 compounds from the 53 medicinal materials in Korean pharmacopoeias. The compounds stated in Korean pharmacopoeias has been much studied by comparison with other compounds of each medicinal material in TM-MC.Conclusion : Most of chemical compounds stated in Korean pharmacopoeias were also listed in TM-MC, excluding two compounds. Thus, we concluded that information in TM-MC is mostly consistent with that of Korean pharmacopoeias. In the future, we will periodically update TM-MC with articles added to the MEDLINE.

• Journal of Ginseng Research
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• v.38 no.2
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• pp.130-135
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• 2014

Background: Panax ginseng, the most famous medicinal herb, has a highly duplicated genome structure. However, the genome duplication of P. ginseng has not been characterized at the sequence level. Multiple band patterns have been consistently observed during the development of DNA markers using unique sequences in P. ginseng. Methods: We compared the sequences of multiple bands derived from unique expressed sequence tagsimple sequence repeat (EST-SSR) markers to investigate the sequence level genome duplication. Results: Reamplification and sequencing of the individual bands revealed that, for each marker, two bands around the expected size were genuine amplicons derived from two paralogous loci. In each case, one of the two bands was polymorphic, showing different allelic forms among nine ginseng cultivars, whereas the other band was usually monomorphic. Sequences derived from the two loci showed a high similarity, including the same primer-binding site, but each locus could be distinguished based on SSR number variations and additional single nucleotide polymorphisms (SNPs) or InDels. A locus-specific marker designed from the SNP site between the paralogous loci produced a single band that also showed clear polymorphism among ginseng cultivars. Conclusion: Our data imply that the recent genome duplication has resulted in two highly similar paralogous regions in the ginseng genome. The two paralogous sequences could be differentiated by large SSR number variations and one or two additional SNPs or InDels in every 100 bp of genic region, which can serve as a reliable identifier for each locus.

• Journal of the Korean Society for Nondestructive Testing
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• v.19 no.2
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• pp.93-99
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• 1999

SCAI(spent CANDU fuel bundle serial number identifier) was developed to read serial numbers of spent fuel bundles in the spent fuel storage. For the purpose of effectively identifying the serial number of fuel bundle. SCAI was composed of underwater camera & light part. guiding & supporting part and control & monitor part. So it is easy to assemble and disassemble, and operate. It was tested to read serial numbers of spent fuel bundles loaded in basket during the recent spent fuel transfer campaign at Wolsong Unit 1. And it was also applied to read serial numbers of spent fuel bundles discharging from the initial core at Wolsong Unit 3 by slight change of camera and light. Inspectors could easily operate SCAI after several practices in the storage pond, which was a user friendly. And SCAI provided clear and immediate picture for identification of serial numbers of spent fuel bundles. It was interally evaluated that SCAI greatly contributed to cut inspection efforts for national and international safeguards at Wolsong power plant.