• Journal of IKEEE
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• v.8 no.1 s.14
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• pp.96-107
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• 2004

In this paper, a new integral variable structure regulation controller(IVSRC) is designed by using a special integral sliding surface and a disturbance observer for the improved regulation control of highly nonlinear robot manipulators with prescribed output performance. The sliding surface having the integral state with a special initial condition is employed in this paper to exactly predetermine the ideal sliding trajectory from a given initial condition to origin without any reaching phase. And a continuous sliding mode input using the disturbance observer is also introduced in oder to effectively follow the predetermined sliding trajectory within the prescribed accuracy without large computation burden. The performance of the prescribed tracking accuracy to the predetermined sliding trajectory is clearly investigated in detail through the two theorems together with the closed loop stability. The design of the proposed IVSRC is separated into the performance design and robustness design in each independent link. The usefulness of the algorithm has been demonstrated through simulation studies on the regulation control of a two link manipulator under parameter uncertainties and payload variations, in view of no reaching phase, no overshoot, predetermined response with prescribed accuracy, easy change of output performance, separation of design phase, and so on.

• Korean Journal of Organic Agriculture
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• v.15 no.1
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• pp.93-108
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• 2007

In order to find a solution to protect pigs from bacterial diarrhea and the nasty smell in stalls which are the most trouble, we composed a bio-formula with Stretococcus thermophilus, Bacillus amyloliquifaciens and Bacillu subtilis. The antagonistic microbe Bacillus amyloliquifaciens can control the growth of Salmonella typhimurium KCTC 1926, Escherichia coli O-157, Listeria and Staphylococcus. S. thermophilus from pig's stomach can live in gastric juice so it also control germs. They worked in its living cell state and its culture fluid. As a result of feeding with piglings, it showed effects of preventing diarrhea and increasing the weight.

• Journal of Korea Port Economic Association
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• v.23 no.1
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• pp.115-148
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• 2007

Under the influence of ever-globalized world economy, Yangsan Port of Shanghai, a central hub of Chinese economy, was opened up on Dec. 1, 2005 in the expectation of heart of northeast Asian harbor logistics. It has triggered severer competitions among northeast Asian ports. In an effort to keep robust standing as a central port of northeast Asia, Korea has still built additional new ports and opened up 3 docks in Nov. 2005. Amid these changing port environments, it is foremost to take the competitive edges of new ports in advance of major rival ports in the interest of preoccupying the standing of those new ports as the central hub of northeast logistics. According to the developmental strategies of new ports can be summed up as follows: First, it is required to separate port development from marketing as a part of separating developmental entity from management/maintenance entity. Second, it is required to develop dedicated port for feeder vessels along with new ports to save more time and cost spent by shipping companies. Third, the attraction of jumbo shipping companies to port development needs differentiated countermeasures for each shipping company, and those measures should be taken in advance before jumbo shippers decide their own shipping strategies in future. Fourth, in terms of incentives for attracting jumbo shipping companies, it is required to offer the incentives to them in using new ports in connection with Busan ports. Fifth, it is critical to set up a benchmark of competitors(ports) for establishing one-stop automatic administration process system upon developing ports. Finally, it is required to prepare a plan for using rearward lands in connection with ports for more efficient use of development complex behind port.

• Microbiology and Biotechnology Letters
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• v.13 no.3
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• pp.245-250
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• 1985

In order to increase citric acid productivity. several attempts were made; isolation and characterization of the mutant strain produced citric acid in a high yield, citric acid fermentation in a medium containing relatively higher amount of glucose and citric acid production by the use of semicontinuous ceil recycle system. By the treatment of Candide lipolytica S-109 with NTG, a mutant J-24 was selected as the highest producer of citric acid among the strains formed larger CaCO$_3$ lytic zone. it produced 72g/1 citric acid in 10％ glucose medium. Because mutant J-24 produced 85g/l citric acid and showed 53％ yield in 16％ glucose medium, several factors were adjusted to increase the yield in 16％ glucose medium. 0.8-1.0$\times$10$^{-3}$ P/C ratio, 0.15％ urea, 0.25％ yeast extract were suitable at citric acid production in 16％ glucose medium. Under this condition, J-24 strain produced 93g/l citric acid and showed 58％ yield. Semicontinuous cell recycle system was used to protons the effective production phase, to minimize the product inhibition and to shorten the lag phase. The productivity of semicontinuous cell recycle system was 0.79g/l h while that of batch system was 0.53g/l.h

• Proceedings of the KWS Conference
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• 2009.11a
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• pp.3-3
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• 2009

선박의 건조과정에서 필수적으로 선체 외판에는 선박의 안전과 운항 및 정비 등에 필요한 정보를 나타내기 위해 다양한 종류의 마크 및 문자가 마킹되어진다. 하지만, 단순한 도장 작업만으로는 해상과 같은 부식 환경에서 마크 및 문자가 쉽게 지워지거나 손상되기 때문에 마크 및 문자를 용접 비드(welding bead)로 표시하거나 미리 절단된 강판(steel plate)을 수동으로 용접한 뒤 도장을 함으로써 마크 및 문자의 손상을 방지하고 있다. 이러한 문자마킹작업을 하기 위해서는 작업자가 수작업으로 기준선과 마크 및 문자의 위치를 먹줄 등을 이용하여 마킹을 하고, 해당 마크 및 문자의 템플렛(template)을 이용하여 펀칭을 실시한 후 수동으로 용접을 실시한다. 하지만, 수작업을 통한 선체외판 문자마킹 작업은 작업자의 기량에 따라 품질이 상이하여 품질 저하의 원인이 된다. 또한 대조립 및 탑재 단계에서 문자 마킹 작업시 수직자세의 용접을 요구함으로써 작업자가 안전사고에 노출되어 있으며, 선박의 각 단계별 주요 공정보다 작업시간이 길어져 전체 선박 건조공정을 지연시키는 문제점 등을 야기시킬 수 있다. 이러한 문제점들을 해결하기 위해 조선업계에서는 선체 외판의 마크 및 문자를 자동으로 용접할 수 있는 장치를 개발하기 위해 노력해왔으며, 몇몇 개발 사례가 보고되고 있다. 하지만, 그 실효성 부분에서는 아직까지 해결하지 못한 문제점들로 인해 현장 적용에는 어려움을 보이고 있다. 본 연구에서는 선박외판 문자 자동용접장치의 기능성뿐만 아니라 현업 적용성을 가장 우선적으로 고려하여 문자마킹장치(Marking Robot for Shipbuilding) 개발을 진행하였다. 우선, 적절한 용접 재료를 선정하기 위해서 솔리드 와이어(Solid Wire)와 플럭스 코어드 와이어(Flux Cored Wire)에 대한 비드온 용접(Bead-On Welding)을 아래보기자세와 수직자세에 대해서 실시하여 적절한 용접 조건을 설정하였다. 본 연구에서 개발된 문자마킹 자동용접장치는 3축으로 구성되어 있으며 각 축들을 분리할 수 있도록 개발하여 이동성을 향상시켰으며, 작업면과 용접토치간의 거리를 일정하게 유지시킬 수 있도록 용접전류 센서(Welding Current Sensor)를 이용하여 토치 높이(Wire Extension)를 제어함으로써 균일한 품질의 용접비드를 얻을 수 있었다. 또한 문자마킹 자동용접장치는 본체 구동부와 제어부(Touch Screen)가 쉽게 분리되고 장착이 가능한 구조로 개발되었으며, 용접시 각 용접자세별로 용접전압, 전류 그리고 용접속도 설정이 가능하여 아래보기 자세뿐만 아니라 어떠한 자세에서도 같은 모양의 비드형상을 가지는 문자마킹용접이 가능하도록 개발하였으며, 이는 실험과 현장적용을 통해 검증하였다.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.37 no.3
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• pp.70-78
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• 2000

In this study, a new method for canceling MRI artifacts through the motion translation of image plane is presented Breathing often makes problems in a clinical diagnosis. Assuming that the head moves up and down due to breathing, rigid translational motions in only y(phase encoding axis) direction are treated Unlike the conventional Iterative phase retrieval algorithm, this method is based on the MRI imaging process and analyzing of Image property A new constraint condition with which the motion component and the true image component in the MRI signal can be separated by a simple algebraic operation is extracted After the x(read out) directional Fourier transformation of MRI signal is done, the y(phase encoding) directional spectrum phasing value is Just an algebraic sum of the Image component and the motion component Meanwhile, as It is known that the density of subcutaneous fat area is almost uniform in the head tomographs, the density distribution along a y directional line on this fat area is regarded as symmetric shape If the density function is symmetric, then the phase of spectrum changes linearly with the position Hence, the departure component from the linear function can be separated as the motion component Based on this constrant condition, the new method of artifact cancellation is presented Finally, the effectiveness of this algorithm IS shown by using a phantom with simulated motions.

• Plant Journal
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• v.14 no.3
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• pp.29-34
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• 2018

In this study, the output and thermal efficiency of Taean Integrated Gasification Combined Cycle Plant were calculated by using the manufacturer's basic design data and the performance correction factor for each atmospheric temperature, and the actual performance was measured at summer and winter representative points. The results were compared with the calculated values to verify their validity. The thermal efficiency is the highest at around $15^{\circ}C$ and lower at lower temperature and higher temperature. This is similar to that of natural gas Combined Cycle Power Plant, but the thermal efficiency has drastically decreased due to the increase of power consumption of the air separation unit at relatively high temperature. The output is highest in the range of 5 to $15^{\circ}C$, and is kept almost constant at below $5^{\circ}C$ and declines above $15^{\circ}C$. The reason why the output does not increase at low temperatures is that the torque limit of the shaft is activated by the increase of the flow rate due to the nitrogen injection of the gas turbine combustor. In order to improve the performance in the future, efforts should be made to improve the power generation output and to reduce the power consumption of the air separation unit in summer.

• Journal of Broadcast Engineering
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• v.27 no.1
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• pp.44-55
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• 2022

In order to automatically provide information on fruits in agricultural related broadcasting contents, instance image segmentation of target fruits is required. In addition, the information on the 3D pose of the corresponding fruit may be meaningfully used. This paper represents research that provides information about tomatoes in video content. A large amount of data is required to learn the instance segmentation, but it is difficult to obtain sufficient training data. Therefore, the training data is generated through a data augmentation technique based on a small amount of real images. Compared to the result using only the real images, it is shown that the detection performance is improved as a result of learning through the synthesized image created by separating the foreground and background. As a result of learning augmented images using images created using conventional image pre-processing techniques, it was shown that higher performance was obtained than synthetic images in which foreground and background were separated. To estimate the pose from the result of object detection, a point cloud was obtained using an RGB-D camera. Then, cylinder fitting based on least square minimization is performed, and the tomato pose is estimated through the axial direction of the cylinder. We show that the results of detection, instance image segmentation, and cylinder fitting of a target object effectively through various experiments.

• Journal of the Korean Crystal Growth and Crystal Technology
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• v.7 no.3
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• pp.359-365
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• 1997

$K_2CoCl_4$, single crystals were grown by the Czochralski method in Ar atmosphere. The thermal hysteresis of the dielectric constant at $T_c$ was investigated. $K_2CoCl_4$ crystal shows ionic hopping mechanism due to $K^+$ ion and the activation energy is nearly 0.62 eV. Thermal expansions along a-, b-, and c-axis of $K_2CoCl_4$, were measured on heating and the thermal expansion coefficients in each phase were calculated. From the result of the optical absorption measurement, we interpreted the absorption peak as transition energy between the splitted energy levels of the Co ion in the crystal field and it showed the possibility of the application to the optical band filter between 800 nm and 1200 nm.

• Korean Journal of Environment and Ecology
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• v.6 no.2
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• pp.134-146
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• 1993

A survey of the Chundong valley forest in Mt. Sobaek was conducted using 20 sample plots of 500$m^2$ size. The classification by TWINSPAN and DCA, CCA ordination techniques were applied to the study area in order to classify them into several groups based on woody plants and environmental variables. By TWINSPAN techniques, the plant community were divided into four groups. The dividing groups are Pinus densiflora community, Qurcus variabilis -Q. mongolica -P. densiflora community, Fraxinus rhynchophylla community. The successional trends of tree species by DCA ordination techniques and DBH class distribution analysis seems to be from P. densiflora through Q. mongolica. Q. variabilis to F rhynchophylla. The correlation between the score of first two axes and soil pH, soil humus, soil calcium concentration, soil magnesium concentration was significantly positive in CCA ordination. The positive correlation between the score of first two axes of F. rhynchophylla community and soil humus, soil magnesium concentration and between ones of P. densiflora community and soil pH were calculated. But there is no correlation between species and environmental variables.