• Journal of Ocean Engineering and Technology
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• v.23 no.6
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• pp.146-155
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• 2009

This paper considers the path tracking problem in a horizontal plane for underactuated (or non-holonomic) autonomous underwater vehicles (AUVs). Underwater mapping has been an important mission for AUVs. Recently, underwater docking has also become a main research field of AUVs. These kinds of missions basically require accurate attitude and trajectory control performance. However, the non-holonomic problem should be solved to achieve accurate path tracking for the torpedo-type of AUVs. In this paper, resolved motion and acceleration control (RMAC) is considered as a path tracking controller for an underactuated torpedo-shaped AUV, ISiMi. A set of numerical simulations is carried out to illustrate the effectiveness of the proposed RMAC scheme, and experimental data with ISiMi100 and discussions are presented.

• Proceedings of the Korean Information Science Society Conference
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• 2010.06c
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• pp.554-559
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• 2010

자율무인잠수정은 탐사 목적에 따라 다양한 임무를 수행해야 하며, 임무에 따라 자율무인잠수정 행동의 유형과 순서는 달라질 수 있다. 그러나 대부분의 자율무인잠수정은 한정된 임무에 대하여 프로그램 내부에 고정된 행동 유형으로 동작하며, 다른 유형의 임무를 수행해야 할 경우에는 프로그램을 수정해야 하는 문제점이 있다. 따라서 본 연구에서는 자율무인잠수정이 수행할 수 있는 다양한 임무를 명시할 수 있는 임무 언어를 개발하였다. 이 임무 언어는 명령어의 실행 순서를 제어할 수 있는 제어문과 자율무인잠수정의 행동을 지정하거나 자율무인잠수정의 상태를 입출력 할 수 있는 명령어, 그리고 변수 정의를 제공하기 때문에, 사용자가 자율무인잠수정의 임무를 자유롭게 표현하는 것이 가능하다. 임무 언어로 작성된 임무 파일은 전용 어셈블러에 의해 이진 형식의 실행이미지로 변환된 후에, 자율무인잠수정 내장 소프트웨어 내부의 가상기계 기억장치에 적재되어 실행된다. 실행이미지를 가상기계에서 해석하고 실행하는데 필요한 시스템의 자원을 최소화하기 위하여 임무 언어는 자율무인잠수정의 임무를 표현하기 위한 필수적인 부분만을 고려하여 설계되었으며, 문법은 ARM v5 어셈블리와 유사한 형태이다. 개발된 임무 언어는 한국해양연구원에서 개발한 이심이100 자율무인잠수정에 적용되었으며, 이후 개발할 6,000m급의 이심이6000 자율무인잠수정에도 사용될 예정이다.

• Journal of Astronomy and Space Sciences
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• v.6 no.2
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• pp.91-100
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• 1989

The mean orbital elements for geosynchronou8s satellite are developed in terms of non-singular orbital elements. The true satellite position oscillates about the position calculated from the mean elements due to short period perturbations to the satellite motion. The displacement of a geostationary satellite from this mean orbit position is less than 1800m. The mean elements of ec are obtained.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.21 no.3
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• pp.139-144
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• 1988

The vertical distribution of eggs and larvae of anchovy. Engraulis japonica were studied based on ichthyoplankton and the temperature distribution in the southwestern part of the Sea of Japan off Korea during the summer of 1985 and 1986. Thermoclines occurred at the surface layer in the coastal area and at the sub-surface layer in the offshore area in the early summer of 1985. However, they occurred at the surface layer throughout the summer of 1986. Anchovy eggs and larvae were abundant in the offshore in 1985 and in the coastal area in 1986. It seems that the spawning ground of anchovy in 1985 shifted to the offshore owing to the sloping of thermoclines. According to the distribution layer of anchovy eggs by developmental stage, the eggs in the early developmental stage were abundant at $0\~30m$ layer about 06:00. But the eggs in the late developmental stage were abundant at $30\~100m$ loom layer about 24 : 00. These results suggest that anchovy spawn at the $0\~30m$ layer at night and eggs tend to sink to the $30\~100m$ layer in the course of development.

• 한국해양학회지
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• v.19 no.1
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• pp.11-17
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• 1984

The abnormal cooling phenomenon occurred in the coastal areas of East Sea of Korea in summer, 1981 is studied on the basis of the oceanographical data obtained by the National Fisheries University of Pusan, in July, 1981 and by Fisheries Research and Development Agency of Korea during 1961 to 1981 and by Japan Meteorological Agency in 1975 and 1981. Th vertical section of temperature along 130 E showed that the warmer waters more than 10 C occupied at upper layer of about 75m depth in south of 35 30'N the layer changed rapidly thinner as 20m th 30m depth. In the areas of East Sea during 1966 to 1981, the temperature fluctuations at 100m depth ranged greatly in standard deviation from 2 C to 4 C. The temperature anomaly in 1981 was about 1.5 times of the standard deviation and at the upper layer of 150m depth the temperatures became colder by 5 -10 C than average values in August, 1961-1975. The 10 C isotherm at 100m depth in 1981 appeared between 35 and 36 N, shifting southward 20 to 120 miles than mean year. These results showed that the abnormal cooling phenomenon in the areas of East Sea of Korea in summer occurred mose predominantly in 1981 in period from 1966 to 1981

• Journal of the Korean Home Economics Association
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• v.39 no.12
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• pp.51-63
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• 2001

With the development of information technology, more and more internet sites are available to consumers. Increasing on the interests of diet and health in modem society, there are numerous internet sites dealing with food, nutrition and health. Considering the importance and expected roles of internet sites in information dissemination in the future world, it is important to put more efforts to encourage internet sites with more accurate an useful information. Up to present, not much work has been done on quality analysis and evaluation of the internet information. This study aimed to develop a model to evaluate and rank the internet information according to its quality so that consumers can be guided toward correct information source. Three models were adapted from the literature for pilot study to develop a model suitable for evaluation of contents of sites related to food and nutrition information. From the pilot study, a evaluation model was developed with criteria more relevant to Korean internet site by expert panel. Evaluation criteria of the model is authority, accuracy, objectivity, coverage, and user-friendliness. For the objective and systematic evaluation, scores were assigned totaling maximum 100 point to each evaluation criteria factors. The model developed in this study could be used as one for other internet sites in area other than food and nutrition.

• Journal of the Korean Dietetic Association
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• v.15 no.1
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• pp.22-40
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• 2009

This survey's purpose was to understand the duties of the school dietitians' foodservice management and to identify the uses of preprocessed and processed food in Seoul Metropolitan area schools. The survey was distributed either via e-mail or in person to nutrition teachers and dietitians working at elementary, middle and high schools who participated in training sessions in Seoul, Gyeonggi and Incheon areas from December 2006 until June 2007. Four-hundred fifty-nine out of the total 760 schools that completed the surveys were analyzed. The following summarizes the main duties of school dietitians related to foodservice management: hygiene (100%), nutrition (99.8%), nutrition education (97.2%), cost (96.9%), and food production process control (96.3%). Preprocessed foods were ordered as the following: seafood (2.89) > poultry (2.78) > seeds (2.37), process foods comprised the following order: pastes (4.94) > kimchi (4.91) > dressing materials (4.50). Based on these results, elementary schools must improve methods for developing effective study materials for nutrition education which arc appropriate for each grade.

• Journal of the East Asian Society of Dietary Life
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• v.12 no.5
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• pp.343-351
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• 2002

This survey was conducted to investigate the dietary behavior and health status of Buddhist nuns. In this study, 100 Buddhist nuns in Seoul were selected. The dietary survey was focused on the diet in winter. The age distribution was as follows; 24% of the subjects were in their 20s, 45% in their 30s, 23% in their 40s, and 8% in their 50's and over, respectively. The percentage of the subjects living in temples close to the downtown area was 77% and the rest resided in areas remote to the downtown area. Over fifty percent of the subjects were satisfied with their diet at temple. And 59% of the subjects were eating a snack more than once a day. The snacks included fruits (60%), raditional tea (20%), coffee (9%), bread and cookies (4%), md rice cakes (3%), etc. Among food groups, the intake of green-vegetables and fruits were the highest and intake of milk and bean products were low which may cause calcium and protein deficiency. Most of the subjects believed that their health conditions were average or above average. About 50% of subjects didn't exercise at all. The frequencies of gastro-intestinal diseases and anemia were extremely high. About 50% of subjects took some form of medicine. To improve their health and nutritional status, it is required that they practice a good dietary behavior, maintain a balanced diet, and exercise regularly.

• Journal of the Korean Society for Marine Environment & Energy
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• v.10 no.4
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• pp.235-243
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• 2007

In order to understand the water mass properties in the southern location of the East Sea in the Korean coasts, the vertical distributions (down to 2,000 m deep) of water temperature, salinity, and dissolved inorganic nutrients were determined in April of 2005. The water mass of the surveyed location showed distinct vertical layers; highly saline surface, surface mixing layer, and thermocline of low temperature and salinity. The water layer below 300 m was characterized by water temperature lower than $1^{\circ}C$ and salinity 34.06, showing a representative water mass of the East Sea. The inorganic nutrients rapidly increased from 200m in the northern and southern parts around Ulleung Basin. A marked environmental difference was found between two layers separated by thermocline. The upper layer of the thermocline was oligotrophic and the vertical distribution of nutrient was very stable. In the water layer between 100 and 200m the nutrients slightly increased but remained still stable. From southern coasts to northeastern Ulleung, the water mass properties were site specific; the thickness of the surface mixed layer and nutricline showed a trend diminishing toward the northern locations probably due to diminished influence of Tsushima water. Redfield ratio (N:P=16:1) based on the ratio of chemical composition in organism revealed that nitrogen value continuously decreased to less than 16 with the water depth down to loom from the thermocline. The value in the water layer deeper than 100 to 200 m, thereafter, showed an increasing trend (over 16). This result was further supported by the finding of lower chlrophyll a content in the layer.

• 한국해양학회지
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• v.27 no.4
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• pp.290-302
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• 1992

Seasonal variations of salinity in the upper 500 m of the tropical Atlantic Ocean are examined, based on both climatological seasonal salinity observations and numerical simulations with hydrological forcing. The seasonal cycle of sea surface salinity has strong seasonal variations caused by shifts of the freshwater surplus zone (i.e. the intertropical convergence zone) and the river outflow. The climatological seasonal salinity in this analysis concurs with other independent observations described by Default (1981) and Levitus (1982), but provides more consistent patterns with temperature structure. The effect of salinity on density below 100 m depth in the tropical Atlantic is negligible compared to tat of temperature, which in the mixed layer salinity affects density significantly. The systematic difference between observed and simulated salinity is found to be the fact that the simulated salinity is higher in the subtropics than the observed salinity, and possible sources about the difference are also discussed.