• Journal of Sericultural and Entomological Science
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• v.6
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• pp.53-56
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• 1966

1. On the contrary to the general insect size, male is larger than female. 2. The possible number of eggs, the maximum number of eggs per a morh is average 225 eggs. 3. The periods of the eggs laid is around 3 days. 4. The growth period of larva is about 14 days. 5. The period from the unifection to death is an indirect proportion to number of the eggs. 6. The period from the pupation to flying is about 14 days, depending upon the temperature.

• Journal of Sericultural and Entomological Science
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• v.6
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• pp.9-17
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• 1966

The ratio of form and character in the text generation of silkworms which were double copulated between home race copulation and hetero race copulation in crossing with two males of different races for female(double crossing) are different according to the copulating time, copulating order and sperm activities. But the general tendencies are as follows; 1. During two hour's double copulation, sufficiently ejaculating time, the fertilization percentage of hetero lace copulation are higher than that of homo race, but in case of double copulation with plain and normal marked silkworms showed opposite results. The fertilization percentage of homo race copulation are equal or higher compare with that of hetero race copulation. 2. The form and character of the next generation were largely effected by copulating order, so the primary copulating moths are more effected in the next generation than the secondary moths. 3. The active sperms were more fertilized than non-active sperms in the double copulation.

• Journal of Sericultural and Entomological Science
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• v.17 no.2
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• pp.119-124
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• 1975

By means of in vitro studies, in which isolated suboesophageal of the Bombyx silkworm were cultured, it was shown that at least two Kinds of substances are biosynthesized and exert independent effects on determination of diapause or non-diapause in silkworm eggs. They are referred to as the diapause and non-diapause substance, respectively. Whether diapause or non-diapause eggs are laid may depend upon the different quality of these substances.

• Journal of Ocean Engineering and Technology
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• v.20 no.6 s.73
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• pp.75-81
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• 2006

In this study, the dynamic response of the umbilical cable in a deep-water unmanned underwater vehicle system was analyzed. In order to analyze the forces acting on the cable, the launcher and umbilical cable were modeled by the simple 1-D mass-spring system. Damping and dynamic analysis was carried out by a direct time integration scheme using the $Newmark-{\beta}$ method with inverse iteration procedure, considering the nonlinear drag forces acting on the launcher. The obtained results of the present study can be used for the design of connecting the structure of the launcher and cable of the UUV system.

• Journal of Ocean Engineering and Technology
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• v.12 no.2 s.28
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• pp.130-138
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• 1998

본 논문은 AUV의 수직면 운동제어를 수행하기 위하여 의사 슬라이딩 모드 제어기를 이용한 모델링 기법과 제어기 설계법에 관한 것으로서, 샘플링 간격이 길어지는 경우에도 시스템의 강인성이 확보되며 심도 제어가 안정적으로 수행되는 실용성을 실험과 수치 해석을 통하여 검증하였다. 제어기는 참고문헌에서 제안한 방법을 이용하였으며, 한국기계연구원 선박해양공학연구센터(KRISO)에서 개발한 VORAM호를 제어 대상 AUV로 선정하였다. PMM 시험으로 얻어진 운동 계수를 이용하여 수치 해석을 수행하였으며, KRISO의 장수조에서 실험을 수행하였다. 수치 해석과 실험 결과로부터 샘플링이 길어짐에 따라 의사 슬라이딩 모드 제어기는 연속계에 대한 슬라이딩 모드 제어기에서 발생하는 과도한 채터링 및 불안정성을 보이지 않았으며, 시스템의 안정성이 확보되고 불확실성에 대하여 강인한 제어 성능을 보였다. 또한, 본 논문에서는 수치 해석과 실험 결과를 근거로 의사 슬라이딩 모드 제어기의 설계를 위한 제어 변수의 선정 기준을 제시하였다.

• Journal of Ocean Engineering and Technology
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• v.21 no.6
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• pp.47-52
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• 2007

This paper presents the design of a submerged breakwater, which functions as an eco-structure in a marine environment. Newly patented blocks were used in the submerged breakwater to both make it stable and provide an inhabitable space for fish. To investigate the wave transmission of the proposed submerged breakwater, parametric studies were conducted through two-dimensional hydraulic tests, which were carried out at the National Fisheries Research and Development Institute (NFRDI) in South Korea. Those parameters are relative crest width (B/L), wave steepness (H/L), relative crest depth (hB/H), and submerged breakwater configuration. The hydraulic experimental results can be used to predict the performance of the proposed submerged breakwater covered with the multi-function blocks.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.51-55
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• 1997

This study is devote to developing navigation filter for detecting sensor failure in multi-sensor navigation system. In multi-sensor navigation system, Kalman filter is generally used to fuse data of each sensors. Sensor failure is fatal in case that the sensor is used as external measurement of Kalman filter therefore detection and recovery of sensor failure is one the important feature of navigation filter. Generally each sensors have its specific feature in measuring navigational information. Fuzzy theory is proposed to detect external sensor failure and provide valid external measurement to Kalman filter avoiding filter divergence and instability. This idea is applied to Autonomous Underwater Vehicle(AUV) which has two navigation sensor i. e self contained inertial sensor and acoustic external sensor. 2 dimensional simulation result shows acceptable failure detection and recovery

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.316-320
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• 2003

This paper introduces an autonomous underwater vehicle (AUV) model, ASUM, equipped with a visual servo control system to dock into an underwater station with a camera and motion sensors. To make a visual servoing AUV, this paper implemented the visual servo control system designed with an augmented state equation, which was composed of the optical flow model of a camera and the equation of the AUV's motion. The system design and the hardware configuration of ASUM are presented in this paper. ASUM recognizes the target position by processing the captured image for the lights, which are installed around the end of the cone-type entrance of the duct. Unfortunately, experiments are not yet conducted when we write this article. The authors will present the results for the AUV docking test.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.453-456
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• 2006

To examine the effect of shape and crest width variation of a permeable submerged breakwater on the wave energy dissipation, Two-Dimensional numerical model with Large Eddy Simulation, which is able to simulate directly WAve Structure Seabed interaction (hereafter, LES-WASS-2D) has been newly developed. A good agreement has been obtained by the comparison between the existing experimental results and LES-WASS-2D model's results for the permeable submerged breakwater. Moreover, based on the LES-WASS-2D model, the wave energy dissipation due to a permeable submerged breakwater are discussed for regular and irregular waves with relation to its crest width and shape.

• Journal of the Korea Institute of Military Science and Technology
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• v.8 no.4 s.23
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• pp.14-23
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• 2005

In this paper we propose a sensor fusion method for the navigation algorithm which can be used to estimate state vectors such as position and velocity for its motion control using multi-sensor output measurements. The output measurement we will use in estimating the state is a series of known multi-sensor asynchronous outputs with measurement noise. This paper investigates the Extended Kalman Filtering method to merge asynchronous heading, heading rate, velocity of DVL, and SSBL information to produce a single state vector. Different complexity of Kalman Filter, with. biases and measurement noise, are investigated with theoretically data from MOERI's SAUV. All levels of complexity of the Kalman Filters are shown to be much more close and smooth to real trajectories then the basic underwater acoustic navigation system commonly used aboard underwater vehicle.