• Title/Summary/Keyword: 통합 방법

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Aviation Safety Regulation and ICAO's Response to Emerging Issues (항공안전규제와 새로운 이슈에 대한 ICAO의 대응)

  • Shin, Dong-Chun
    • The Korean Journal of Air & Space Law and Policy
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    • v.30 no.1
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    • pp.207-244
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    • 2015
  • Aviation safety is the stage in which the risk of harm to persons or of property damage is reduced to, and maintained at or below, an acceptable level through a continuing process of hazard identification and risk management. Many accidents and incidents have been taking place since 2014, while there had been relatively safer skies before 2014. International civil aviation community has been exerting great efforts to deal with these emerging issues, thus enhancing and ensuring safety throughout the world over the years. The Preamble of the Chicago Convention emphasizes safety and order of international air transport, and so many Articles in the Convention are related to the safety. Furthermore, most of the Annexes to the Convention are International Standards and Recommended Practices pertaining to the safety. In particular, Annex 19, which was promulgated in Nov. 2013, dealing with safety management system. ICAO, as law-making body, has Air Navigation Commission, Council, Assembly to deliberate and make decisions regarding safety issues. It is also implementing USOAP and USAP to supervise safety functions of member States. After MH 370 disappeared in 2014, ICAO is developing Global Tracking System whereby there should be no loophole in tracking the location of aircraft anywhere in world with the information provided by many stakeholders concerned. MH 17 accident drove ICAO to install web-based repository where information relating to the operation in conflict zones is provided and shared. In addition, ICAO has been initiating various solutions to emerging issues such as ebola outbreak and operation under extreme meteorological conditions. Considering the necessity of protection and sharing of safety data and information to enhance safety level, ICAO is now suggesting enhanced provisions to do so, and getting feedback from member States. It has been observed that ICAO has been approaching issues towards problem-solving from four different dimensions. First regarding time, it analyses past experiences and best practices, and make solutions in short, mid and long terms. Second, from space perspective, ICAO covers States, region and the world as a whole. Third, regarding stakeholders it consults with and hear from as many entities as it could, including airlines, airports, community, consumers, manufacturers, air traffic control centers, air navigation service providers, industry and insurers. Last not but least, in terms of regulatory changes, it identifies best practices, guidance materials and provisions which could become standards and recommended practices.

A Study on Strategy for developing LBS Entertainment content based on local tourist information (지역 관광 정보를 활용한 LBS 엔터테인먼트 컨텐츠 개발 방안에 관한 연구)

  • Kim, Hyun-Jeong
    • Archives of design research
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    • v.20 no.3 s.71
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    • pp.151-162
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    • 2007
  • How can new media devices and networks provide an effective response to the world's growing sector of cultural and historically-minded travelers? This study emerged from the question of how mobile handsets can change the nature of cultural and historical tourism in ubiquitous city environments. As wireless network and mobile IT have rapidly developed, it becomes possible to deliver cultural and historical information on the site through mobile handset as a tour guidance system. The paper describes the development of a new type of mobile tourism platform for site-specific cultural and historical information. The central objective of the project was to organize this cultural and historical walking tour around the mobile handset and its unique advantages (i.e. portability, multi-media capacity, access to wireless internet, and location-awareness potential) and then integrate the tour with a historical story and role-playing game that would deepen the mobile user's interest in the sites being visited, and enhance his or her overall experience of the area. The project was based on twelve locations that were culturally and historically significant to Korean War era in Busan. After the mobile tour game prototype was developed for this route, it was evaluated at the 10th PIFF (Pusan International Film Festival). After use test, some new strategies for developing mobile "edutainment content" to deliver cultural historical contents of the location were discussed. Combining 'edutainment' with a cultural and historical mobile walking tour brings a new dimension to existing approaches of the tourism and mobile content industry.

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A Study on the Emotional Reaction to the Interior Design - Focusing on the Worship Space in the Church Buildings - (실내공간 구성요소에 의한 감성반응 연구 - 기독교 예배공간 강단부를 중심으로 -)

  • Lee, Hyun-Jeong;Lee, Gyoo-Baek
    • Archives of design research
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    • v.18 no.4 s.62
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    • pp.257-266
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    • 2005
  • The purpose of this study is to investigate the psychological reaction to the image of the worship space in the church buildings and to quantify its contribution of the stimulation elements causing such reaction, and finally to suggest basic data for realizing emotional worship space of the church architecture. For this, 143 christians were surveyed to analyze the relationship between 23 emotional expressions extracted from the worship space and 32 images of the worship space. The combined data was described with the two dimensional dispersion using the quantification theory III. The analysis found out that 'simplicity-complexity' of the image consisted of the horizontal axis (the x-axis) and 'creativity' of the image the vertical axis(the y-axis). In addition, to extract the causal relationship between the value of emotional reaction and its stimulation elements quantitatively, the author indicated 4 emotional word groups such as simple, sublime for x-axis and typical creative for y-axis based on its similarity by the cluster analysis, The quantification theory I was also used with total value of equivalent emotional words as the standard variance and the emotional stimulation elements of the worship space as the independent variance. 9 specific examples of the emotional stimulation elements were selected including colors and shapes of the wall and the ceiling, shapes and finish of the floor materials, window shapes, and the use of the symbolic elements. Furthermore, 31 subcategories were also chosen to analyse their contribution on the emotional reaction. As a result, the color and finish of the wall found to be the most effective element on the subjects' emotional reaction, while the symbolic elements and the color of the wall found to be the least effective. It is estimated that the present study would be helpful to increase the emotional satisfaction of the users and to approach a spatial design through satisfying the types and purposes of the space.

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A Study on An Integrated GEO/TES with Geothermal Heat Exchanger and Thermal Ice Storage (지중열 교환기와 빙축열조(Thermal Ice Storage)를 연계시킨 통합 지중열-빙축열조 시스템(Integrated GEO/TES))

  • Lohrenz ED.;Hahn Jeongsang;Han Hyuk Sang;Hahn Chan;Kim Hyoung Soo
    • Economic and Environmental Geology
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    • v.38 no.6 s.175
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    • pp.717-729
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    • 2005
  • Peak cooling load of large buildings is generally greater than their peak heating load. Internal and solar heat gains are used fur selection of adquate equipment in large building in cold winter climate like Canada and even Korea. The cost of geothermal heat exchanger to meet the cooling loads can increase the initial cost of ground source heat pump system to the extend less costly conventional system often chosen. Thermal ice storage system has been used for many years in Korea to reduce chiller capacity and shift Peak electrical time and demand. A distribution system designed to take advantage of heat extracted from the ice, and use of geothermal loop (geothermal heat exchanger) to heat as an alternate heat source and sink is well known to provide many benifits. The use of thermal energy storage (TES) reduces the heat pump capacity and peak cooling load needed in large building by as much as 40 to $60\%$ with less mechanical equipment and less space for mechanical room. Additionally TES can reduce the size and cost of the geothermal loop by 1/3 to 1/4 compared to ground coupled heat pump system that is designed to meet the peak heating and cooling load and also can eliminate difficuties of geothermal loop installation such as space requirements and thermal conditions of soil and rock at the urban area.

Simulation of Soil Moisture in Gyeongan-cheon Watershed Using WEP Model (WEP 모형을 이용한 경안천 토양수분 모의)

  • Noh, Seong-Jin;Kim, Hyeon-Jun;Kim, Cheol-Gyeom;Jang, Cheol-Hee
    • Proceedings of the Korea Water Resources Association Conference
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    • 2006.05a
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    • pp.720-725
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    • 2006
  • 토양수분은 식물의 생장 및 가용수자원 산정 등에 있어서 중요한 요소로서 토양층 상부의 수 m내에 존재하는 수분의 양을 일컫는다. 토양수분과 토양수분의 공간적 시간적 특징들은 증발, 침투, 지하수 재충전, 토양침식, 식생 분포 등을 지배하는 중요한 요소이다. 강우 등으로 인한 지면과 지표하에서의 순간적인 포화공간의 형성 및 유출의 생성 등을 포함하는 과정과 증발산 등은 모두 비포화대(vadose zone) 혹은 토양층에서의 토양수분의 함량에 크게 의존하게 된다(이가영 등(2005)). 분포형 수문모형은 유역을 격자단위로 세분화하여 매개변수를 부여하고, 증발산, 침투, 지표면유출, 중간유출, 지하수유출, 하도 흐름 등 여러 가지 수문요소를 해석하는 종합적인 수문모형이다. 지표면에 내린 강우가 증발, 침투, 유출될 지는 토양수분의 함량에 크게 의존하게 되며, 따라서 토양수분에 대한 적절한 모의가 분포형 수문모형의 정확도를 좌우하는 핵심이라 할 수 있다. 본 연구에서는 분포형 수문모형인 WEP 모형을 경안천 유역(유역면적: $575km^2$, 유로연장: 49.3㎞)에 적용하여 토양수분의 시공간분포를 모의하였다. 지점별 토양수분 모의결과, 토양 매개변수의 최대, 최소값 내에서 적절히 모의됨을 확인하였으나, 관측값이 없어 실질적으로 타당한지 여부는 검증하지 못하였다. 토양수분비율, 연간 증발산량, 지표면 유출량 공간분포를 비교한 결과, 토양수분비율이 연간 증발산량 모의에 직접적인 영향을 주는 것을 확인할 수 있었다. 일부격자에서는 토양수분이 지나치게 높게 모의되었는데, 지하수위와 관련있는 것으로 보이며, 구축된 자료가 부족한 지하대수층에 대한 정보부족이 토양수분 계산에도 영향을 준 것으로 보인다. 본 연구는 WEP 모형의 토양수분 해석능력에 대한 시험적용에 그 의의가 있으며, 향후 토양 및 지표하 매개변수 정보가 충분히 갖추어지고, 토양수분 관측결과 있는 대상유역에 대한 적용이 요구된다.-Moment 방법에 의해 추정된 매개변수를 사용한 Power 분포를 적용하였으며 이들 분포의 적합도를 PPCC Test를 사용하여 평가해봄으로써 낙동강 유역에서의 저수시의 유출량 추정에 대한 Power 분포의 적용성을 판단해 보았다. 뿐만 아니라 이와 관련된 수문요소기술을 확보할 수 있을 것이다.역의 물순환 과정을 보다 명확히 규명하고자 노력하였다.으로 추정되었다.면으로의 월류량을 산정하고 유입된 지표유량에 대해서 배수시스템에서의 흐름해석을 수행하였다. 그리고, 침수해석을 위해서는 2차원 침수해석을 위한 DEM기반 침수해석모형을 개발하였고, 건물의 영향을 고려할 수 있도록 구성하였다. 본 연구결과 지표류 유출 해석의 물리적 특성을 잘 반영하며, 도시지역의 복잡한 배수시스템 해석모형과 지표범람 모형을 통합한 모형 개발로 인해 더욱 정교한 도시지역에서의 홍수 범람 해석을 실시할 수 있을 것으로 판단된다. 본 모형의 개발로 침수상황의 시간별 진행과정을 분석함으로써 도시홍수에 대한 침수위험 지점 파악 및 주민대피지도 구축 등에 활용될 수 있을 것으로 판단된다. 있을 것으로 판단되었다.4일간의 기상변화가 자발성 기흉 발생에 영향을 미친다고 추론할 수 있었다. 향후 본 연구에서 추론된 기상변화와 기흉 발생과의 인과관계를 확인하고 좀 더 구체화하기 위한 연구가 필요할 것이다.게 이루어질 수 있을 것으로 기대된다.는 초과수익률이 상승하지만, 이후로는 감소하므로, 반전거래전략을 활용하는 경우 주식투자기간은 24개월이하의 중단기가 적합함을 발견하였다. 이상의 행태적 측면과 투자성과측면의 실증결과를 통하여 한국주식시장에 있어서 시장수익률을 평균적으로 초과할 수 있는 거래전략은 존재하므로 이러한 전략을 개발 및 활용할 수 있으며, 특히, 한국주식시장에 적합한 거래전략은 반전거래전략이고, 이 전략의 유용성은 투자자가 설정한 투자기간보다 더욱 긴 분석기간의 주식가격정보에 의하여 최대한 발휘될 수 있음을 확인하였다.(M1), 무역적자의

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Experimental Study on Helical Turbine Efficiency for Tidal Current Power Plant (조류 발전용 헬리컬 수차의 효율에 대한 실험적 연구)

  • Han, Sang-Hun;Lee, Kwang-Soo;Yum, Ki-Dai;Park, Woo-Sun;Park, Jin-Soon;Yi, Jin-Hak
    • Proceedings of the Korea Water Resources Association Conference
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    • 2006.05a
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    • pp.530-534
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    • 2006
  • 조류발전은 조류 유속이 빠른 곳에 수차발전기를 설치하여 해수의 운동에너지로부터 전기를 생산하는 발전방식이다. 2001년부터 해양연구원에서는 울돌목의 우수한 조류발전 개발 여건을 바탕으로 조류에너지 실용화 기술을 개발하고 있다. 본 연구에서는 조류발전 시스템에 사용되는 헬리컬 수차의 효율을 현장실험을 바탕으로 판단하고자 하였다. 현장실험을 위하여 지름 2.2 m, 높이 2.5 m의 수차를 제작하고, 울돌목 협수로의 한 쪽 면에 쟈켓구조물을 설치하여 수차를 거치한다. 수차가 회전함에 따라 회전봉에 일정 마찰을 주어 토크와 RPM을 측정하고, 함께 측정된 유속자료를 이용하여 수차를 효율을 산정한다. 유속-수차효율, TSR(수차의 날개속도와 유속의 비)-수차효율의 상관관계로 실험결과를 고찰하였다. 1중 날개 수차인 경우에 유속 1.4에서 2.6 m/s 사이에서 최대효율이 30 - 35 % 정도였고, 2중 날개 수차에 대한 실험에서는 유속 1.4에서 2.6 m/s 사이에서 최대수차효율이 25 - 35 % 사이임을 알 수 있었다. TSR과 최대수차효율의 상관관계는 실험 case별로 조금씩 다르다. 전체적으로 1중 날개의 경우가 최대수차효율에서 2중 날개보다 TSR 값이 조금 큰 경향을 나타냄을 알 수 있다. 이것은 1중 날개가 2중 날개보다 가벼워 좀 더 큰 RPM을 발생시켜서 나타난 현상으로 생각된다. 현재의 실험결과들을 이용하여 TSR과 최대수차효율을 상관관계를 나타내는 모델식을 도출하였다. 현장시험결과를 종합하면, 현장조류발전 시설이 최소 600 kW의 전력이 생산되기 위해서는 지름 3 m, 높이 3.6 m 인 수차 3개가 하나의 축에 설치되어야하는 것으로 계산되었다. 정격유속이 4.8 m/s이고 수차의 지름이 3m 라면, 최적 전력발생시의 RPM은 1중 날개의 경우 79이고 2중 날개의 경우는 63정도임을 추정할 수 있었다.촬영하여 실시간으로 전송하기 때문에 홍수시 하천 상황에 대한 모니터링 목적으로 사용될 수 있다. 영상수위계는 우물통 등을 이용하는 기존 방법과 비교하여 구조물이 필요 없어 설치 비용이 저렴하고, 영상에 의한 하천 모니터링 기능을 자체적으로 가지고 있기 때문에 효율적이라고 할 수 있다.따른 4개의 평가기준과 26개의 평가속성으로 이루어진 2단계 기술가치평가 모형을 구축하였으며 2개의 개별기술에 대한 시범적용을 실행하였다.하는 것으로 추정되었다.면으로의 월류량을 산정하고 유입된 지표유량에 대해서 배수시스템에서의 흐름해석을 수행하였다. 그리고, 침수해석을 위해서는 2차원 침수해석을 위한 DEM기반 침수해석모형을 개발하였고, 건물의 영향을 고려할 수 있도록 구성하였다. 본 연구결과 지표류 유출 해석의 물리적 특성을 잘 반영하며, 도시지역의 복잡한 배수시스템 해석모형과 지표범람 모형을 통합한 모형 개발로 인해 더욱 정교한 도시지역에서의 홍수 범람 해석을 실시할 수 있을 것으로 판단된다. 본 모형의 개발로 침수상황의 시간별 진행과정을 분석함으로써 도시홍수에 대한 침수위험 지점 파악 및 주민대피지도 구축 등에 활용될 수 있을 것으로 판단된다. 있을 것으로 판단되었다.4일간의 기상변화가 자발성 기흉 발생에 영향을 미친다고 추론할 수 있었다. 향후 본 연구에서 추론된 기상변화와 기흉 발생과의 인과관계를 확인하고 좀 더 구체화하기 위한 연구가 필요할 것이다.게 이루어질 수 있을 것으로 기대된다.는 초과수익률이 상승하지만, 이후로는 감소하므로, 반전거래전략을 활용하는 경우 주식투자기간은 24개월이하의 중단기가 적합함을 발견하였다. 이상의 행태적 측면과 투자성과측면의 실증결과를 통하여 한국주식시장에 있어서 시장수익률을 평균적으로 초과할 수 있는 거래전략은 존재하므로 이러한 전략을 개발 및 활용할 수 있으며, 특히, 한국주식시장에 적합한 거래전략은 반전거래전

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Review of Family Planning / Health Integration Efforts and Evaluation Results in Korea (가족계획과 보건사업의 통합시도 및 평가결과)

  • Bang, Sook
    • Korea journal of population studies
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    • v.10 no.2
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    • pp.58-81
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    • 1987
  • The purpose of this study is to examine major factors that affect patterns of living arrangements of older Korean noncitizens in the United States using the 1990 8% Public Use Microdata Sample(PUMS). In order to do so, I analyzed the effects of four factors including acculturation(English proficiency and Age at migration), economic circumstances(Personal Income and Supplemental Security Income: SSI receipt), health status(Mobility and Personal care limitation), and the ethnic community. The results show that acculturation and economic circumstances play an important role in determining the patterns of living arrangements among older Korean aliens, whereas the health status and the ethnic community do not show consistent effects. Regardless of marital status, the impact of age at migration is positively associated with solitary living of older Korean noncitizens, though, the effect of English proficiency show the opposite direction in accordance with marital status. That is, among nonmarried elders, those who cannot speak English are more likely to live alone. The case is reverse for married elders. The impact of economic feasibility is also positively associated with independent living arrangements. Those who receive SSI are much more likely to live apart from family, and elders whose annual personal income between $5,001 and $10,000 have the greatest propensity of solitary living-a large proportion of their income source is SSI. Individuals who receive SSI are also qualified to collect Medicaid, food stamps, rent subsidies, and other welfare benefits. In a sense, the economic feasibility provided by welfare benefits is the key determinant of independent living of older Korean noncitizens. Therefore, the recent welfare reform which denies legal aliens welfare benefits such as SSI and food stamps will severly affect the present living arrangements of older Korean aliens, and give economic burden to their family member The findings also show that there are significant differences within the elderly Korean Americans in terms of demographics, income, fertility, health status, and patterns of living arrangements by U.S. citizenship status. In particular, after controlling for age at migration as a proxy for acculturation, there is a statistically significant variation in living arrangements between elderly Korean noncitizens and naturalized citizens. For both theoretical and methodological reasons, future research on minority aging needs to investigate the concept of U.S. citizenship status for its impact on patterns of living arrangements among the minority elderly.

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The Comparison of Protein Patterns of Sera in Non-Pregnant and Pregnant Women (非姙娠 및 姙娠한 女子의 血淸蛋白質 패턴의 比較)

  • Ha, Man-Joon;Park, Won-Chul
    • The Korean Journal of Zoology
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    • v.29 no.2
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    • pp.86-106
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    • 1986
  • For the comparative study of protein patterns of the sera of pregnant women, the protein in sera of normal male subjects, non-pregnant women, pregnant women and women delivered of children were analyzed by using the methods of SDS/polyacrylamide gel electrophoresis, two-dimensional electrophoresis and amino acid analysis. The results were as follows: 1. When the protein patterns of sera in normal male ranging from 10, 000 to 110, 000 daltons were compared to non-pregnant women by SDS/polyacrylamide gel electrohporesis, their protein patterns were same each other numerically but bands 3(22, 000 dalton) and 6(39, 000) were less in male than in non-pregnant women quantitatively. When the protein patterns in the pregnant women in which serum were collected two week intervals were compared with non-pregnant women, there was increased or decreased in several bands quantitavely. The protein patterns of sera in pregnant women were compared with those of non-pregnant women; band 3(22, 000) showed similar patterns each other until the 16th week but the quantity of protein was decreased continously from the 18th week to the third trimester of pregnancy. Contary, bands 4(24, 000), 9(69, 000), 10(70, 000), 12(80, 000), 14(86, 000), 15(91, 000) and 16(94, 000) were gradually increased in quantity from the begining of gestation, and band 7(51, 000) was increased until the 32th week of gestation only but somewhat decreased after this time. The quantities of bands 12(80, 000), 15(91, 000) and 16(94, 000) were relatively increased when the protein patterns of delivered women were compared with those of the third trimester of pregnancy. Women who were dilivered female children showed more increase in bands 4(24, 000), 7(51, 000) and 10(70, 000)than one who were delivered male chilren. 2. When the protein patterns of sera in normal males were compared with those of nonpregnant women by two-dimensional electrophoresis, three spots of spot a group were not appeared in the males and the spot c group in the males was less than in the non-pregnant women. In the pregnant women, albumin was significantly decreased during the 10-12 week of gestation but recovered after these times. And spot f(70, 000) was decreased in the 10th week of gestation but increased from this time. 3. Glutamic acid, lysine, aspartic acid, leucine and valine in pregnant women were large in quantity while methionine, isoleucine and glycine were small in quantity by amino acid analysis. The total amino acids were increased remarkably in the second trimester of pregnancy but began to decrease in the third trimester of pregnancy. As mentioned, this present paper deat with that proteins which consist of maternal serum were increased with specific period in pregnancy and that the change of characteristic protein patterns were identified in the serum protein of each trimester in the pregnant women. And furthermore, the study should be preformed for the sex-identification of a fetus in the early pregnancy.

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Ultrastructural Study on the Parenchymal Cell of Korean Planaria (Dugesia japonica) (한국산 플라나리아(Dugesia japonica Ichikawa et Kawakatsu) 유조직의 미세구조에 관한 연구)

  • 장남섭
    • The Korean Journal of Zoology
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    • v.30 no.1
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    • pp.53-70
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    • 1987
  • The morphological study on the parenchymal cells in the adult planaria performed to observe their cytochemical and ultrastructural characteristics. The results are as follows. Nine types of cells are found in parenchyma. 1. Free parenchymal cell: These cells contain several chromatoid bodies around the nucleus. Heterochromatins are evenly dispersed in large nucleus. These cells are abundant in free ribosomes. 2. Fixed parenchymal cells: These cells have well-developed granular endoplasmic reticulum, mitochondria and Golgi complex but they contain the cytosols exhibiting electron-lucencies. 3. Rhabdite-forming cells: These cells contain the electron-dense rhabdite granules of up to about 0.3 x 0.9 $\mu$m in size. Rhabdite-forming cells have well-developed cell organelles, granular endolplasmic reticulum, mitochondria and Golgy complex. 4. A-type of basophilic granule cells: These cells contain irregularly-shaped granules exhibiting alcianophilia. These granules surrounded by a limited membrane, approximately 1.4 x 0.7 $\mu$m in size, are accumulated in the cytoplasm. 5. C-type of basophilic granule cells: These cells contain electron-dense granules of less than 0.2 $\mu$m in size, which exhibit PAS- positive reaction. This type of granule is also found in the muscle layer of parenchyma. 6. D-type of basophilic granule cells: This type of granule cell occurs only in the parenchyma around reproductive organ. The granules have cytochemical characteristics that they exhibit strongly positive reaction with PAS and weakly eosinophilic property. These electron-dense granules, which are 0.2 to 0.6 $\mu$m in length, have oval shapes. 7. E-type of basophilic granule cells: These cells are found only in the parenchyma around re productive organ. The granules contained in a small number in the cell, exhibit PAS-positive reaction and have an average size of 0. 2pm. 8. Eosinophilic granule cells: These cells contain a large number of eosinophilic granules which have relatively diverse sizes from 0.3 x 0.2 to 0.8 x 0.4 $\mu$m. Most of granules are round or irregularly-shaped and highly electrondense. These cells have an array of well-developed granular endoplasmic reticulum of which cisternae are distened. 9. Transparent granule cells contain electron-lucent granules which exhibit negative reactions with three kinds of cytochemical methods used in this experiment.

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Backward Path Tracking Control of a Trailer Type Robot Using a RCGS-Based Model (RCGA 기반의 모델을 이용한 트레일러형 로봇의 후방경로 추종제어)

  • Wi, Yong-Uk;Kim, Heon-Hui;Ha, Yun-Su;Jin, Gang-Gyu
    • Journal of Institute of Control, Robotics and Systems
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    • v.7 no.9
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    • pp.717-722
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    • 2001
  • This paper presents a methodology on the backward path tracking control of a trailer type robot which consists of two parts: a tractor and a trailer. It is difficult to control the motion of a trailer vehicle since its dynamics is non-holonomic. Therefore, in this paper, the modeling and parameter estimation of the system using a real-coded genetic algorithm(RCGA) is proposed and a backward path tracking control algorithm is then obtained based on the linearized model. Experimental results verify the effectiveness of the proposed method.

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