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A Feasibility Study in Forestry Crane-Tip Control Based on Kinematics Model (1): The RR Manipulator (기구학적 모델 기반 임업용 크레인 팁 제어방안에 관한 연구(1): RR 매니퓰레이터)

  • Kim, Ki-Duck;Shin, Beom-Soo
    • Journal of Korean Society of Forest Science
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    • v.111 no.2
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    • pp.287-301
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    • 2022
  • This study aims to propose a crane-tip control method to intuitively control the end-effector vertically or horizontally for improving the crane work efficiency and to confirm the control performance. To verify the control performance based on experimental variables, a laboratory-scale crane was manufactured using an electric cylinder. Through a forward and reverse kinematics analysis, the crane was configured to output the position coordinates of the current crane-tip and the joint angle at each target point. Furthermore, a method of generating waypoints was used, and a dead band using lateral boundary offset (LBO) was set. Appropriate parameters were selected using bang-bang control, which confirmed that the number of waypoints and LBO radius were associated with positioning error, and the cylinder speed was related to the lead time. With increased number of waypoints and decreased LBO radius, the positioning error and the lead time also decreased as the cylinder speed decreased. Using the proportional control, when the cylinder velocity was changed at every control cycle, the lead time was greatly reduced; however, the actual control pattern was controlled by repeating over and undershoot in a large range. Therefore, proportional control was performed by additionally applying velocity gain that can relatively change the speed of each cylinder. Since the control performed with in a range of 10 mm, it was verified th at th e crane-tip control can be ach ieved with only th e proportional control to which the velocity gain was applied in a control cycle of 20 ms.

Evaluation of Ventilation Performances for Various Combinations of Inlets and Outlets in a Residential Unit through CO2 Tracer-Gas Concentration Decay Method (CO2 추적가스 농도감소법을 이용한 공동주택의 급·배기구 조합에 따른 환기 성능 분석)

  • Sang Yoon Lee;Soo Man Lee;Jong Yeob Kim;Gil Tae Kim;Byung Chang Kwag
    • Land and Housing Review
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    • v.14 no.4
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    • pp.111-120
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    • 2023
  • Indoor air quality has become increasingly important with the increase in time spent in residential environments, impact of external fine dust, yellow dust, and the post-COVID 19 pandemic. Residential mechanical ventilation plays a key role in addressing indoor air quality. The legal standard for residential air changes per hour in Korea is 0.5 ACH. However, there are no standards for the location of supply and return vents. This study atempts to analyze the impact of ventilation performance based on the location of supply and return vents. An experiment was conducted using the CO2 tracer gas concentration decay method in a mock-up house set inside a large chamber to minimize external influences. The experimental results indicated that the commonly used combination of 2 supply and 2 return vents in living room spaces had a lower mean age of air than the combination of 1 supply and 2 return vents. Using multiple supply and return vents had lower mean age of air than using just 1 supply and 1 return vent.

Effects of lactobacillus fermented brewer's yeast by-products on growth performance, innate immunity and antibacterial activity in Carp, Cyprinus carpio

  • Eun Chong Yang;Jae Hyeok Choi;Sang Mok Jung;Tae Won Jang;Jae Hoon Kim;Yu Jin Hwang;Hae In Jung;Chan Heun Lee;Sanghoon Choi
    • Journal of fish pathology
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    • v.36 no.2
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    • pp.323-336
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    • 2023
  • This study was conducted to find out the effect of yeast by-products discarded after beer production as feed additives for carp (Cyprinus carpio). After producing feed by adding high-temperature dried beer yeast by-products (HD), freeze-dried beer yeast by-products (FD), and freeze-dried fermented beer yeast by-products (FF) after lactobacilli fermentation, innate immunity indicators, survival rates, and challenge experiments were evaluated. Both ACH50 and lysozyme activity were significantly increased (p<0.05) in the experimental group of FF 0.2% and 0.5% compared to the control group from day 7 to day 21. In addition, phagocyte activity was significantly increased (p<0.05) in the group of FF 0.5% compared to the control group at all time points. Both IL-1β and TNF-α expression levels increased significantly in the FD and FF groups on day 21 compared to the control group (p<0.05). In addition, the FF 0.5% group showed significantly higher expression levels (p<0.05) at all time points. Similarly, IL-10 expression increased significantly (p<0.05) in FF 0.2% and 0.5% groups at all time points. SOD gene expression was significantly increased in FD 0.5% and all FF groups on day 14 and 21 (p<0.05). The results of a 10-day challenge experiment using Edwardsiella piscicida (E. piscicida) showed a higher relative survival rate than the control group at all concentrations that fed FD and FF. In summary, it is estimated that 0.5% FF can effectively improve the innate immunity, growth rate, and antibacterial properties of carp rather than using discarded beer yeast supernatant alone as a functional feed additive.

Effects of Cyclobuxine E on Two Distinct Types of Potassium-Activated Calcium Channels in an Intestinal Smooth Muscle (흰쥐 장관에 있어 칼륨에 의해 활성화되는 칼슘 채널에 대한 Cyclobuxine E의 영향)

  • Lee, Jong-Hwoa;Kwon, Jun-Tack;Cho, Byung-Heon;Choi, Kyu-Hong;Kim, Yu-Jae;Kim, Jong-Bae;Kim, Chun-Sook;Cha, Young-Deog;Kim, Young-Suk
    • The Korean Journal of Pharmacology
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    • v.25 no.1
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    • pp.53-58
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    • 1989
  • For several years, we investigated the pharmacological action of several substances isolated from Buxus microphylla var koreana Nakai, which had been used as folk remedies of malaria and venereal disease. Cyclobuxine $D(C_{25}H_{42}ON_2)$, a steroidal alkaloid, exerted an antiinflammatory action, hypotensive and bradycardic effects in rats. In the present study, we isolated alkaloid from the acetone-insoluble fraction of the strong bases of this plants. This alkaloid $(C_{25}H_{38}ON_2)$ was identified as a steroidal alkaloid contained a cyclopropane ring by physical and chemical methods. It is a derivative of cyclobuxine D and named cyclobuxine E. We examined the effect of cyclobuxine E on the contractile response induced by acetylcholine and two distinct types of potassium-activated calcium channels in an intestinal smooth muscle of the rat. Cyclobuxine E inhibited significantly the Ach-induced contraction. The isolated longitudinal muscle from the rat duodenum was immersed calcium-depleted potassium depolarizing solution. Ten minutes after, 1.8 mM $CaCl_2$ was added to muscle bath and elicited a biphasic increase in muscle tension. Cyclobuxine E produced an appreciable inhibition of both components of the mechanical response. In addition, Cyclobuxine E introduced at a point when the tonic response had reached its maximum level, caused the muscle to exhibit a rapid loss of tension. Based on these experimental results, we proposed the possibility that the inhibitory action of cyclobuxine E on the isolated rat duodenum may be due to inhibiting the transmembrane fluxes of calcium ion in potassium-activated calcium channels.

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VIDEO GAME CULTURE AND INTERACTIVITY -An exploration of digital interactive media through a metaphorical approach to video game culture-

  • U, Tak
    • 한국게임학회지
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    • v.6 no.1
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    • pp.70-72
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    • 2009
  • This research is focused on defining interaction within the context of digital media and creating a multi cultural definition of interactivity. The concept of multi digital culture and a definition of interaction in digital media have often been overlooked by other researchers and this has caused the emergence of many different notions on this issue. As a result of these varied notions of the concept, public confusion has arisen regarding interactivity. The main purpose of this research is to find a suitable multi definition of interaction through examining local digital culture. In order to analogise multi digital culture, the video game culture is employed as a metaphor to interpret local digital culture. The reason for this is that a specific national culture can be easily identified within the video game culture. Four countries, South Korea, Japan, the U.S. and the UK have been chosen for comparison purposes. Case study, questionnaire and publicly accessible video game related data, such as, video game charts, are used for formalising and analysing unique local digital culture. The Heyri POP UP IMAGE Festival, S. Korea, was also used as a pilot study, with some of the above research methods being employed to analyse South Korean digital culture. In relation to western cases, interview and questionnaire were primarily used. The data from the case countries was carefully compared and analysed and then it became the basis of a theory of multi definition of interaction in digital media. The case study employed the cultural metaphor for this research and in addition video game culture related questionnaires and interviews with experts of interactive art genre, regarding new notions of digital interaction were utilised. The survey was conducted simultaneously in the four different cultural case nations of this research. Twenty respondents from each case nation participated in the survey, in order to investigate firstly, the existence of 'local digital culture' and secondly, the trends and phenomena of 'digital culture' in these four different 'local digital cultural areas'. In terms of interviews with experts of the interactive art genre, these were focused on obtaining their understanding of contemporary digital culture in their research. Using gathered data from the observation of local digital culture, the basic theory of interaction and the terminology of interaction are reformed. Localised definitions of interaction on digital media, control based interaction and communication based interaction are presented, in order to identify a 'locality' in terms of various contemporary digital cultures. As a result of analysing digital culture, new definitions of 'multi definition of digital interaction' were formulated. As mentioned above, 'control' and 'communication' based interaction were initiated, based on 'user to media' relationships. Based on the degree of physical interaction, 'liminal' and 'transitive' interactions were initiated. Less physical digital interaction is named 'liminal' interaction and more physical digital interaction is named' transitive' interaction. These new definitions of interaction were applied to the real world examples of uses of digital interaction, such as, digital interactive installation artworks and video games. The newly defined meaning of digital interaction can be applied to analysing digital interactive installation artworks and possibly indicate their future development and the prospects of future electronic games. Three leading digital interactive artists were selected for this analysis and their works were studied in terms of the implementation of 'multi definition of digital interaction'. Throughout these processes, the meaning of 'communication' in digital interactive media was emphasised. Many of the selected artists' digital installations were focused on 'communication' or 'interaction between each user through digital media', rather than the concept of 'control' in digital interaction, otherwise termed, 'communication with digital media'. In their artworks, interaction between each audience was digitally engaged within the physical interactive environment which was created by the digital media. Both the audience's action and all the reaction throughout the interaction between the audiences, triggered the digital media' s reaction. This audience-audience-media interaction is the key to understanding the concept of 'communication' in physical digital media and it is the main interactive concept upon which the selected digital interactive installation artists for this research and many other artists from similar fields, are concentrating their efforts. In the case of the video game, a similar trend was noticed to that of digital interactive installations. Based on this research's 'multi definition of digital interaction', the video game has evolved from the early stage of being conventional game, which was focused on control based interaction, to the on-line game which was focused on communication based interaction, to physical interactive games, such as, Nintendo Wii, which are focused on more physical interaction and finally, the ubiquitous interactive game, which is mainly concentrated on the concept of 'communication' in physical digital interaction. It is possible that this evolution of the video game concept of interaction is comparable to the progress of digital interactive artworks. This view is based on the fact that both genres show evidence that they are developing in the direction of the concept of 'communication', in terms of physical digital interaction. The important emphasis of this research's results is 'locality' and 'communication' in physical digital interaction. The existence of different digital culture trends, which were assessed by the 'multi definition of digital interaction', can explain the concept of 'locality' in digital interaction. This meaning of 'locality' may assist in understanding contemporary digital culture and can reduce possible misunderstanding as regards 'local' digital culture. In the application of the concept of digital interaction to the field of either artworks or video games, it is possible to form the opinion that an innovative concept of physical digital interaction is 'communication' within this context. This concept and its applications can improve the potential of both digital interactive culture and technology.

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Effect of Imipramine on the Contractility of Single Cells Isolated from Canine Detrusor (Imipramine이 배뇨근 세포의 수축성에 미치는 직접작용)

  • Huh, Chan-Wook;Lee, Kwang-Youn;Kim, Won-Joon
    • Journal of Yeungnam Medical Science
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    • v.11 no.2
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    • pp.293-302
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    • 1994
  • The objective of this study was to establish a good methodology to isolate single smooth muscle cells that are alive and respond properly to pharmacological agents. Canine urinary bladders were employed as the source of single cells, and acetylcholine, atropine and imipramine were used as indicators of pharmacological responsiveness. Imipramine, an antidepressant drug exhibited the anticholinergic and calcium antagonizing properties on rat detrusor muscle. To establish a control value for a further experiment to elucidate the mechanism of action of imipramine on detrusor muscle, we measured the concentration-response of single cells to acetylcholine in the presesnce of imipramine by length of the cells and compared the result with the response in the presence of atropine. Tiny chops of smooth muscle taken from anesthetized canine urinary bladder were incubated in collagenase solution at $36^{\circ}C$ for 17-20 minutes. The collagenase solution included collagenase 1.2 mg/ml, soybean tryspin inhibitor 0.08 mg/ml, bovine serum albumin 2% in 10 ml Krebs-Henseleit buffer solution aerated with a consistent breeze of 95/5% $O_2/CO_2$, to maintain the pH at 7.4. After washing with plain K-H solution on 450 mesh, cells were dissociated from the digested tissue for 12-15 minutes. Cell suspension was transfered in 5 ml test tubes and acetylcholine was added for the final concentration to be $10^{-14}M{\sim}10^{-9}M$. To find the optimal time to fix the cells to determine the contractile responses, 1% acrolein was added 5, 10, 20, 30, 60 and 120 seconds after the administration of ACh. The length of cells fixed by acrolein were measured by microscaler via CCTV camera on phaes-contrast microscope. The average length of 50 cells from a slide glass was taken as the value of a sample at the very concentration point. Single cells were isolated from canine detrusor. The length of untreated cells varied from 82 ${\mu}m$ to 94 ${\mu}m$. The maximal response to actylcholine $10^{-9}M$ was accomplished within 5 seconds of exposure, and the shortening was $19{\pm}3$%. Atropine reduced the contraction of the cells concentration-dependently. Imipramine which exerts a cholinergic blocking action on some smooth muscles also reduced the contraction concentration-dependently and by a similar pattern as atropine. These findings document that imipramine may exerts a cholinergic blocking activity in the single smooth muscle cells isolated from canine urinary bladder.

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Nutritional composition, antioxidant capacity, and brain neuronal cell protective effect of cultivars of dried persimmon (Diospyros kaki) (품종별 곶감(Diospyros kaki)의 영양성분 분석, 산화방지 효과 및 뇌 신경세포 보호효과)

  • Kim, Jong Min;Park, Seon Kyeong;Kang, Jin Yong;Park, Sang Hyun;Park, Su Bin;Yoo, Seul Ki;Han, Hye Ju;Lee, Su-Gwang;Lee, Uk;Heo, Ho Jin
    • Korean Journal of Food Science and Technology
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    • v.50 no.2
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    • pp.225-237
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    • 2018
  • This study was conducted to compare nutritional analysis and neuroprotective effect of 5 cultivars of Diospyros kaki (Dungsi, Godongsi, Gojongsi, Gabjubaekmok, and Bansi). In nutritional analysis, three free sugars: sucrose, glucose, and fructose, and six fatty acids: tartaric acid, hexadecanoic acid, palmitic acid, oleic acid, octadecenamide, and octadecane, were detected. Potassium and phosphorus levels were the highest in inorganic component analysis, and glutamic acid and aspartic acid were the highest contents in amino acid analysis. Vitamin C was detected in all cultivars. Total phenolic content was the highest in Dungsi. Antioxidant activities such as ABTS (3-ethylbenzothiazoline-6-sulfonic acid), DPPH (1,1-diphenyl-2-picrylhydrazyl) radical scavenging activities, FRAP (ferric reducing/antioxidant power), and MDA (malondialdehyde) inhibitory effect were the highest in Gabjubaekmok. Acetylcholinesterase inhibitory activity, cell viability, intracellular reactive oxygen species (ROS) accumulation, and lactate dehydrogenase (LDH) release were measured to confirm the neuroprotective effect in MC-IXC cells. Gabjubaekmok showed significant acetylcholinesterase (AChE) inhibition and neuroprotection.

Changes in Quality of Citron Juice by Storage and Extraction Conditions (유자과즙의 저장 및 착즙조건에 따른 품질변화)

  • Park, Kee-Jai;Jung, Sung-Won;Kim, Jong-Hoon;Jeong, Jin-Woong
    • Applied Biological Chemistry
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    • v.38 no.2
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    • pp.141-146
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    • 1995
  • Changes of physicochemical properties of citron juice prepared by two different extraction methods, rotary-crushing and belt-pressing method, were investigated during the storage at $5^{\circ}C$ and $-20^{\circ}C$. Temperature drop of citron juice extracted by belt-pressing method was faster than that of citron juice prepared by rotary-crushing method and its freezing point was $0.8{\sim}0.9^{\circ}C$. During the storage, pH of stored citron juice with rotary-crushing method was increased up to 3.5 after 6 months storage while that of citron juice extracted by belt-pressing method was not changed significantly during the same storage time. Acidity of rotary-crushed citron juice was reduced a little more than that of belt-pressed citron juice during the storage. However, changes of soluble solid content were influenced largely by the storage temperature than by the extraction method. Contents of formol nitrogen and vitamin C were reduced remarkably in all of stored citron juice and $92{\sim}82%$ of farmol nitrogen and $72{\sim}43%$ of vitamin C were remained after 6 months of storage. Among the changes of color value, L values were reduced in the whole stored citron juice and a and b value had a different change pattern respectively according to the extraction and storage temperature. Changes in the content of both amino acid and fatty acid compositions was also observed after same storage period. Especially, in the case of change of fatty acid composition, content of linoleic acid and linolenic acid were reduced after 6 months storage, while those of palmitic acid, stearic acid and oleic acid were increased.

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Hardware Approach to Fuzzy Inference―ASIC and RISC―

  • Watanabe, Hiroyuki
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 1993.06a
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    • pp.975-976
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    • 1993
  • This talk presents the overview of the author's research and development activities on fuzzy inference hardware. We involved it with two distinct approaches. The first approach is to use application specific integrated circuits (ASIC) technology. The fuzzy inference method is directly implemented in silicon. The second approach, which is in its preliminary stage, is to use more conventional microprocessor architecture. Here, we use a quantitative technique used by designer of reduced instruction set computer (RISC) to modify an architecture of a microprocessor. In the ASIC approach, we implemented the most widely used fuzzy inference mechanism directly on silicon. The mechanism is beaded on a max-min compositional rule of inference, and Mandami's method of fuzzy implication. The two VLSI fuzzy inference chips are designed, fabricated, and fully tested. Both used a full-custom CMOS technology. The second and more claborate chip was designed at the University of North Carolina(U C) in cooperation with MCNC. Both VLSI chips had muliple datapaths for rule digital fuzzy inference chips had multiple datapaths for rule evaluation, and they executed multiple fuzzy if-then rules in parallel. The AT & T chip is the first digital fuzzy inference chip in the world. It ran with a 20 MHz clock cycle and achieved an approximately 80.000 Fuzzy Logical inferences Per Second (FLIPS). It stored and executed 16 fuzzy if-then rules. Since it was designed as a proof of concept prototype chip, it had minimal amount of peripheral logic for system integration. UNC/MCNC chip consists of 688,131 transistors of which 476,160 are used for RAM memory. It ran with a 10 MHz clock cycle. The chip has a 3-staged pipeline and initiates a computation of new inference every 64 cycle. This chip achieved an approximately 160,000 FLIPS. The new architecture have the following important improvements from the AT & T chip: Programmable rule set memory (RAM). On-chip fuzzification operation by a table lookup method. On-chip defuzzification operation by a centroid method. Reconfigurable architecture for processing two rule formats. RAM/datapath redundancy for higher yield It can store and execute 51 if-then rule of the following format: IF A and B and C and D Then Do E, and Then Do F. With this format, the chip takes four inputs and produces two outputs. By software reconfiguration, it can store and execute 102 if-then rules of the following simpler format using the same datapath: IF A and B Then Do E. With this format the chip takes two inputs and produces one outputs. We have built two VME-bus board systems based on this chip for Oak Ridge National Laboratory (ORNL). The board is now installed in a robot at ORNL. Researchers uses this board for experiment in autonomous robot navigation. The Fuzzy Logic system board places the Fuzzy chip into a VMEbus environment. High level C language functions hide the operational details of the board from the applications programme . The programmer treats rule memories and fuzzification function memories as local structures passed as parameters to the C functions. ASIC fuzzy inference hardware is extremely fast, but they are limited in generality. Many aspects of the design are limited or fixed. We have proposed to designing a are limited or fixed. We have proposed to designing a fuzzy information processor as an application specific processor using a quantitative approach. The quantitative approach was developed by RISC designers. In effect, we are interested in evaluating the effectiveness of a specialized RISC processor for fuzzy information processing. As the first step, we measured the possible speed-up of a fuzzy inference program based on if-then rules by an introduction of specialized instructions, i.e., min and max instructions. The minimum and maximum operations are heavily used in fuzzy logic applications as fuzzy intersection and union. We performed measurements using a MIPS R3000 as a base micropro essor. The initial result is encouraging. We can achieve as high as a 2.5 increase in inference speed if the R3000 had min and max instructions. Also, they are useful for speeding up other fuzzy operations such as bounded product and bounded sum. The embedded processor's main task is to control some device or process. It usually runs a single or a embedded processer to create an embedded processor for fuzzy control is very effective. Table I shows the measured speed of the inference by a MIPS R3000 microprocessor, a fictitious MIPS R3000 microprocessor with min and max instructions, and a UNC/MCNC ASIC fuzzy inference chip. The software that used on microprocessors is a simulator of the ASIC chip. The first row is the computation time in seconds of 6000 inferences using 51 rules where each fuzzy set is represented by an array of 64 elements. The second row is the time required to perform a single inference. The last row is the fuzzy logical inferences per second (FLIPS) measured for ach device. There is a large gap in run time between the ASIC and software approaches even if we resort to a specialized fuzzy microprocessor. As for design time and cost, these two approaches represent two extremes. An ASIC approach is extremely expensive. It is, therefore, an important research topic to design a specialized computing architecture for fuzzy applications that falls between these two extremes both in run time and design time/cost. TABLEI INFERENCE TIME BY 51 RULES {{{{Time }}{{MIPS R3000 }}{{ASIC }}{{Regular }}{{With min/mix }}{{6000 inference 1 inference FLIPS }}{{125s 20.8ms 48 }}{{49s 8.2ms 122 }}{{0.0038s 6.4㎲ 156,250 }} }}

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Quality Characteristics and Physiological Functionality of Traditional Rice Wines in Chungnam Province of Korea (충남지역 주요 전통주의 품질특성 및 생리기능성)

  • Lee, Mi-Young;Sung, Si-Youl;Kang, Heun-Kag;Byun, Hong-Seob;Jung, Sang-Mi;Song, Jung-Hwa;Lee, Jong-Soo
    • Microbiology and Biotechnology Letters
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    • v.38 no.2
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    • pp.177-182
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    • 2010
  • The goal of this study was to characterize the quality and physiological functionality of some traditional rice wines in Chungnam province, Korea. Non-sterilized and commercial sterilized traditional rice wines from five traditional rice wine factories of Chungnam province were collected and investigated for nutritional components, noxious compounds and physiological functionality. Ethanol content ranged from 16.1~18.3% and pH ranged from 3.27~4.76, and they also contained 0.15% to 0.55% of total acid. All traditional rice wines contained 10.15~139.9 mg% of amino nitrogen and 2.5~25.7% of total sugar. Among organic acids, lactic acid was contained 7.4~29.6 mg%, and succinic acid and propionic acid was also contained 0.2~2.7 mg% and 0.7~8.3 mg%, respectively. Antihypertensive angiotensin I-converting enzyme inhibitory activity were showed 37.0~86.0% in all rice wines, however, fibrinolytic activity, antioxidant activity, SOD-like activity and acetylcholinesterase inhibitory activity were low or not detected.