• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.928-933
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• 2012

In this paper, the IR and compass sensors for the underwater system were used. The walls of the water tank have been recognized and avoided treating the walls as obstacles by the bio-mimetic underwater robot. This paper is consists of two parts: 1.The hardware part for the IR and compass sensors and 2.The software part for obstacle avoidance algorithm while the bio-mimetic robot is swimming with the obstacle recognition. Firstly, the hardware part controls through the RS-485 communications between a microcontroller and the bio-mimetic underwater robot. The software part is simulated for obstacle recognition and collision avoidance based upon the data from IR and compass sensors. Actually, the bio-mimetic underwater robot recognizes where is the obstacle as well as where is the bio-mimetic robot itself while it is moving in the water. While the underwater robot is moving at a constant speed recognizing the wall of water tank as an obstacle, an obstacle avoidance algorithm is applied for the wall following swimming based upon the IR and compass sensor data. As the results of this research, it is concluded that the bio-mimetic underwater robot can follow the wall of the water tank efficiently, while it is avoiding collision to the wall.

• The Plant Pathology Journal
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• v.35 no.5
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• pp.417-424
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• 2019

Melanose, caused by Diaporthe citri, is one of severe diseases in citrus, a major economic resource in Jeju island. To reduce the usage amount of organic synthetic fungicide, bio-sulfur was tested as an alternative chemical to control citrus melanose in the present study. Direct antifungal activity of bio-sulfur against D. citri was determined through in vitro experiment using artificial nutrient media. Disease severity of melanose on bio-sulfur pretreated citrus leaves was lower than that on untreated ones. To illustrate the mechanism of disease suppression by bio-sulfur, infection structures were observed with a fluorescent microscope and a scanning electron microscope. In fluorescent microscopic observation, most conidia rarely germinated. In addition, hyphal growth on leaves pretreated with bio-sulfur was inhibited compared to that on untreated ones. In scanning electron microscope images of bio-sulfur pretreated leaves, surfaces of most conidia were shrunk while hyphae were morphologically changed and frequently branched. Such microscopic observations were also found for leaves pretreated with a commercial fungicide Dithianon. These results suggest that bio-sulfur may be used to control citrus melanose as an environment friendly alternative to organic synthetic fungicides

• Reproductive and Developmental Biology
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• v.29 no.2
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• pp.93-99
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• 2005

Human embryonic stem cells (hESCs) derived from the inner cell mass of blastocysts have the ability to renew themselves and to differentiate into cell types of all lineage. The present study was carried out to investigate whether the Wnt signaling pathway is related to maintaining self-renewal of hESCs. Glycogen Synthase Kinase 3 (GSK-3) inhibitor, BIO ((2'Z,3'E)-6-Bromoindirubin-3'-oxime) was treated to Miz-hES1 line for activation of Wnt signaling pathway. BIO-nontreated hESCs (control) and BID-treated hESCs were cultured for 5 days in the modified feeder-free system. During the culture of hESCs, differences were observed in the colony morphology between 2 groups. Controls were spread outwards whereas BIO-nontreated hESCs were clumped in the center and the differentiated cells were spreading outwards in the edges. The results of stem cell specific marker staining indicated that control were differentiated in large part whereas BIO-treated hESCs maintain self-renewal in the center of the colony. The results of lineage marker staining suggested that outer cells of the hESC colony were differentiated to the neuronal progenitor cells in both control and BIO-treated hESC. These results indicate that Wnt signaling is related to self-renewal in hESCs. In addition, control group showed higher composition of apoptotic cells $(23.76\%)$ than the BID-treated group $(5.59\%)$. These results indicate that BIO is effective on antapoptosis of hESCs.

• Journal of Bio-Environment Control
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• v.19 no.4
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• pp.183-188
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• 2010

It is necessary to develop an efficient and affordable cooling technology and apply the practical system to rural farmhouse, control to adequate growth environment by adjusting temperature of root zone. A study on managing medium temperature of the hydroponics for strawberry cultivation was conducted and feasible evaporative cooling system for the media cooling were as follows: Characteristics of temperature drop were investigated for the evaporative cooling devices using microporous film duct, felt mulching on media surface, and water permeable sheet in culture tank. The evaporative device with water permeable sheet in culture tank was the most efficient and economic on media cooling system.

• Korean Journal of Organic Agriculture
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• v.28 no.2
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• pp.223-233
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• 2020

The aim of the present study was to investigate the suppressive effects of the bio-sulfur used by eco-friendly farms on the outbreak of citrus scab. To evaluate the inhibiting effect of bio-sulfur on citrus scab germ tube growth, the citrus scab pathogen Elsinoe fawcettiiwas cultured in PDB and agar media, and germ tube growth was observed after bio-sulfur treatment. At both 40 and 88 h after inoculation, germ tube formation was inhibited by 500-, 1000-, and 2000-fold diluted bio-sulfur, and at dilutions above 4000-fold, germ tube formation was observed, although growth was still inhibited, when compared to untreated cultures. Meanwhile, the occurrence of citrus scab on spring-flush leaves in the field was 40.3% in the untreated control and 5.3, 10.3, 12.3, 15.3, and 24.0% when treated with imibenconazole, 2-4 and 6-6 lime-Bordeaux mixtures, which are also used by eco-friendly farms, 500-fold diluted bio-sulfur, lime sulfur, and 1000-fold diluted bio-sulfur, respectively. The occurrence of citrus scab on citrus fruit was 79.3% in the untreated control and 4.0, 33.8, 42.0, 43.3, 44.8, and 78.0% when treated with imibenconazole, 2-4 lime-Bordeaux mixture, 6-6 lime-Bordeaux mixture, 500-fold diluted bio-sulfur, lime sulfur, and 1000-fold diluted bio-sulfur, respectively. Because citrus scab can infect citrus leaves as early as May, as the spring flush begins, preventative control should be implemented by mid- to late-April, thereby increase disease control and reducing both labor and farming costs.

• The Korean Journal of Pesticide Science
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• v.13 no.4
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• pp.325-331
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• 2009

Three beneficial bacterial agents, Lactobacillus strain KLF01, Lactococcus strain KLC02 and Paenibacillus strain KPB3 were showed clear zone against plated Pectobacterium carotovorum subsp. carotovorum (Pcc) soft rot pathogen. In greenhouse test, bio-control efficacy was more significantly effective in the treatments by KLC02 and KPB3 as 64%, 50%, 56% and 66%, 57%, 58% according to date of evaluation, respectively. In case of KLF01 control effect was relatively lower than treatments of KLC02 and KPB3 but its efficacy was still significantly observed when compared to control (only water treatment). Furthermore, KLF01, KLC02 and KPB3 showed 55%, 60% and 62% bio-control efficacy, respectively in field test from early March to late July of 2009. Thus, we suggest that these strains can be useful as bio-control agents against soft rot caused by Pcc.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.48 no.5
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• pp.688-695
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• 2015

The objective of this study was to investigate the effects of bio-floc system that is composed of effective microorganisms (EM) on the microbial composition and water qualities in rearing water and the growth of Chinese white shrimp, Fenneropenaeus chinensis. To investigate the microbial composition according to the bio-floc levels, the study was conducted at 100 and 150% of bio-floc after 5 and 10 days in bio-floc system. The results showed that total bacteria count (TBC) and the counts of Latobacillus sp., Bacillus sp. and Rhodobactor sp., were significantly decreased after 5 days in bio-floc system. To assess the growth of F. chinensis according to the concentrations of bio-floc, the study was conducted at the bio-floc concentrations; 0 (control), 60, 80, 100, 120 and 140% of the prepared bio-floc for 90 days. The growth factors such as daily length and weight gain were considerably increased at the concentrations of bio-floc 100, 120, and 140% after 90 days. As water quality indicators, the values of total-N, NH₄⁺-N and PO₄^--P were analyzed, and they were significantly decreased at 120 and 140% of bio-floc, compared to the control. The results demonstrated that combination of EM showed the synergic effect on removing N and P.

• International Journal of Naval Architecture and Ocean Engineering
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• v.10 no.3
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• pp.282-293
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• 2018

This paper attempts to address the motion parameter skip problem associated with three-dimensional trajectory tracking of an underactuated Autonomous Underwater Vehicle (AUV) using backstepping-based control, due to the unsmoothness of tracking trajectory. Through kinematics concepts, a three-dimensional dynamic velocity regulation controller is derived. This controller makes use of the surge and angular velocity errors with bio-inspired models and backstepping techniques. It overcomes the frequently occurring problem of parameter skip at inflection point existing in backstepping tracking control method and increases system robustness. Moreover, the proposed method can effectively avoid the singularity problem in backstepping control of virtual velocity error. The control system is proved to be uniformly ultimately bounded using Lyapunov stability theory. Simulation results illustrate the effectiveness and efficiency of the developed controller, which can realize accurate three-dimensional trajectory tracking for an underactuated AUV with constant external disturbances.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.264-269
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• 2019

This paper presents mechanical design and control of a bio-inspired legged robot. To achieve a fast legged running mechanism, a novel linkage leg structure is designed based on hind legs of domestic cats. The skeletomuscular system and parallel leg movement of a cat are analyzed and applied to determine the link parameters. The hierarchical control architecture is designed according to the biological data to generate and modulate desired gaits. The effectiveness of the leg mechanism design and control is verified experimentally. The legged robot runs at a speed of 46 km/h, which is comparatively higher speed than other existing legged robots.

• Proceedings of the Korean Society for Bio-Environment Control Conference
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• 2006.05a
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• pp.108-112
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• 2006