• Journal of Animal Science and Technology
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• v.51 no.5
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• pp.361-368
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• 2009

This study was carried out to establish the standard karyotype of Jeju horse by G-, C- and AgNOR-banding patterns. Blood samples were collected from 37 Jeju horses and 24 Thoroughbred that had been raised at the National Institute of Subtropical Agriculture in Jeju. The lymphocytes were cultured in vitro and then chromosomes prepared. The diploid chromosome number of Jeju horse is 64, which consists of 31 pairs of autosomes and X, Y sex chromosomes. The Jeju horse has 13 pairs of metacentric/submetacentric and 18 pairs of acrocentric autosomes. The X chromosome is the fifth largest submetacentric, while the Y chromosome is one of the smallest acrocentric chromosomes. The G-banding pattern of Jeju horse chromosomes showed a light band at centromeres in all autosomes, and also exhibited a typical and identical banding pattern in each homologous chromosome. Overall chromosomal morphology and positions of typical landmarks of the Jeju horse were virtually identical to those of International Committee for the Standardization of the Domestic Horse Karyotype. C-bands of Jeju horse chromosomes appeared on centromeres of almost all autosomes, but chromosome 8 showed a heterochromatin heteromorphism. The NORs in Jeju horse chromosomes showed polymorphic patterns within breed, individuals and cells. By the AgNOR staining, the NORs were located at the terminal of p-arm on chromosome 1 and near centromeres on the chromosome 26 and 31. The mean number of NORs per metaphase was 4.68 in Jeju horse.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.16 no.1
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• pp.57-63
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• 2010

The palpation of spinous process and transverse process of vertebra are important part of the assesment and treatment from Orthopedic manual therapy. But the palpation area is descriptive differently each of literatures. So we generally got these outcomes. : There are C2, C3, C4 and C6 process as a bony landmarks and these are important part of establish the precise location of pain appears from cervical spine. Even though C7 process regard a prominent part, it is hard to distinguish C6 and process of T1. Thru that differentiation, grab the patient's forehead and try them cervical and hyper-extension check any movement of process or put on the fingers on C7 preocess and check the movement. The palpation of thoracic spine process is the land mark which determines general level orientation in the spine easily, there are T2, T7 spinous process. However, It is depends on how do you test the patient's arm when you palpate it and it can effect on spinous process. The transverse process of C1 is the only spot for palpation in cervical spine, and T1-3, T12 transverse process can palpate it when it stands on the process. The end of T4-6, T11 is placed on middle on vertebra of transverse process and transverse process. T7-9, T10 transverse process is place on same position as spinous process which is upper part of the spine.

• Journal of Korea Foundry Society
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• v.17 no.6
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• pp.608-614
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• 1997

The effect of mold preheating temperature on the microstructure such as grain size, eutectic silicon morphology was investigated for the Al-7wt%Si-0.3wt%Mg alloy. Microstructural variations have been characterized as a function of Sr addition and cooling rate during solidification. Microstructures were correlated with cooling rate, local solidification time and eutectic nucleation temperature, etc. In this study, Sr addition caused increase of local solidification time, undercooling and reduction of eutectic plateau temperature. In logarithmic scale, local solidification time was in inverse proportion to cooling rate. Eutectic nucleation temperature was in inverse proportion to cooling rate of logarithmic scale. Increasing the cooling rate refined dendrite arm spacing and eutectic silicon. Dendrite arm spacing was logarithmically in inverse proportion to cooling rate. Without modifier addition, eutectic silicon was modified at cooling rate of $7^{\circ}C/s$ or higher.

• Journal of The Korean Astronomical Society
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• v.44 no.5
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• pp.177-193
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• 2011

We present a photometric study of five open clusters (Czernik 5, Alessi 53, Berkeley 49, Berkeley 84, and Pfleiderer 3) in the Sloan Digital Sky Survey. The position and size of these clusters are determined using the radial number density profiles of the stars, and the member stars of the clusters are selected using the proper motion data in the literature. We estimate the reddening, distance and age of the clusters based on the isochrone fitting in the color-magnitude diagram. The foreground reddenings for these clusters are estimated to be E(B - V ) = 0.71 - 1.55 mag. The distances to these clusters are derived to be 2.0 - 4.4 kpc, and their distances from the Galactic center range from 7.57 kpc to 12.35 kpc. Their ages are in the range from 250 Myr to 1 Gyr. Berkeley 49 and Berkeley 84 are located in the Orion spur, Czernik 5 is in the Perseus arm, and Pfleiderer 3 and Alessi 53 are located beyond the Perseus arm.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1223-1232
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• 2004

We present a new technique to the design and real-time implementation of fuzzy control system basedon digital signal processors in order to improve the precision and robustness for system of industrial robot in this paper. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a Fuzzy Logic Controller, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult Self-Organizing Fuzzy Controller is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed Self-Organizing Fuzzy Controller scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

• Advances in robotics research
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• v.2 no.2
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.1
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• pp.18-30
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• 2016

In this paper, we propose a new technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

• Asian-Australasian Journal of Animal Sciences
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• v.15 no.3
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• pp.321-325
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• 2002

Karyotype analysis was carried out on blood samples of 30 water buffaloes belonging to different breed groups (i.e. Philippine Carabao (PC), Indian Murrah (IM), Bulgarian Murrah (BM), "$F_1$ 50% IM-50% PC", "$F_1$ 50% BM-50% PC" and "75% IM-25% PC"), using the modified Leucocyte Culture Technique. The modal chromosome numbers of the PC, "$F_1$ 50% IM-50% PC", "$F_1$ 50% BM-50% PC", IM, BM and "75% IM-25% PC" were 2n=48, 49, 49, 50, 50 and 50, respectively. The water buffalo chromosomes are mostly acrocentric (79.67%) and the remainder submetacentric (20.33%). Results of the ordinary least square analysis showed significant breed effects (p<0.01) on other karyotypic characteristics (i.e. relative length, arm ratio and centromeric index). Significant correlation between karyotypic characteristics and some animal performance traits were also found. The significant correlation values imply that karyotypic characteristics can be used as important criteria to select potentially productive young water buffaloes. In the future, more production and reproduction traits from non-institutional herds should be included in the analysis to reveal meaningful correlations with various karyotypic characteristics.

• Journal of information and communication convergence engineering
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• v.8 no.5
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• pp.586-590
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• 2010

Medical technology is gradually being developed by applying information technologies. Especially, RFID technology is being used for precise disease history information of patients [4]. And in case the patient is far away, the patient can be treated using network communication of the internet [5][6]. The internet makes us to treat or operate the patient without being restricted to time or space. If the above technologies are made as a system, the patient can be treated or operated without being restricted to time or space. In this paper, we present a patient treatment system has been implemented with a system using RFID and network communication of the internet [1][2][3][4]. The system is driven as follows. First, the information of patient can be checked from a remote PC, if the tag that a patient has been read through a reader. And a remote treatment is performed by controlling robot's arm with a joystick using internet network [19][20][21]. The RFID system was implemented in frequency of 125 KHz [1]. The information of patient can be checked with PDA, PC and C-LCD using Bluetooth and WLAN [7][8][9][10]. For the treatment and operation of the patient, the robot's arm has been formed using AX-12 motor, joystick and two buttons [11][12][13][14][15] [17][18].

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1042-1045
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• 2003

In this paper, we present a new method for the monitoring of Electric Control Unit's(ECU) self-diagnostic and the sensor signals of vehicle through Web. In order to measure the ECU's self-diagnostic and sensor signals, the interfaced circuit is designed to communicate ECU and terminal according to the ISO, SAE regulation of communication protocol standard. Microprocessor 80C196KC is used for communicating ECU's self-diagnostic signals and the results are sent to the Embedded Linux System(ELS) through RF module. ELS is developed by SA1110, RF module, Embedded Linux. All commands related in ECU communication are executed through Web. The CGI program composed in web server is executed by user and will return sensor signals from ECU Software on Embedded Linux system is developed to monitor the ECU's sensor signals using the arm compiler tool chain in which RS232 port is programmed by half duplex method. The possibility for remote measurement of ECU sensor signal through Web is verified through the developed systems and algorithms.