• 한국수자원학회논문집
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• 제39권4호
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• pp.321-334
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• 2006

본 연구에서는 3차원 공간상에서 구면 좌표계값을 가지는 레이더 반사도 자료를 직교 좌표계로 변환하기 위한 CAPPI(Constant Altitude Plan Position Indicator) 산출 프로그램을 개발한다. 오염되지 않은 CAPPI 자료의 산출을 위해서 레이더 반사도 자료에 대한 품질검사 과정이 선행되었다. 개발된 모형은 3차원 공간상에서의 연속성을 유지하기 위해서 가장 근접하고 가장 적은 자료수를 운영함으로서 최적의 반사도 자료를 보간하였다. 개발된 모형은 자료의 이용목적에 따라서 다양한 해상도 및 고도에 대한 자료가 필요할 수 있다는 생각 하에 임의의 해상도 및 고도등에 대한 자료를 효율적으로 계산해 낼 수 있다.

• 생물환경조절학회지
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• 제6권1호
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• pp.55-65
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• 1997

본 연구는 육묘용 로봇 이식기를 개발하기 위한 목적으로 수행되었으며 그 결과는 다음과 같다. 1. 기계시각에 의한 결주 및 불량묘 판별은 72공 플러그묘판의 경우 98.8%, 128공의 플러그묘판의 경우 94.9%, 잎의 방향을 고려한 경우 72공의 플러그묘판의 경우 93.5%, 128공의 경우 91.0%의 정확도를 나타내었다. 2. 로봇 이식기의 기구부와 구동부를 개발하였고, 이를 제어하기 위한 제어기를 개발하였으며, 머니플레이터의 위치제어 정확도는 $\pm$ 1mm로 나타났다. 3. 잎의 방향을 고려하지 않은 이식방법에서의 이식성공률은 72공 플러그묘판의 경우 95.5%, 128공의 플러그묘판의 경우 94.5%로 나타났으며, 잎의 방향을 고려한 이식방법에서의 이식성공률은 72공의 경우 96.0%, 128공의 경우 95.0%로 나타났다.

• 한국환경농학회지
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• 제40권1호
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• pp.1-12
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• 2021

BACKGROUND: G protein-coupled receptors (GPCRs) are widely distributed in various organisms. Insect GPCRs shown as in vertebrate GPCRs are membrane receptors that coordinate or involve in various physiological processes such as learning/memory, development, locomotion, circadian rhythm, reproduction, etc. This study aimed to identify GPCRs expressed in fat body and compare the expression pattern of GPCRs in different temperature conditions. METHODS AND RESULTS: To identify GPCRs genes and compare their expression in different temperature conditions, total RNAs of fat body in Plutella xylostella larva were extracted and the transcriptomes have been analyzed via next generation sequencing method. From the fat body transcriptomes, genes that belong to GPCR Family A, B, and F were identified such as opsin, gonadotropin-releasing hormone receptor, neuropeptide F (NPF) receptor, muthuselah (Mth), diuretic hormone receptor, frizzled, etc. Under low temperature, expressions of GPCRs such as C-C chemokine receptor (CCR), opsin, prolactin-releasing peptide receptor, substance K receptor, Mth-like receptor, diuretic hormone receptor, frizzled and stan were higher than those at 25℃. They are involved in immunity, feeding, movement, odorant recognition, diuresis, and development. In contrast to the control (25℃), at high temperature GPCRs including CCR, gonadotropin-releasing hormone receptor, moody, NPF receptor, neuropeptide B1 receptor, frizzled and stan revealed higher expression whose biological functions are related to immunity, blood-brain barrier formation, feeding, learning, and reproduction. CONCLUSION: Transcriptome of fat body can provide understanding the pools of GPCRs. Identifications of fat body GPCRs may contribute to develop new targets for the control of insect pests.

• Ecology and Resilient Infrastructure
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• 제9권3호
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• pp.154-162
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• 2022

지상표정점을 이용하지 않고도 동영상에 기록된 위치정보 (GPS 자료)만을 이용하여 드론으로 촬영한 동영상에서 절대위치의 유속을 산정할 수 있는 방법을 개발하였다. 이 방법은 드론 동영상에서 있는 GPS 정보를 이용하여 드론의 이동방향과 영상이 향하는 방향을 결정하고, 각 영상점을 물리적인 전역좌표계 (UTM 좌표계)로 변환하였다. 그 다음 시작프레임과 종료프레임을 지정하여 분석할 동영상의 범위를 결정하였다. 지정된 두 프레임의 정보를 이용하여 측정횡단면을 일정간격의 기준프레임 (측정소단면)으로 나누었다. 그리고, 각 측정소단면에서 1초간 영상 (30 프레임)을 모아서 시공간체적을 구성한 뒤 유속을 분석한다. 이렇게 개발된 방법을 기존의 정지비행드론을 이용한 동영상분석법과 비교한 결과 상당히 양호한 결과를 보였다.

• 한국정보전자통신기술학회논문지
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• 제14권6호
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• pp.461-466
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• 2021

드론의 제어는 가까운 거리의 경우 블루투스 통신과 같은 방법으로 제어가 가능하고, 원거리는 네트워크 통신을 통해서 제어가 가능하다. 특히 활동범위가 원거리인 경우는 GPS를 이용하여 좌표를 설정하고 네트워크 통신과 영상통신을 이용하여 드론을 제어하게 된다. 그러나 네트워크 통신이나 영상통신에 문제가 발생하여 드론이 제어권한 영역 밖으로 이탈했을 경우, 이를 적절하게 대응하여 제어권한을 강제로 받아서 드론을 조종하여야 한다. 따라서 본 연구에서는 이를 위하여 상호 약속된 단순 동작으로 드론을 제어하는 방법을 제안하고, 드론이 제어권한 밖으로 이탈 했을 경우에도 제안한 방법으로 드론을 제어할 수 있도록 하고자 한다. 이를 구현하기 위하여 제안한 상호 약속된 단순 동작 알고리즘은 기준자세를 설정하고, 드론이 이를 인식했을 경우 자동으로 드론의 제어권한을 기준자세를 취하는 사람에게도 넘어가게 하였다. 그리고 모든 명령의 시작은 기준자세(드론의 호버링 자세)로부터 출발하여 드론의 모든 동작을 제어할 수 있도록 하였다. 마지막으로 드론의 제어권한은 목적 달성 이후 반드시 돌려주고, 드론 스스로 다음 동작을 할 수 있도록 알고리즘을 구현하였고, 맵핑된 명령에 의해 드론이 정상적으로 동작함을 확인할 수 있었다.

• Journal of Ginseng Research
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• 제38권2호
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• pp.106-115
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• 2014

Background: Gut microbiota is regarded as one of the major factors involved in the control of body weight. The antiobesity effects of ginseng and its main constituents have been demonstrated, but the effects on gut microbiota are still unknown. Methods: To investigate the effect of ginseng on gut microbiota, 10 obese middle-aged Korean women took Panax ginseng extracts for 8 wk and assessment of body composition parameters, metabolic biomarkers, and gut microbiota composition was performed using 16S rRNA gene-based pyrosequencing at baseline and at 8 wk. Significant changes were observed in body weight and body mass index; however, slight changes were observed in gut microbiota. We divided the participants into two groups, the effective and the ineffective weight loss groups, depending on weight loss effect, in order to determine whether the antiobesity effect was influenced by the composition of gut microbiota, and the composition of gut microbiota was compared between the two groups. Results: Prior to ginseng intake, significant differences of gut microbiota were observed between both at phyla and genera and the gut microbiota of the effective and ineffective weight loss groups was segregated on a principal coordinate analysis plot. Conclusion: Results of this study indicate that ginseng exerted a weight loss effect and slight effects on gut microbiota in all participants. In addition, its antiobesity effects differed depending on the composition of gut microbiota prior to ginseng intake.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1958-1961
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• 2004

Ring Laser Gyroscopes used as navigational sensors inherently experience a lock-in region, where very low rotational rates are not measurable. Most RLG manufacturers use a mechanical dither motor that applies a small oscillatory rotational motion larger than this region to resolve this problem. Any input acceleration that bends this dithering axis causes flexure error, which is a noncommutative error that can not be compensated by simply using integrated gyro sensor output. This paper introduces noncommutative error equations that define attitude errors caused by flexure errors. In this paper, flexure error is classified as sensor level error if the sensing axis coincides with the dithering axis and as system level error if the two axes do not coincide. The relationship between gyro output and the rotation vector is introduced and is used to define the coordinate transformation matrix and angular motion. Equations are derived for both sensor level and system level flexure error analysis. These equations show that RLG based INS attitude error caused by flexure is directly proportional to time, amount of input acceleration and the dynamic frequency of the vehicle.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1452-1457
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• 2004

In this paper, a method of measuring the length of defects on the wall and restructuring the defect image is proposed based on the estimation algorithm of a camera orientation which uses the declination angle of a laser slit beam. The estimation algorithm of the horizontally inclined angle of CCD camera adopts a 3-dimensional coordinate transformation of the image plane where both the laser beam and the original image of the defects exist. The estimation equation is obtained by using the information of the beam projected on the wall and the parameters of this equation are experimentally obtained. With this algorithm, the original image of the defect can be reconstructed to an image normal to the wall. From the result of a series of experiments, the measuring accuracy of the defect is measured within 0.5% error bound of real defect size under 30 degree of the horizontally inclined angle. The proposed algorithm provides the method of reconstructing the image taken at any arbitrary horizontally inclined angle to the image normal to the wall and thus, it enables the accurate measurement of the defect lengths only by using a single camera and a laser slit beam.

• 한국CDE학회논문집
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• 제20권3호
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• pp.263-268
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• 2015

Due to an increased sitting time in work, lumbar disc disease is one of the most frequent diseases in modern days, and this occasionally requires surgery for treatment. Endoscopic disc surgery, one of the common disc surgeries, requires a process of inserting a guide needle to the target disc for which the insertion path is manually planned by drawing lines on the patient's skin while monitoring the fluoroscopic view of the lumbar. Such procedure inevitably exposes both surgeon and patient to the fluoroscopy radiation emitted from the c-arm for a long time. To reduce the radiation exposure time, this study proposes a computer assisted method of calculating the 3D guide needle path by using 2D c-arm images of the disc in 3 different angles. Additionally, a method of the guide robot control based on the 3D needle path was developed by implementing the Hand-eye Calibration method to calculate the transformation matrix between the c-arm and robot base coordinate systems. The proposed system was then tested for its accuracy.

• 소성∙가공
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• 제7권3호
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• pp.233-245
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• 1998

A new approach has been proposed for the incremental analysis of the nonsteady state large deformation of planar anisotropic elastic-plastic sheet forming. A mathematical brief review of a constitutive law for the incremental deformation theory has been presented from flow theory using the minimum plastic work path for elastic-plastic material. Since the material embedded coordinate system(Lagrangian quantity) is used in the proposed theory the stress integration procedure is completely objective. A new return mapping algorithm has been also developed from the general midpoint rule so as to achieve numerically large strain increment by successive control of yield function residuals. Some numerical tests for the return mapping algorithm were performed using Barlat's six component anisotropic stress potential. Performance of the proposed algorithm was shown to be good and stable for a large strain increment, For planar anisotropic sheet forming updating algorithm of planar anisotropic axes has been newly proposed. In order to show the effectiveness and validity of the present formulation earing simulation for a cylindrical cup drawing and front fender stamping analysis are performed. From the results it has been shown that the present formulation can provide a good basis for analysis for analysis of elastic-plastic sheet metal forming processes.