• Journal of Ocean Engineering and Technology
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• v.30 no.5
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• pp.367-373
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• 2016

This paper describes the development of a navigation HILS (hardware in the loop simulation) system for an integrated navigation performance analysis of a large diameter unmanned underwater vehicle (LDUUV). The HILS system was used for the performance analysis of the LDUUV. When a conventional HILS system is used, it is not possible to calculate the velocity and position using an inertial navigation system (INS). To cope with this problem, an external acceleration was generated. To evaluate the proposed method, we compare the results of a Monte Carlo simulation and navigation HILS experiment.

• The Journal of Korea Robotics Society
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• v.10 no.1
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• pp.1-8
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• 2015

This paper proposes a study for accurate surface localization system using DWT(Discrete Wavelet Transform) and GPS/INS fusion algorithm. Because the propagation in the underwater is not passed by characteristics of the medium unlike the ground, the sonar system like DVL is used instead of GPS. But since these systems are installed on the seafloor and operated, a long time is required for installation and navigation systems are limited outside of the range area. And it is difficult to estimate position in a three-dimensional considering the depth in actual marine environment. In this paper, before the development of underwater localization system, precisely estimated position system is proposed in a two-dimensional by developing surface localization system using removing noise and disturbance with DWT and relatively inexpensive GPS and INS sensor.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.28-38
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• 2014

This paper verifies the performance of Extended Kalman Filter(EKF) and MCL(Monte Carlo Localization) approach to localization of an underwater vehicle through experiments. Especially, the experiments use acoustic range sensor whose measurement accuracy and uncertainty is not yet proved. Along with localization, the experiment also discloses the uncertainty features of the range measurement such as bias and variance. The proposed localization method rejects outlier range data and the experiment shows that outlier rejection improves localization performance. It is as expected that the proposed method doesn't yield as precise location as those methods which use high priced DVL(Doppler Velocity Log), IMU(Inertial Measurement Unit), and high accuracy range sensors. However, it is noticeable that the proposed method can achieve the accuracy which is affordable for correction of accumulated dead reckoning error, even though it uses only range data of low reliability and accuracy.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.11
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• pp.1417-1423
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• 2020

This paper proposes a waypoint guidance algorithm for the Autonomous Underwater Vehicle(AUV). The proposed simplified guidance algorithm is presented, which is combined LOS guidance and cross-track guidance for path following. Cross-track error is calculated using the position of the AUV and reference path. LOS guidance and cross-track guidance are appropriately changed according to cross-track error. And the stability of the system has been improved using variable cross-track control gain by cross-track error. Also, in this paper, navigation hardware in-the loop simulation(HILS) is implemented to verify navigation algorithm of AUV that performs combined navigation using inertial navigation device and doppler velocity log(DVL). Finally, we design integrated system HILS (including navigation HILS) for performance verification of guidance algorithm of the autonomous underwater vehicle. By comparing the sea test result with HILS result, the proposed guidance algorithm and HILS configuration were confirmed be correct.

• Journal of Life Science
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• v.21 no.9
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• pp.1301-1309
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• 2011

The major function of adipocytes is to store fat in the form of triglycerides. One of the signaling pathways known to affect adipogenesis, i.e. fat formation, is the WNT/${\beta}$-catenin pathway which inhibits the expression and activity of key regulators of adipogenesis. The purpose of this research is to find genes among the WNT/${\beta}$-catenin pathway which regulate adipogenesis by using small interfering (si) RNA and to find the association of single nucleotide polymorphisms (SNPs) of the gene with serum triglyceride levels in the human population. To elucidate the effects of ${\beta}$-catenin siRNA on adipogenesis key factors, PPAR${\gamma}$ and C/EBP${\alpha}$, we performed real-time PCR and western blotting experiments for the analyses of mRNA and protein levels. It was found that the siRNA-mediated knockdown of ${\beta}$-catenin upregulates adipogenesis key factors. However, upstream regulators of the WNT/${\beta}$-catenin pathway, such as DVL2 and LRP6, had no significant effects compared to ${\beta}$-catenin. These results indicate that ${\beta}$-catenin is a candidate gene for human fat accumulation. In general, serum triglyceride level is a good indicator of fat accumulation in humans. According to statistical analyses of the association between serum triglyceride level and SNPs of ${\beta}$-catenin, -10,288 C>T SNP (rs7630377) in the promoter region was significantly associated with serum triglyceride levels (p<0.05) in 290 Korean subjects. On the other hand, serum cholesterol levels were not significantly associated with SNPs of the ${\beta}$-catenin gene. The results of this study showed that ${\beta}$-catenin is associated with fat accumulation both in vitro and in the human population.

• Journal of Life Science
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• v.21 no.9
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• pp.1336-1345
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• 2011

The purpose of this study was to analyze and compare the effects of exercise science of shoes for Aged' health promotion. Kinematic and kinetic data were collected using cinematography and the Zebris system (Zebris Emed Sensor Platform, GR-DVL9800) to analyze pressure of foot and ground reaction force. Subjects recruited were 20 healthy elderly men. They walked at 1.36m/sec velocity wearing type A (domestic), type B (foreign) and walking shoes (A company). One-way ANOVA was used to analyze statistics. The results were as following: no significant differences were observed in gait variables among the three groups (p<0.05). There was a significant difference in max pronation angle of heels examined among the three groups (p<0.05). There were no significant differences in kinetic variables (ground reaction force and max pressure) among the three groups (p<0.05). A physiology study was performed to analyze the effects of walking with shoes with silver added to them on percent body fat, resting metabolic rate and energy expenditure. Sixty adults males were recruited from the public health center. They were divided into four groups. C: control group (n=20), EY: elderly Y group (n=20), and EO: elderly O group (n=20). The results of this study were as follows: percent body fat was decreased following each exercise period, however, not all the groups showed a significant difference. The change of resting metabolic rate was significantly increased in HI (high intensity) and LI (low intensity) periods in the C and EY groups. However, there was no significant difference in the EO group. The mean energy expenditure during and after exercise were significantly lowered in all periods compared to the control group.

• Journal of Energy Engineering
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• v.23 no.1
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• pp.90-94
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• 2014

Environmental qualification (EQ) for safety-related equipment is required to ensure that those equipment will perform their required function even under the harsh environment conditions arising from design basis accident in the nuclear power plant. As a part of EQ program, the room temperature analysis in case of a loss of Heating, Ventilation, and Air Conditioning(HVAC) system was carried out to ensure the operability of the safety-related equipment of a nuclear power plant randomly chosen among the Korean nuclear power plants. In this paper, this analysis was performed in the conservative perspective using GOTHIC code. The room temperature analysis includes selecting the rooms in which the safety related equipment are located but not supported by safety related HVAC and determining the temperature of the selected rooms. Target rooms for the analysis consist of W229/W237 (Aux. feedwater pump room), W232 (Aux. feedwater tank room) and W230 (Equipment passageway). The results showed the temperature range from $43^{\circ}C$ to $83^{\circ}C$, in 72 hours after a loss of HVAC. Those values are far below of generic EQ temperature($171^{\circ}C$). Therefore, it is satisfied with EQ requirement of temperature limits on safety related equipment.

• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.168-177
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• 2019

KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.

• Journal of the Korean Wood Science and Technology
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• v.2 no.2
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• pp.25-31
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• 1974

1. Various gluing qualities applying Resorcinol Plyophen #6000 were studied on aiming the strength relationships of laminated woods resulted by single species [poplar (Populus deltoides), larch(Larix leptolepis)], mixed species of (poplar and larch), preservatives, treated poplar the scarf joint with mixed species of poplar and larch and the scarf joint treated with preservatives. 1. 1 On the block shear and on the DVL tension test, the mean wood failure ratio showed an excellent value i.e., above 65% and the tangential strength for larch was higher than that of radial, but it was reversed for poplar as shown in Tables 1 and 2. 1. 2 The lamina treated with Na-PCP reduced slightly the strength but the limited strength allowed for manufacturing laminated wood was not influenced by treating Na-PCP as shown in Tables 3 and 4. 1. 3 The safe scarf ratio in the plane scarf joint was above 1/12 for larch and 1/6 for poplar regard less of the chemical treatment or untreatment as shown in Tables. 5, 6, 7 and 8. 2. In the normal and boiled state, the gluing quality of the laminated wood composed of single[poplar (Populus deltoides), larch (Larix leptolepis)] and double species (poplar and larch) glued with Resorcinol Plyophen #6000 were measured as follow, and also represented the delamination of the same laminated wood. 2.1 The normal block shear strength of the straight and curved laminated wood (in life size) were more than three times of the standards adhesion strength. And, the value of the boiled stock was decreased to one half of the standard shear adhesion strength, but it was more than twice the standard strength for the boiled stock. Thus, it was recognized that the water resistance of the Resorcinol Plyophen #6000 was very high as shown in Tables 9 and 10. 2. 2 The delamination ratio of the straight and curved laminated woods in respect of their composition were decraesed, in turn, in the following order i. e., larch, mixed stock (larch+poplar) and poplar. The maximum value represented by the larch was 3.5% but it was below the limited value as shown in Table 11. 3. The various strengthes i.e., compressive, bending and adhesion obtainted by the straight laminaced wood which were constructed by five plies of single and double species of lamina i. e., larch (Larix leptolepis) and poplar (Populus euramericana), glued with urea resin were shown as follows: 3. 1 If desired a higher strength of architectural laminated wood composed of poplar (P) and larch (L), the combination of the laminas should be arranged as follows, L+P+L+P+L as shown in Table 12. 3.2 The strength of laminated wood composed of laminas which included pith and knots was conside rably decreased than that of clear lamina as shown Table 13. 3.3 The shear strength of the FPL block of the straight laminated wood constructed by the same species which were glued with urea adhesives was more than twice the limited adhesion strength, thus it makes possible to use it for interior constructional stock.