• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.10
• /
• pp.951-957
• /
• 2015

This Paper considers the heading and depth control problem for an underactuated AUV (Autonomous Underwater Vehicle) HW200. The HW200 is a torpedo-type AUV that is developed from Hanwha corporation R&D Center for military operation such as MCM (Mine Counter Measures). The HW200 controls horizontal and vertical motion with two stern plane and two rudder plane. It is well known that fine control of an AUV motion is not easy because of model uncertainties, highly nonlinear and coupled motions. To overcome those kind of uncertainties, a number of control methods have been presented. In this paper, the motion controllers of the HW200 are designed using PD controller design method based on the linear and perturbed model of the typical 6-DOF equations of an AUV, and confirmed the effectiveness of the controller through simulations and field test.

• The Journal of Korean Obstetrics and Gynecology
• /
• v.25 no.2
• /
• pp.12-22
• /
• 2012

Objectives: The aim of this study is to investigate immune enhancing effect of Houttuyniae Herba water extract(HW) on RAW 264.7 cell of mouse macrophages. Methods: Effects of HW on productions of nitric oxide(NO) and hydrogen peroxide($H_2O_2$) in RAW 264.7 mouse macrophages were measured. Effect of HW on production of cytokines such as interleukin(IL)-$1{\beta}$, IL-6, and tumor necrosis factor(TNF)-${\alpha}$ in RAW 264.7 cells was accessed by a multiplex bead array assay based on xMAP technology. All of results were represented P<0.05 compared to the normal. Results: 1. After 24 hr incubation, HW increased significantly NO production in RAW 264.7 cells at the concentrations of 25, 50, 100 and 200 ${\mu}g$/mL. 2. After 24 hr incubation, HW increased significantly hydrogen peroxide production in RAW 264.7 cells at the concentrations of 25, 50, 100 and 200 ${\mu}g$/mL. 3. After 24 hr incubation, HW increased significantly IL-$1{\beta}$ production in RAW 264.7 cells at the concentrations of 100 and 200 ${\mu}g$/mL. 4. After 24 hr incubation, HW increased significantly IL-6 production in RAW 264.7 cells at the concentrations of 100 and 200 ${\mu}g$/mL. 5. After 24 hr incubation, HW increased significantly TNF-${\alpha}$ production in RAW 264.7 cells at the concentrations of 50, 100, and 200 ${\mu}g$/mL. Conclusions: These results suggest that HW has immune enhancing activity related with its increasement of NO, hydrogen peroxide, IL-$1{\beta}$, IL-6, and TNF-${\alpha}$ in macrophages.

• Microbiology and Biotechnology Letters
• /
• v.15 no.6
• /
• pp.420-424
• /
• 1987

Isocitrate lyase from crude extract of Saccharomycopsis lipolytica ATCC44601 and MX9-11RX8 temperature-sensitive mutant was purified about 54 times and 87 times, respectively by ammonium sulfate fractionation, Toyo peal HW-55F gel filtration and DEAE-Cellulose ion exchange chromatography, The molecular weight of the purified isocitrate lyase from this yeast was estimated to be 230, 000 by gel filtration on Sephadex G-200, and SDS-polyacrylamide Eel electrophoresis showed that the enzyme consisted of four identical or similar subunits with a molecular weight of 59, 000 and the enzyme showed optimum activity at pH 6.9.

• Journal of Microbiology and Biotechnology
• /
• v.6 no.1
• /
• pp.12-18
• /
• 1996

A chitosanase-producing bacteria was isolated on chitosan agar plate from soil samples. The strain was spore-forming gram positive bacteria, catalase positive, and rod shape. The strain was identified as Bacillus cereus. The strain did not need an inducer for the synthesis of chitosanase. Chitosanase from Bacillus sp. HW-002 was constitutive enzyme. The optimal medium for the production of the enzyme was composed of 0.5$\%$ sucrose and $1.5\%$ yeast extract-tryptone (1:1 w/w) mixture at pH 6.5. After Bacillus sp. HW-002 was cultivated at $32^{\circ}C$ for 32 h, maximal productivity was gained to be about 27, 200 U/l. Chitosanase from Bacillus sp. HW-002 was a mixed growth-linked metabolite.

• Journal of Ocean Engineering and Technology
• /
• v.29 no.6
• /
• pp.488-498
• /
• 2015

This paper presents the dynamic model of an AUV called HW200 for underwater surveillance. The mathematical model of HW200 is briefly introduced, considering its shape. The maneuvering coefficients were initially estimated using empirical formulas and a database of vehicles with similar shapes. A motion simulator, based on Simulink of Mathworks, was developed to evaluate the mathematical model of the vehicle and to tune the maneuvering coefficients. The parameters were finely tuned by comparing the experimental results and simulated responses generated with the simulator by applying the same control inputs as the experiment. The velocity of HW200 in the tuning process was fixed at a constant forward speed of 1.83 m/s. Simulations with variable speed commands were conducted, and the results showed good consistency in the motion response, attitude, and velocity of the vehicle, which were similar to those of the experiment even under the speed variation. This paper also discusses the feasibility of its application to a model-based integrated navigation system (INS) using the auxiliary information on the velocities generated by the model.

• ETRI Journal
• /
• v.37 no.6
• /
• pp.1143-1153
• /
• 2015

In this paper, we propose an efficient architecture for a real-time image stitching engine for vision SoCs found in motor vehicles. To enlarge the obstacle-detection distance and area for safety, we adopt panoramic images from multiple telegraphic cameras. We propose a stitching method based on a fixed homography that is educed from the initial frame of a video sequence and is used to warp all input images without regeneration. Because the fixed homography is generated only once at the initial state, we can calculate it using SW to reduce HW costs. The proposed warping HW engine is based on a linear transform of the pixel positions of warped images and can reduce the computational complexity by 90% or more as compared to a conventional method. A dual-core SW/HW image stitching engine is applied to stitching input frames in parallel to improve the performance by 70% or more as compared to a single-core engine operation. In addition, a dual-core structure is used to detect a failure in state machines using rock-step logic to satisfy the ISO26262 standard. The dual-core SW/HW image stitching engine is fabricated in SoC with 254,968 gate counts using Global Foundry's 65 nm CMOS process. The single-core engine can make panoramic images from three YCbCr 4:2:0 formatted VGA images at 44 frames per second and frequency of 200 MHz without an LCD display.

• Journal of Satellite, Information and Communications
• /
• v.7 no.2
• /
• pp.25-29
• /
• 2012

In this paper, we implemented LED beam forming communication system controlled by stepping motor. ATMega1284 was used as a MCU of main control board which has two main external IO, one is RS232 for connection with PC, the other is PORT for connection with motor driving board. Stepping motor rotated 360 degree when provided 160 clock and its rotation radius was increased by Archimedian Spiral. So LED can provide its light anywhere in the space and its beam forming was controlled by PC connected with RS232 of main control board. The action of beam forming was verified via actual HW/SW implementation.

• Mycobiology
• /
• v.40 no.4
• /
• pp.236-243
• /
• 2012

Pleurotus nebrodensis is an edible and commercially available mushroom in Korea. This study was conducted in order to evaluate the anticancer and immunopotentiating activities of crude polysaccharides, extracted in methanol, neutral saline, and hot water (hereafter referred to as Fr. MeOH, Fr. NaCl, and Fr. HW, respectively) from the fruiting bodies of P. nebrodensis. ${\beta}$-Glucan and protein contents in Fr. MeOH, Fr. NaCl, and Fr. HW extracts of P. nebrodensis ranged from 23.79~36.63 g/100 g and 4.45~6.12 g/100 g, respectively. Crude polysaccharides were not cytotoxic against sarcoma 180, HT-29, NIH3T3, and RAW 264.7 cell lines at a range of $10{\sim}2,000{\mu}g/mL$. Intraperitoneal injection with crude polysaccharides resulted in a life prolongation effect of 11.76~27.06% in mice previously inoculated with sarcoma 180. Treatment with Fr. NaCl resulted in an increase in the numbers of spleen cells by 1.49 fold at the concentration of $50{\mu}g/mL$, compared with control. Fr. HW improved the immuno-potentiating activity of B lymphocytes through an increase in alkaline phosphatase activity by 1.65 fold, compared with control at $200{\mu}g/mL$. Maximum production of nitric oxide ($14.3{\mu}M$) was recorded in the Fr. NaCl fraction at $200{\mu}g/mL$. Production of tumor necrosis factor-${\alpha}$ (TNF-${\alpha}$), interleukin-$1{\beta}$ (IL-$1{\beta}$), and interleukin-6 (IL-6) was significantly higher, compared to control, and IL-6 production was highest, in contrast to TNF-${\alpha}$, IL-$1{\beta}$, and positive control, concanavalin at the tested concentration of the various fractions. Results of the current study suggest that polysaccharides extracted from P. nebrodensis have a strong anticancer effect and may be useful as an ingredient of biopharmaceutical products for treatment of cancer.

• Mycobiology
• /
• v.40 no.3
• /
• pp.181-188
• /
• 2012

This study was initiated in order to investigate the anticancer and immunomodulating activities of crude polysaccharides extracted in methanol, neutral saline, and hot water (hereinafter referred to as Fr. MeOH, Fr. NaCl, and Fr. HW, respectively) from the fruiting bodies of Panellus serotinus. Content of ${\beta}$-glucan and protein in Fr. MeOH, Fr. NaCl, and Fr. HW extracts of P. serotinus ranged from 22.92~28.52 g/100 g and 3.24~3.68 g/100 g, respectively. In vitro cytotoxicity tests, none of the various fractions of crude polysaccharides were cytotoxic against sarcoma 180, HT-29, NIH3T3, and RAW 264.7 cell lines at the tested concentration. Intraperitoneal injection with crude polysaccharides resulted in a life prolongation effect of 23.53~44.71% in mice previously inoculated with sarcoma 180. Treatment with Fr. HW resulted in an increase in the numbers of spleen cells by 1.3 fold at the concentration of $50{\mu}g/mL$ compared with control. Treatment with Fr. NaCl resulted in improvement of the immuno-potentiating activity of B lymphocytes by increasing the alkaline phosphatase activity by 1.4 fold, compared with control, at the concentration of $200{\mu}g/mL$. Among the three fractions, maximum nitric oxide ($13.48{\mu}M$) was recorded at $500{\mu}g/mL$ in Fr. HW. Production of tumor necrosis factor alpha, interleukin-$1{\beta}$, and interleukin-6 was significantly higher, compared to the positive control, concanavalin A, at the tested concentration. Therefore, treatment with crude polysaccharides extracted from the fruiting body of P. serotinus could result in improvement of antitumor activity.

• The Korean Journal of Mycology
• /
• v.39 no.1
• /
• pp.68-77
• /
• 2011

80% methanol and 0.9% neutral saline soluble and hot water substances (hereinafter referred to Fr. NaCl, Fr. HW and Fr. MeOH, respectively) were extracted from fruiting bodies of Grifola frondosa. In vitro cytotoxicity tests, crude polysaccharides were not cytotoxic against cancer cell lines such as Sarcoma 180 and RAW 264.7 at the concentration of 10~2000 ${\mu}g/ml$, but crude polysaccharides from Fr. NaCl was slightly toxic to HT-29 and NIH3T3 at the concentration of 2000 ${\mu}g/ml$. Intraperitoneal injection with crude polysaccharides exhibited life prolongation effect of 25.0~52.9% in mice previously inoculated with Sarcoma 180. Fr. HW increased the numbers of spleen cells by 1.3 fold at the concentration of 200 ${\mu}g/ml$ compared with control. Fr. NaCl improved the immuno-stimulating activity of B lymphocyte by increasing the alkaline phosphatase activity by 1.5 fold compared with control at the concentration of 200 ${\mu}g/ml$. 10~14 ${\mu}M$ of nitric acid were generated when Fr. NaCl was added to RAW 264.7 at the concentration of 50~500 ${\mu}g/ml$, while the control group produced 4.3 ${\mu}M$ of nitric oxide. The Fr. NaCl, Fr. HW and Fr. MeOH increased the production of TNF-${\alpha}$, IL-$1{\beta}$, Il-2 and IL-6 by more than 1.4 times compared with the control group. The Fr. of MeOH increased the numbers of peritoneal exudate cells and circulating leukocytes by 3.0 and 2.0 folds compared with the control at the concentration of 50 ${\mu}g/ml$, respectively. Therefore, the crude polysaccharides extracted from fruiting bodies of Grifola frondosa could improve antitumor activity of mice.