• 제어로봇시스템학회논문지
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• 제21권10호
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• pp.951-957
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• 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.

• 대한한방부인과학회지
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• 제25권2호
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• pp.12-22
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• 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.

• 한국미생물·생명공학회지
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• 제15권6호
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• pp.420-424
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• 1987

Saccharomycopsis lipolytica ATCC 44601 과 MX9-11RX8 온도감수성 변이균주의 isocitrate lyase는 조추출액을 ammonium sulfate 분획, Toyo Peal HW-55F gel filtration, DEAE-Cellulose ion exchange chromatography 등의 방법에 의하여 각각 54배, 87배 분리 정제되었다. 정제효소의 subunit 분자량은 59,000이고 Sephadex G-200 gel filtration에 의한 native enzyme 은 230,000이므로 이 효모의 isocitrate lyase는 같거나 비슷한 subunit 4개로 구성된 tetramer이며, 최적 pH는 6.9이었다.

• Journal of Microbiology and Biotechnology
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• 제6권1호
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• pp.12-18
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• 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.

• 한국해양공학회지
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• 제29권6호
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• pp.488-498
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• 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
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• 제37권6호
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• pp.1143-1153
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• 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.

• 한국위성정보통신학회논문지
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• 제7권2호
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• pp.25-29
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• 2012

본 논문에서는 스텝핑 모터와 연동하여 방향 제어되는 LED 빔 포밍 통신 시스템을 HW로 구현하였다. ATMega1284 MCU를 이용하여 제어 보드를 구성하였으며, PC와 연결되는 RS232 IO와 스텝핑 모터 구동 보드 제어용 포트(Port)를 이용하여 외부 인터페이스를 구성하였다. 스텝핑 모터는 200 PWM으로 360도 회전하고 동시에 반경이 커지는 아르키메디스의 소용돌이(Archimedian Spiral) 방식을 적용하여 목표하는 지점을 선택적으로 조명할 수 있도록 하였다. 이 빔 포밍은 RS232와 연결된 PC 툴(tool)에 의해서 제어되며, ATMega1284 MCU 보드가 호스트(host) 역할을 하였다. 빔 포밍의 동작은 실제 구현된 HW/SW 기반으로 그 유용성을 검증하였다.

• Mycobiology
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• 제40권4호
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• pp.236-243
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• 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
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• 제40권3호
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• pp.181-188
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• 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.

• 한국균학회지
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• 제39권1호
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• pp.68-77
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• 2011

잎새버섯의 자실체로부터 메탄올, 중성염용액 및 열수를 이용하여 조다당류를 추출하고 ICR mouse에 주사하여 항암 및 면역증강 효과를 조사하였다. 잎새버섯 조다당류의 Sarcoma 180 및 RAW 264.7에 대해 세포독성을 조사한 결과 10~2000 ${\mu}g/ml$의 조다당류 농도에서 각각의 세포는 독성을 나타내지 않았고, HT-29 및 NIH3T3 세포의 경우에는 중성염용액으로 추출한 조다당류 10~1000 ${\mu}g/ml$의 농도에서는 독성을 보이지 않았으나 2000 ${\mu}g/ml$의 농도에서는 약한 독성을 나타내었다. Sarcoma 180으로 접종된 ICR mouse에 잎새버섯의 자실체에서 추출한 각각의 조다당류를 투여한 실험군은 조다당류를 투여하지 않은 대조군에 비해 평균수명이 각각 25.0~52.9% 연장되었다. 열수로 추출한 조다당류를 200 ${\mu}g/ml$의 농도를 처리한 비장세포 수는 대조군에 비하여 1.3배 증가하였으며, 200 ${\mu}g/ml$의 농도로 중성염추출 조다당류를 투여한 실험군 생쥐 B 임파구의 alkaline phosphatase 활성은 대조군에 비해 약 1.5배 증가하였다. 대식세포 RAW 264.7에 의해 발생된 nitric oxide(NO)의 농도는 대조군이 4.3 ${\mu}M$인 것에 비해 중성염 추출 조다당류를 50~500 ${\mu}g/ml$의 농도로 처리한 실험군의 대식세포는 10~14 ${\mu}M$의 nitric oxide를 발생시켰다. 메탄올, 중성염용액 및 열수로 추출한 조다당류로 처리한 비장세포는 모든 농도에서 대조군에 비해 TNF-${\alpha}$, IL-$1{\beta}$, IL-2, IL-6 등의 사이토카인 분비량이 1.4배 이상 높았다. 메탄올 추출 조다당류를 50 mg/kg body weight의 농도로 투여한 실험군의 총 복강세포의 수와 백혈구의 수는 대조군에 비하여 각각 3.0배, 2.0배 증가하였다. 따라서 잎새버섯의 자실체에서 추출한 조다당류는 생쥐의 면역을 증강시키고 Sarcoma 180에 대한 항암효과가 있는 것으로 사료된다.