• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.10
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• pp.1029-1037
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• 2009

Recently, the technologies of mobile robots have been growing rapidly in the fields such as cleaning robot, explosive ordnance disposal robot, patrol robot, etc. However, the researches about the autonomous underwater robots have not been done so much, and they still remain at the low level of technology. This paper describes a model of 3-joint (4 links) fish robot type. Then we calculate the dynamic motion equation of this fish robot and use Singular Value Decomposition (SVD) method to reduce the divergence of fish robot's motion when it operates in the underwater environment. And also, we analysis response characteristic of fish robot according to the parameters of input torque function and compare characteristic of fish robot with 3 joint and fish robot with 2 joint. Next, fish robot's maximum velocity is optimized by using the combination of Hill Climbing Algorithm (HCA) and Genetic Algorithm (GA). HCA is used to generate the good initial population for GA and then use GA is used to find the optimal parameters set that give maximum propulsion power in order to make fish robot swim at the fastest velocity.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.4
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• pp.357-366
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• 2020

This paper addressed a relative navigation method for autonomous rendezvous and docking of cube-satellites using single frequency Differential GPS (DGPS) under the intermittent communication between satellites. Since the ionospheric error of GPS measurement is variable depending on the visible satellites, a few meters error of relative navigation is occurred in the Low-Earth Orbit (LEO) environment. Therefore, it is essential to remove the ionospheric error to perform relative navigation. Besides, an intermittent communication period for receiving GPS measurements of the target satellite is limited for getting information every sampling time. To solve this problem, a method combining range domain DGPS and orbit propagation is proposed in this paper. The proposed method improves the performance of DGPS by using Hatch filter and solves an intermittent communication problem by estimating the relative position and velocity using Hill-Clohessy-Wiltshire Equation. Through the simulation, it is verified that the suggested algorithm provides the relative position error within RMS 0.5 m and the relative velocity error within RMS 3 cm/s. Furthermore, it has the advantage that it is suitable for real-time implementation using single-frequency GPS measurements and is computationally efficient.

• Korean Journal of Environmental Agriculture
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• v.6 no.2
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• pp.53-65
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• 1987

The study was performed to investigate the effect of gaseous emissions of sulfur dioxide and hydrogen fluoride on the growth of rice plants under stressed field conditions consisting of 88 industrial plants operating with 285 smoke stacks emitting pollutants. As for the relationship between yields and yield components it is believed that the panicles per hill is the single most important component affecting the rate of yield of the rice plant. Based on the standard partial regression coefficient analysis, panicles per hill has the largest contribution to yield and the average contribution of 54%. Other components such as spikelets per panicle, percent fertility and 1000 grain weight are also contributing factors to yield, although far less so. Fluorine content in the leaf appear to have more negative effect on panicles per hill, percent fertility and subsequent overall yield than does sulfur content in the leaf. It is constantly observed and interesting to note that fluorine and sulfur content in the leaf appears to have no effect on spikelets per panicle and 1000 grain weight. Reduction in yield seems to be affected mainly by panicles per hill which are, in turn, affected more by fluorine content in the leaf as demonstrated by the standard partial coefficient analysis. Regarding the prediction sum of the square of the regression equation, the lowest value was found when nine variables were used for the analysis. The variables taken into consideration were the monthly sulfur and fluorine content in the leaf as well as the monthly percent of leaf damage during the months of June, July and August. A significant correlation is found between the actual and predicted yields by the regression equations selected as a result of a prediction sum of the square analysis.

• Journal of Veterinary Science
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• v.22 no.6
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• pp.41.1-41.14
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• 2021

Background: Our previously prepared ceftiofur (CEF) hydrochloride oily suspension shows potential wide applications for controlling swine Streptococcus suis infections, while the irrational dose has not been formulated. Objectives: The rational dose regimens of CEF oily suspension against S. suis were systematically studied using a pharmacokinetic-pharmacodynamic model method. Methods: The healthy and infected pigs were intramuscularly administered CEF hydrochloride oily suspension at a single dose of 5 mg/kg, and then the plasma and pulmonary epithelial lining fluid (PELF) were collected at different times. The minimum inhibitory concentration (MIC), minimal bactericidal concentration, mutant prevention concentration (MPC), post-antibiotic effect (PAE), and time-killing curves were determined. Subsequently, the area under the curve by the MIC (AUC_0-24h/MIC) values of desfuroylceftiofur (DFC) in the PELF was obtained by integrating in vivo pharmacokinetic data of the infected pigs and ex vivo pharmacodynamic data using the sigmoid E_max (Hill) equation. The dose was calculated based on the AUC_0-24h/MIC values for bacteriostatic action, bactericidal action, and bacterial elimination. Results: The peak concentration, the area under the concentration-time curve, and the time to peak for PELF's DFC were 24.76 ± 0.92 ㎍/mL, 811.99 ± 54.70 ㎍·h/mL, and 8.00 h in healthy pigs, and 33.04 ± 0.99 ㎍/mL, 735.85 ± 26.20 ㎍·h/mL, and 8.00 h in infected pigs, respectively. The MIC of PELF's DFC against S. suis strain was 0.25 ㎍/mL. There was strong concentration-dependent activity as determined by MPC, PAE, and the time-killing curves. The AUC_0-24h/MIC values of PELF's DFC for bacteriostatic activity, bactericidal activity, and virtual eradication of bacteria were 6.54 h, 9.69 h, and 11.49 h, respectively. Thus, a dosage regimen of 1.94 mg/kg every 72 h could be sufficient to reach bactericidal activity. Conclusions: A rational dosage regimen was recommended, and it could assist in increasing the treatment effectiveness of CEF hydrochloride oily suspension against S. Suis infections.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.30 no.4
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• pp.460-470
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• 1985

Experiments were carried out to evaluate the standard gravity in determining potential kernel size and to determine the effective sampling way by analyzing intra - and inter - plant variations for some source and sink characters using eleven semi-dwarf indica and three japonica cultivars including four semi-dwarf indica nearisogenic lines. Also, additional experiments were conducted to understand yearly variation and variety x year interaction effects for ten characters related to source and sink and to characterize the varietal difference of pre- and post-heading self-competition employing three parental varieties and their F$\sub$5/ progenies in 1982 and 1983. It is desirable to determine the potential kernel size by average kernel wight of rice grains showing above 1.15 specific gravity. There was significant difference in leaf area per tiller, spikelets and sink capacity per panicle among vigorous, intermediate and inferior tillers classified by differentiated order and vigorousness. Although it was difficult to find out any significant difference in grain-fill ratio, ratio of perfectly ripened grain, potential kernel size and sink/source ratio between vigorous and intermediate tillers, there was big difference between them and inferior one. The coefficients of variation within each tiller-group for some characters related to source and sink were larger with the order of vigorous tillers < intermediate one '||'&'||'lt; inferior one, and the average heritability of all characters, evaluated by the ratio of varietal variance (equation omitted) to total variance (equation omitted), were higher with the order of inferior tillers '||'&'||'lt; intemediate one '||'&'||'lt; superior one. Therefore, it is desirable to sample the vigorous tillers to represent the varietal difference of these traits. '82-'83 year variations of three parental cultivars were significant for all traits except for leaf area/tiller, panicles/hill, leaf area index and rough rice yield. The characters showing highly significant variance of variety x year interaction were growth duration from transplanting to heading, leaf area/tiller, sink/source ratio, sink capacity/panicle and grain yield. Generalized yearly response of three parental varieties (Suweon 264, Raegyeong, IR1317-70-l) and their F$\sub$5/ progenies on the 1st and 2nd principal components extracted from ten source and sink characters generally exhibited reduction in both source and sink. However, there were diverse variety x year interactions such as progenies showing similar reaction with their parents and intermediate or recombinational yearly response with little or considerable yearly movement on the four-dimensional planes of the two upper principal components between 1982 and 1983. Sink characters revealing highly significant border effect were grain-fill ratio, spikelets and sink capacity per panicle. Among them the latter two especially showed significant variety x border effect interaction. Self-competition characterized by relative weakness of inside plant's sink characters compared to the border one was more severe during the reproductive stage before heading than maturing stage. Though the larger sink capacity per panicle generally disclosed the severer self-competition, some lines (like Suweon 264) revealed severe self-competition with small sink capacity while a few others showed tender self-competition in spite of big sink capacity per panicle.