• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.85-86
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• 2008

로봇은 오도메터리 정보를 이용해 위치추정을 할 수 있다. 그러나 주행하는 동안 발생되는 슬립현상에 의해 오도메터러 정보만으로는 로봇의 정확한 위치추정을 할 수 없다. 정확한 위치추정을 위해서 관성센서를 이용하여 오도메터리 정보를 보정한 위치추정 방법이 있다. 실내 이동로봇에 적용하려면 관성센서는 소형이어야 하는데, 그에 따라 노이즈는 심해지고, 정확성도 낮아지는 문제가 있나. 그래서 현재까지는 이런 문제를 갖고 있는 관성센서를 실내 이동로봇의 위치추정의 정확성을 높이기 위해 비관성센서 또는 카메라 영상을 조합하는 연구들을 하고 있다. 그러나 이러한 연구들은 대부분 관성센서 성능 실험과 시뮬레이션에 결론을 내리고 있어 실제 실험에 따른 정확성을 확인할 수 없다. 또한 최근 영상 SIFT 알고리즘을 적용한 SLAM 연구에서도 나타나는 문제는 이동로봇의 위치추정의 부정확성이다. 따라서 본 논문은 SLAM에서 문제가 되는 위치추정의 부정확성을 최소화하기 위해 자이로와 가속도계를 이용하여 정학한 위치추정을 하고자 한다.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.331-332
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• 2007

In this paper we analyze whether recent Radio Frequence Identification technology can be used to improve the localization of mobile robot in their environment. This system make use of power control because Tag with Reader distance measurement. We are accurately the low at former time than the environment. A distance measurement is rather correct. This system used 900MHz Frequencies.

• Laser Solutions
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• v.14 no.4
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• pp.14-20
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• 2011

The advantage of using lasers for through silicon via (TSV) drilling is that they allow higher flexibility during manufacturing because vacuums, lithography, and masks are not required; furthermore, the lasers can be applied to metal and dielectric layers other than silicon. However, conventional nanosecond lasers have disadvantages including that they can cause heat affection around the target area. In contrast, the use of a picosecond laser enables the precise generation of TSVs with a smaller heat affected zone. In this study, a comparison of the thermal and crystallographic defect around laser-drilled holes when using a picosecond laser beam with varing a fluence and repetition rate was conducted. Notably, the higher fluence and repetition rate picosecond laser process increased the experimentally recast layer, surface debris, and dislocation around the hole better than the high fluence and repetition rate. These findings suggest that even the picosecond laser has a heat accumulation effect under high fluence and short pulse interval conditions. To eliminate these defects under the high speed process, the CDE (chemical downstream etching) process was employed and it can prove the possibility to applicate to the TSV industry.

• Journal of Korean Society on Water Environment
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• v.20 no.2
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• pp.190-195
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• 2004

A new technology for advanced wastewater treatment was developed using a modified Rotating Biological Contactor (RBC) process, named as Rotating Activated Bacillus Contactor (RABC) process that utilizes Bacillus sp., the facultatively anaerobic or activated microaerophilic bacteria on multiple-stage reticular rotating carriers, as a predominant species. The RABC process for a municipal wastewater with relatively low concentrations of organics, nitrogen, and phosphorus showed stable and high removal efficiencies, less than $BOD_5$ 10 mg/L, T-N 15 mg/L, and T-P 1.5 mg/L in final effluent. The performance load of RABC process was shown to be $1.23kg{\cdot}BOD/m^2{\cdot}day$ for the first stage (average $0.31kg{\cdot}BOD/m^2{\cdot}day$ for the total stages) based on both removed BOD and converted disc area corresponding to the reticular one. The sludge produced in the RABC process is characterized by low generation rate (about $0.18kg{\cdot}MLSS/kg{\cdot}BOD$) and excellent settleability. The number ratio of Bacillus ($2.4{\times}10^6CFU/ml$) to heterotrophic bacteria ($3.6{\times}10^7CFU/ml$) inhabiting in the biofilms of the RABC process was 6.7 %, indicating that Bacillus sp. was a predominant species in the biofilms. The RABC process with reticular rotating carriers showed its excellent performance for the advanced wastewater treatment without any offensive odor problem due to organic overloading.

• Journal of Sensor Science and Technology
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• v.15 no.3
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• pp.192-198
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• 2006

In this study, the light addressable potentiometric sensors (LAPS) with $Si_{3}N_{4}/SiO_{2}/Si$, and $Ta_{2}O_{5}/SiO_{2}/Si$ structures were fabricated. The penicillinsae was immobilized on the devices to hydrolyze the penicillin using self-assembled monolayer (SAM) method. Then response characteristics according to the penicillin concentrations were measured and compared. The measuring system was simplified by using LabVIEW. The pH response characteristics of fabricated devices are 56 mV/pH ($Si_{3}N_{4}$ sensing membrane) and 61 mV/pH ($Ta_{2}O_{5}$ sensing membrane). The sensitivity of sensor by enzyme reaction result of the enzyme reaction were 60 mV/decade and 74 mV/decade for $Si_{3}N_{4}/SiO_{2}/Si$ and $Ta_{2}O_{5}/SiO_{2}/Si$ structure, respectively, in the range of $0.1\;mM{\sim}10\;mM $of the penicillin concentration.

• Journal of Animal Science and Technology
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• v.62 no.4
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• pp.475-484
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• 2020

This study was conducted to evaluate the effect of the thickness of corn flakes produced by pressurized steam chamber (PSC) on rumen fermentation characteristics and nutrient degradability in Hanwoo and Holstein cows. Corn flakes were treated by PSC, in three groups based on corn flake thickness: < 2.5 mm (T1), 2.5-3.0 mm (T2), and > 3.0 mm (T3). Corn flake thickness significantly influenced pH (p < 0.01) and propionate concentration (p < 0.05) and slightly but not significantly influenced acetate, butyrate, and total-volatile fatty acids (T-VFA) concentrations. The dry matter (DM) degradability increased significantly with a reduction in corn flake thickness (p < 0.01), being significantly greater in T1 and T2 than T3 groups (p < 0.01) and similar between T1 and T2 groups throughout whole incubation time. Also, starch degradability was the lowest in T3 groups than others (p < 0.01). Thus, the present results showed that considering the production efficiency and economic feasibility, the optimal thickness of corn flakes produced in a PSC is recommended to be 2.5-3.0 mm.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.2
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• pp.181-186
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• 2017

Synthetic aperture radar(SAR) has been widely used for reconnaissance. It provides high-resolution, day-and-night and weather-independent images for a multitude of applications. Because SAR coherently combines many viewing angles to effectively create a large aperture(narrow beam) radar, the test-bed should be capable of moving straightly SAR sensor for the integration angle to meet resolution. This paper describes the test-bed developed to test and evaluate the SAR performance. It forms high-quality images in real time and saves the raw data for the purpose of post processing on the ground.

• Korean Journal of Agricultural Science
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• v.46 no.1
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• pp.11-25
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• 2019

This study was conducted to evaluate the effects of a composite feed additive (CFA) consisting of vitamin C, vitamin E, selenium, and choline on growth performance, carcass characteristics, and meat properties of Hanwoo steers. Twenty-two late fattening steers were randomly assigned to one of two dietary groups, control (commercial concentrate + rice straw) and treatment (commercial concentrate + rice straw + 50 g of CFA). Average daily gain (ADG) was 4.0% higher in treatment than that in control; however, there was no statistically significant difference. The supplementation of CFA had no effect on overall yield or quality traits of carcass. CFA had no effect on chemical composition, water holding capacity, shear force, cooking loss, or myoglobin values in longissimus muscle; however, the content of ${\alpha}$-tocopherol was increased by supplementation of CFA (p < 0.01). The contents of ${\alpha}$-linolenic acid and n-3 fatty acids were higher in treatment group than in control (p < 0.01). The ratio of n-6/n-3 fatty acids was decreased by supplementation of CFA (p < 0.01). The supplementation of CFA had no effect on pH or thiobarbituric acid reactive substances (TBARS) values in longissimus muscle (raw); however, TBARS (cooked) values were lower in treatment group than in control during refrigerated storage (p < 0.01). Thus, the results indicate that the supplementation of CFA (vitamin C + vitamin E + selenium + choline) had some positive effects on the increase in ${\alpha}$-tocopherol and n-3 fatty in longissimus muscle, without any negative effect on growth performance or carcass characteristics of late fattening Hanwoo steers.

• Korean Journal of Agricultural Science
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• v.46 no.3
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• pp.671-682
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• 2019

This study was conducted to evaluate the effects of rumen-protected methionine and lysine (RPML) on the growth performance, carcass characteristics, and meat properties of Hanwoo steers. Fourteen late fattening steers were randomly assigned to either the control (commercial concentrate + rice straw) or the treatment (commercial concentrate + rice straw + 20 g of RPML/head/day) group. The average daily gain (ADG) and feed conversion ratio (FCR) were not different between the treatment and control group. The rib eye area was slightly but not significantly higher in the treatment group than in the control group. The back fat thickness decreased with the RPML supplementation, although not significantly, and the appearance of yield C grade was lower in the treatment group than in the control group. The marbling score was similar between the control and treatment groups. The supplementation of RPML had no effect on the physicochemical compositions, myoglobin values, Commission Internationale de $l^{\prime}{\acute{E}}clairage$ (CIE) color values, fatty acid composition, and thiobarbituric acid reactive substances (TBARS) values in the longissimus muscle. Thus, the supplementation of RPML does not any negative effects on the growth performance, carcass characteristics, and meat properties of late fattening Hanwoo steers.

• Korean Journal of Agricultural Science
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• v.45 no.4
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• pp.695-706
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• 2018

This study was conducted to investigate the effect of a steam chamber type on the ruminal fermentable characteristics and nutrient degradabilities of corn flakes in Hanwoo. Three Hanwoo equipped with a ruminal fistula were used as experimental animals. There were two treatments: Corn flake using a steam chamber (CFSC, 1.0 atm - $100^{\circ}C$ 96 min) or corn flake using a pressurized steam chamber (CFPSC, 1.5 atm - $111^{\circ}C$ 12 min), respectively. In the in vitro trial, the ruminal pH was significantly lower in the CFPSC than in the CFSC (p < 0.01). The ammonia concentration was increased by 14.1% in the CFPSC compared to the CFSC (p < 0.05). The concentration of acetic acid was higher in the CFSC than in the CFPSC (p < 0.01). The concentrations of propionate, butyrate and total-VFA at 24 and 48 h were higher in the CFPSC than in the CFSC (p < 0.05). In the in situ trial, the degradability of dry matter was significantly higher in the CFSC than in the CFSC (p < 0.01). In addition, the degradabilities of starch and crude protein were significantly higher in the CFSC than in the CFSC (p < 0.01). Thus, the present results indicate that the pressurized steam chamber could be recommended to improve the feed value of corn flake according to the increase in the starch degradability and volatile fatty acid production.