• Proceedings of the KSME Conference
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• 2001.06b
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• pp.325-329
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• 2001

This paper addresses a control architecture for the hospital service robot, SmartHelper. With a sensing-reasoning-acting paradigm, the deliberation takes place at planning layer while the reaction is dealt through the parallel execution of operations. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment. The deliberative controller accomplishes four functions which are path generation, selection of navigation way, command and monitoring. The reactive controller uses fuzzy and potential field method for robot navigation. Through simulation under a virtual environment IGRIP, the effectiveness of the control architecture is verified.

• Nuclear Engineering and Technology
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• v.49 no.5
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• pp.887-895
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• 2017

Preliminary results of the dynamic analysis of a two-fluid molten-salt breeder reactor (MSBR) system are presented. Based on an earlier work on the preliminary dynamic model of the concept, the model presented here is nonlinear and has been revised to accurately reflect the design exemplified in ORNL-4528. A brief overview of the model followed by results from simulations performed to validate the model is presented. Simulations illustrate stable behavior of the reactor dynamics and temperature feedback effects to reactivity excursions. Stable and smooth changes at various nodal temperatures are also observed. Control strategies for molten-salt reactor operation are discussed, followed by an illustration of the open-loop load-following capability of the molten-salt breeder reactor system. It is observed that the molten-salt breeder reactor system exhibits "self-regulating" behavior, minimizing the need for external controller action for load-following maneuvers.

• Nuclear Engineering and Technology
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• v.54 no.8
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• pp.2877-2882
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• 2022

The paper presents the main results of computational and experimental optimization of the automatic power control system (AC) of the IBR-2M pulsed reactor in the presence of a high level of oscillatory instability. Optimization of the parameters of the AC made it possible to significantly reduce the influence of random and deterministic oscillations of reactivity on the noise of the pulse energy, as well as to sharply reduce the manifestation of the oscillatory instability of the reactor. As a result, the safety and reliability of operation of the reactor has increased substantially.

• Nuclear Engineering and Technology
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• v.25 no.3
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• pp.361-370
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• 1993

Low power physics tests should be peformed for the domestic pressurized light water reactors (PWRs) after refueling. The tests are peformed to ensure that operating characteristics of the core are consistent with predictions and that the core can be operated as designed. But in some low power physics tests, slow but steady reactivity increasing phenomena were noticed after step reactivity insertion by the control rod movement. These reactivity increasing phenomena are due to the low flux level and the gamma background because an uncompensated ion chamber (UIC) is used as the ex-core neutron detector. The gamma background may affect the results or the lour power physics tests. The aims or this paper are to analyze the grounds of such phenomena, to simulate a reference bank worth measurement test and to present a resolution quantitatively. In this study, the gamma background level was estimated by numerically solving the point kinetics equations accounting the gamma background effect. The reactivity computer check test was simulated to verify the model. Also, an appropriate neutron flux level was determined by simulating the reference bank worth measurement test. The determined neutron flux level is approximately 0.3 of the nuclear heating flux. This level is about 3 times as high as the current test upper limit specified in the test procedure. Then, the findings from this work were successfully applied to Kori unit 4 cycle 7 and Yonggwang unit 1 cycle 7 physics tests.

• Journal of the Korean Society of School Health
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• v.31 no.2
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• pp.88-97
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• 2018

Purpose: The purpose of this study was to investigate the effects of a profanity intervention application on interpersonal relationship ability, aggression, and empathic ability among female middle school students. Method: The subjects of the present study were freshmen students at a girls' middle school in Gyeonggi-do. The profanity intervention application was implemented from November 20th to 27th, 2017. The pre- and post-tests were conducted one week before and two weeks after the intervention, respectively. The study was designed as a randomized controlled study and the collected data were analyzed using SPSS/WIN 23.0 (Chicago, IL). A homogeneity test between the two groups was performed using $x^2$ test, Fisher's exact test, independent t-test, and ANCOVA. Results: The two groups were found to be homogeneous in the pre-test. After the implementation of the profanity intervention application, aggression significantly decreased (F=20.17, p<.001) and interpersonal reactivity (F=5.92, p=.023) and empathy (F=11.10, p=.003) significantly increased in the experimental group compared to the control group. Among the factors related with aggression, verbal aggression, anger, and hostility significantly decreased in the experimental group. Meanwhile, among the factors of interpersonal reactivity, empathic concern and perspective-taking significantly increased and, among the factors of empathy, cognitive empathy significantly increased in the experimental group compared to the control group. Conclusion: Based on the findings of the present study, various intervention programs that can consistently improve the moral and ethical sensitivity of students should be presented starting from elementary school to prevent verbal violence in adolescents.

• Clinical and Experimental Vaccine Research
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• v.12 no.1
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• pp.32-46
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• 2023

Purpose: The present study aimed to compare the immune-enhancing potential of gold nanoparticles (AuNPs) to Alum against rabies vaccine and the related immunological, physiological, and histopathological effects. Materials and Methods: Alum and AuNPs sole and in combination with rabies vaccine were used at 0.35 mg/mL and 40 nM/mL, respectively. Rats used were categorized into six groups (20/each): control rats, rabies vaccine, aluminum phosphate gel, rabies vaccine adsorbed to Alum, AuNPs, and rabies vaccine adjuvant AuNPs. Results: Liver and kidney functions were in the normal range after AuNPs and Alum adjuvanted vaccine compared to control. Interleukin-6 and interferon-γ levels were significantly increased in groups immunized with Alum and AuNPs adjuvanted vaccine, the peak level was in the case of AuNP adjuvanted vaccine on the 14th day. Ninety days post-vaccination, total immunoglobulin G (IgG) against adjuvanted rabies vaccine showed a significantly elevated antirabies IgG with AuNPs and Alum adsorbed vaccine compared with unadjuvanted one. The total antioxidant capacity, malondialdehyde (MDA) levels, superoxide dismutase, and glutathione peroxidase activities were significantly increased post-adjuvanted AuNPs adjuvanted vaccine vaccination than in Alum adsorbed vaccine, while MDA was significantly decreased. The histopathological examination revealed detectable alterations post-AuNPs and Alum adjuvanted vaccine immunization compared with liver and kidney profiles post-administration of unadjuvanted and non-immunized groups, meanwhile, splenic tissue revealed hyperplasia of lymphoid follicles indicating increased immune reactivity. Conclusion: The AuNPs are promising enhancers of the immune response as Alum, and the undesirable effects of AuNPs could be managed by using suitable sizes, shapes, and concentrations.

• The Journal of the Korean Society for Microbiology
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• v.21 no.2
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• pp.181-189
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• 1986

To apply ELISA to serodiagnosis of leptospirosis with killed whole cells from Leptospira interrogans serovars mwogolo (Mwogolo), copenhageni (M-20), WH-20, autumnalis (Akiyami A), cynopteri (3522 C), australis (Bacillico) and Leptospira biflexa serovar patoc (patoc 1), sensitivity and specificity was evaluated. The reactivity of IgM and IgG antibody in the sera from patients with leptospirosis, hemorrhagic fever with renal syndrome and other febrile disease and normal healthy control to the killed whole cells was analysed. The results were summarized as follows. 1. The reactivity (absorbance at 492mn) of IgM and IgG to L. mwogolo antigen in the sera of pattients with leptospirosis were $1.414{\pm}0.370$, $1.242{\pm}9.554$ respectively: hemorrhagic fever with renal syndrome, $0.329{\pm}0.131$, $0.239{\pm}0.126$; other febrile disease, $0.196{\pm}0.071$, $0355{\pm}0.141$; normal healthy control, $0.136{\pm}0.016$, $0.208{\pm}0.077$. 2. The reactivity of IgM and IgG to L. copenhageni, WH-20, L. autumnalis, L. cynopteri and L. anstralis antigens were similar to that to L. mwogolo antigen, but that to L. biflexa antigen was not discriminated among above disease. 3. Correlation coefficient between the MAT titer and ELISA OD (IgM) to the above antigens was in the range of 0.071-0.518. 4. As absorbance above 0.60 was determined positive for the diagnosis of leptospirosis, the sensitivity and specificity of IgG was 25-89% and 91-96% respectively. And those of IgM was 98-100% and 89-100% except L. biflexa (29%) respectively.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1039-1043
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• 2005

Despite the many significant advances made in robot architecture, the basic approaches are deliberative and reactive methods. They are quite different in recognizing outer environment and inner operating mechanism. For this reason, they have almost opposite characteristics. Later, researchers integrate these two approaches into hybrid architecture. In such architecture, Reactive module also called low-level motion control module have advantage in real-time reacting and sensing outer environment; Deliberative module also called high-level task planning module is good at planning task using world knowledge, reasoning and intelligent computing. This paper presents a framework of the integrated planning and control for mobile robot navigation. Unlike the existing hybrid architecture, it learns topological map from the world map by using MST (Minimum Spanning Tree)-based SOFM (Self-Organizing Feature Map) algorithm. High-level planning module plans simple tasks to low-level control module and low-level control module feedbacks the environment information to high-level planning module. This method allows for a tight integration between high-level and low-level modules, which provide real-time performance and strong adaptability and reactivity to outer environment and its unforeseen changes. This proposed framework is verified by simulation.

• Transactions of the KSME C: Technology and Education
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• v.3 no.3
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• pp.225-232
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• 2015

The control element drive mechanism (CEDM) is an electro-mechanical device to control reactivity of the nuclear reactor. The conventional CEDM was installed on a nozzle of the reactor vessel closure head as an ex-vessel type. However, there have been demands for an in-vessel CEDM to fundamentally eliminate the rod ejection accident. Conceptual design of the in-vessel CEDM, which was developed based on the existing technology of the ex-vessel CEDM, is introduced in this paper.

• Nuclear Engineering and Technology
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• v.52 no.3
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• pp.477-484
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• 2020

The control rod drive mechanism needs to be debugged after reactor fresh fuel loading. It is of great importance to monitor the subcriticality of this process accurately. A modified method was applied to the subcriticality monitoring process, in which only a single control rod cluster was fully withdrawn from the core. In order to correct the error in the results obtained by Neutron Source Multiplication Method, which is based on one point reactor model, Monte Carlo neutron transport code was employed to calculate the fission neutron distribution, the iterated fission probability and the neutron flux in the neutron detector. This article analyzed the effect of a coarse mesh and a fine mesh to tally fission neutron distributions, the iterated fission probability distributions and to calculate correction factors. The subcriticality before and after modification is compared with the subcriticality calculated by MCNP code. The modified results turn out to be closer to calculation. It's feasible to implement the modified NSM method in large local reactivity addition process using Monte Carlo code based on 3D model.