• Journal of the Korean Society for Precision Engineering
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• v.17 no.2
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• pp.121-129
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• 2000

The robotic automation in NonDestructive Testing(NDT) is a promising field of research and it helps to expand the applications of NDT enormously. Especially, in the case of pipelines which are widely used in various industrial facilities, it is required to secure adequate ways of inspection in the usual maintenance activitites. In this paper, we present a robot system for inpipe inspection of underground urban gas pipelines. The robot is configured as an articulated structure like a snake with a tether cable. Two active driving vehicles are located in front and rear of the system, respectively and passive modules such as a NonDestructive Testing module and a control module are chained between the active vehicles. The proposed system has outstanding mobility by employing a new steering mechanism called Double Active Universal Joint, which makes it possible to cope with complicated configurations of underground pipelines. Characteristic features of the system are described and the construction of the system is briefly outlined.

• Journal of Ocean Engineering and Technology
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• v.8 no.1
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• pp.23-32
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• 1994

A numerical procedure is described for simultaneously predicting the motion and structural responses of tension leg platforms (TLPs) in multi-directional irregular waves. The developed numerical approach is based on a combination of a three dimensional source distribution method, the finite element method for structurally treating the space frame elements and a spectral analysis technique of directional waves. The spectral description for the linear responses of a structure in the frequency domain is sufficient to completely define the responses. This is because both the wave inputs and the responses are stationary Gaussian ran dom process of which the statistical properties in the amplitude domain are well known. The hydrodynamic interactions among TLP members, such as columns and pontoons, are included in the motion and structural analysis. The effect of wave directionality has been pointed out on the first order motion, tether forces and structural responses of a TLP in multi-directional irregular waves.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2000.04a
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• pp.69-74
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• 2000

Linear and nonlinear motion responses of a Tension Leg Platform(TLP) was investigated by model tests. The model tests were carried out at KRISO's Ocean Engineering Basin which has a deep pit of which diameter and depth are 5 meters and 12.5 meters, respectively. Optical sensors were used for measuring drift motions, and a set of accelerometers were employed for analyzing wave frequency motions. ISSC TLP was chosen as the model for the present study. Scale ratio was 1/65 and elastic modelling of tether system were conducted. Very good agreement was obtained between experimental results and theoretical calculations not only in linear motion responses but tension responses, nonlinear wave drift force and double frequency excitations.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.813-821
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• 2013

In this paper, we present the development of P-SURO II hybrid AUV (Autonomous Underwater Vehicle) which can be operated in both of AUV and ROV (Remotely Operated Vehicle) modes. In its AUV mode, the vehicle is supposed to carry out some of underwater missions which are difficult to be achieved in ROV mode due to the tether cable. To accomplish its missions such as inspection and maintenance of complex underwater structures in AUV mode, the vehicle is required to have high level of autonomy including environmental recognition, obstacle avoidance, autonomous navigation, and so on. In addition to its systematic development issues, some of algorithmic issues are also discussed in this paper. Various experimental studies are also presented to demonstrate these developed autonomy algorithms.

• ETRI Journal
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• v.38 no.2
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• pp.314-325
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• 2016

This paper examines the resource gain that can be obtained from the creation of clusters of nodes in densely populated areas. A single node within each such cluster is designated as a "hotspot"; all other nodes then communicate with a destination node, such as a base station, through such hotspots. We propose a semi-distributed algorithm, referred to as coordinated cognitive tethering (CCT), which clusters all nodes and coordinates hotspots to tether over locally available white spaces. CCT performs the following these steps: (a) groups nodes based on a modified k-means clustering algorithm; (b) assigns white-space spectrum to each cluster based on a distributed graph-coloring approach to maximize spectrum reuse, and (c) allocates physical-layer resources to individual users based on local channel information. Unlike small cells (for example, femtocells and WiFi), this approach does not require any additions to existing infrastructure. In addition to providing parallel service to more users than conventional direct communication in cellular networks, simulation results show that CCT can increase the average battery life of devices by 30%, on average.

• Bulletin of the Korean Chemical Society
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• v.35 no.12
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• pp.3627-3631
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• 2014

In this study we examined two ester-containing cross-links, hex-2-enyl acetate and hex-2-enyl propionate, as new cross-linking systems for helix stabilization of short peptides. We demonstrated that these hexenyl ester cross-links can be readily installed via a ruthenium-mediated ring-closing metathesis reaction of L-aspartic acid 4-allyl ester or L-glutamic acid 5-allyl ester at position i and (S)-2-(4'-pentenyl)alanine at position i+4 using second generation Hoveyda-Grubbs catalyst at $60^{\circ}C$. Between these two cross-links, we found that the hex-2-enyl propionate significantly stabilizes the ${\alpha}$-helical conformations of short model peptides. The helix-stabilizing effects of the hex-2-enyl propionate tether appear to be as powerful as Verdine's i,i+4 all-hydrocarbon stapling system, which is one of the most widely used and the most potent helix-stabilizing cross-linking systems. Furthermore, the hex-2-enyl propionate bridge is reasonably robust against non-enzymatic hydrolytic cleavage at a physiological pH. While extended studies for probing its chemical scopes and biological applications are needed, we believe that this new helix-stabilizing system could serve as a useful chemical tool for understanding protein folding and designing conformationally-constrained peptide drugs.

• The Bulletin of The Korean Astronomical Society
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• v.39 no.1
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• pp.69.1-69.1
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• 2014

We perform an MHD simulation combined with observed vector field data to clarify an eruptive dynamics in the solar flare. We first extrapolate a 3D coronal magnetic field under a Nonlinear Force-Free Field (NLFFF) approximation based on the vector field, and then we perform an MHD simulation where the NLFFF prior to the flare is set as an initial condition. Vector field was obtained by the Soar Dynamics Observatory (SDO) at 00:00 UT on February 15, which is about 90 minutes before the X2.2-class flare. As a result, the MHD simulation successfully shows an eruption of strongly twisted lines whose values are over one-turn twist, which are produced through the tether-cut magnetic reconnection in strongly twisted lines of the NLFFF. Eventually, we found that they exceed a critical height at which the flux tube becomes unstable to the torus instability determining the condition that whether a flux tube might escape from the overlying field lines or not. In addition to these, we found that the distribution of the observed two-ribbon flares is similar to the spatial variance of the footpoints caused by the reconnection of the twisted lines being resided above the polarity inversion line. Furthermore, because the post flare loops obtained from MHD simulation well capture that in EUV image taken by SDO, these results support the reliability of our simulation.

• Ocean Systems Engineering
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• v.5 no.2
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• pp.109-123
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• 2015

In the present study, the coupled dynamic response of a Submerged Floating Tunnel (SFT) and mooring lines under regular waves is solved by using two independent numerical simulation methods, OrcaFlex and CHARM3D, in time domain. Variations of Buoyancy to Weight Ratio (BWR), wave steepness/period, and water/submergence depth are considered as design and environmental parameters in the study. Two different mooring-line configurations, vertical and inclined, are studied to find an optimum design in terms of limiting tunnel motions and minimizing mooring-line tension. The numerical results are successfully validated by direct comparison against published experimental data. The results show that tunnel motions and tether tensions grow with wave height and period and decrease with submergence depth. The inclined mooring system is more effective in restricting tunnel motions compared to the vertical mooring system. Overall, the present study demonstrates the feasibility of this type of structure as an alternative to traditional bridges or under-seabed tunnels.

• Journal of Ocean Engineering and Technology
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• v.34 no.6
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• pp.475-480
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• 2020

Underwater operating platforms face difficulties regarding power supply and communications. To overcome these difficulties, this study proposes a hybrid surface and underwater vehicle (HSUV) and presents the development of the platform, control algorithms, and results of field tests. The HSUV is capable of supplying reliable power to the unmanned underwater vehicle (UUV) and obtaining data in real time by using a tether cable between the UUV and the unmanned surface vehicle (USV). The HSUV uses global positioning system (GPS) and ultra-short base line sensors to determine the relative location of the UUV. Way point (WP) and dynamic positioning (DP) algorithms were developed to enable the HSUV to perform unmanned exploration. After reaching the target point using the WP algorithm, the DP algorithm enables USV to maintain position while withstanding environmental disturbances. To ensure the navigation performance at sea, performance tests of GPS, attitude/heading reference system, and side scan sonar were conducted. Based on these results, manual operation, WP, and DP tests were conducted at sea. WP and DP test results and side scan sonar images during the sea trials are presented.

• Journal of Microbiology and Biotechnology
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• v.32 no.5
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• pp.621-629
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• 2022

Bacterial outer membrane vesicles (OMVs) typically contain multiple immunogenic molecules that include antigenic proteins, making them good candidates for vaccine development. In animal models, vaccination with OMVs has been shown to confer protective immune responses against many bacterial diseases. It is possible to genetically introduce heterologous protein antigens to the bacterial host that can then be produced and relocated to reside within the OMVs by means of the host secretion mechanisms. Accordingly, in this study we sought to develop a novel platform for recombinant OMV (rOMV) production in the widely used bacterial expression host species, Escherichia coli. Three different lipoprotein signal peptides including their Lol signals and tether sequences-from Neisseria meningitidis fHbp, Leptospira interrogans LipL32, and Campylobactor jejuni JlpA-were combined upstream to the GFPmut2 model protein, resulting in three recombinant plasmids. Pilot expression studies showed that the fusion between fHbp and GFPmut2 was the only promising construct; therefore, we used this construct for large-scale expression. After inducing recombinant protein expression, the nanovesicles were harvested from cell-free culture media by ultrafiltration and ultracentrifugation. Transmission electron microscopy demonstrated that the obtained rOMVs were closed, circular single-membrane particles, 20-200 nm in size. Western blotting confirmed the presence of GFPmut2 in the isolated vesicles. Collectively, although this is a non-optimized, proof-of-concept study, it demonstrates the feasibility of this platform in directing target proteins into the vesicles for OMV-based vaccine development.