• 한국해양공학회지
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• 제23권6호
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• pp.146-155
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• 2009

This paper considers the path tracking problem in a horizontal plane for underactuated (or non-holonomic) autonomous underwater vehicles (AUVs). Underwater mapping has been an important mission for AUVs. Recently, underwater docking has also become a main research field of AUVs. These kinds of missions basically require accurate attitude and trajectory control performance. However, the non-holonomic problem should be solved to achieve accurate path tracking for the torpedo-type of AUVs. In this paper, resolved motion and acceleration control (RMAC) is considered as a path tracking controller for an underactuated torpedo-shaped AUV, ISiMi. A set of numerical simulations is carried out to illustrate the effectiveness of the proposed RMAC scheme, and experimental data with ISiMi100 and discussions are presented.

• International Journal of Ocean System Engineering
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• 제3권1호
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• pp.16-21
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• 2013

This paper presents a design of fuzzy PD depth controller for the autonomous underwater vehicle entitled KAUV-1. The vehicle is shaped like a torpedo with light weight and small size and used for marine exploration and monitoring. The KAUV-1 has a unique ducted propeller located at aft end with yawing actuation acting as a rudder. For depth control, the KAUV-1 uses a mass shifter mechanism to change its center of gravity, consequently, can control pitch angle and depth of the vehicle. A design of classical PD depth controller for the KAUV-1 was presented and analyzed. However, it has inherent drawback of gains, which is their values are fixed. Meanwhile, in different operation modes, vehicle dynamics might have different effects on the behavior of the vehicle. In this reason, control gains need to be appropriately changed according to vehicle operating states for better performance. This paper presents a self-tuning gain for depth controller using the fuzzy logic method which is based on the classical PD controller. The self-tuning gains are outputs of fuzzy logic blocks. The performance of the self-tuning gain controller is simulated using Matlab/Simulink and is compared with that of the classical PD controller.

• Journal of Crop Science and Biotechnology
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• 제11권2호
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• pp.107-110
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• 2008

A high-efficiency, reproducible somatic embryogenesis system for strawberry cultivar Chandler was developed. Thirty-one somatic embryos per explant(max no.) were recorded in leaf discs which were cultured on medium containing MS salts+$B_5$ vitamins+2% glucose+4.0 mg $1^{-1}$TDZ(Thidiazuron) and incubated at $10{\pm}1^{\circ}C$ under darkness for one week followed by three weeks under 16-h photoperiod. The scanning electron microscopic(SEM) ontogeny revealed the normal development of somatic embryos from globular to heart-shaped and dissection microscopy from torpedo-shaped to cotyledonary-stage embryos. The maximum germination percentage of 48% could be obtained on MS medium containing kinetin(1.0 mg $1^{-1}$) and the maximum survival percentage(79%) of plantlets after four weeks was found to be in the mixture of vermiculite, peatmoss, and soilrite(1:1:1).

• Plant Biotechnology Reports
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• 제3권3호
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• pp.205-211
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• 2009

An efficient in vitro regeneration protocol for moth bean [Vigna aconitifolia (Jacq.) Marechal] via somatic embryogenesis has been developed. Embryogenic callus cultures were established from the cotyledonary node as explant on semi-solid Murashige and Skoog (MS) medium supplemented with $0.75mg\;1^{-1}$ 2,4-dichlorophenoxyacetic acid (2,4-D) and $1.5mg\;1^{-1}$ 6-benzylaminopurine (BA) and with various additives ($50mg\;1^{-1}$ ascorbic acid and $25mg\;1^{-1}$ each of adenine sulphate, citric acid and $_L-arginine$). Numerous somatic embryos differentiated on MS basal nutrient medium supplemented with $0.25mg\;1^{-1}$ 2,4-D and $0.5mg\;1^{-1}$ of kinetin (Kin). Sustained cell division resulted in the formation of cell aggregates, which progressed to the globular- and heart-shaped somatic embryos and then, if they differentiated properly, to the torpedo shape and cotyledonary stages. The transfer of embryos onto fresh MS basal medium containing $0.2mg\;1^{-1}$ BA and $2.0mg\;1^{-1}$ gibberellic acid enabled the embryos to achieve complete maturation and germination. More than 80% of somatic embryos were converted into true-to-type fertile plants. In vitro-regenerated plantlets with well-developed roots were successfully hardened in a greenhouse and established in soil.

• International Journal of Naval Architecture and Ocean Engineering
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• 제11권2호
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• pp.865-874
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• 2019

A controller for an underwater glider is presented. Considered underwater glider is a torpedo-shaped autonomous underwater vehicle installing adjustable buoyancy bag and movable battery in it. The controller is composed of an LQR controller to maintain zigzag vertical movement for gliding and two PD controllers to control elevator/rudder angles. The LQR controller controls the pumping speed into the buoyancy bag and the moving speed to locate the battery. One of the PD controller controls the elevator angle to assist the LQR controller, and the other controls the rudder angle to adjust the direction of the underwater glider. A reduced order Luenberger observer is adopted to estimates the center of gravity of the glider and the buoyancy mass that are essential but cannot be measured. Mathematical simulation using Matlab proved the validity of the proposed controller to obtain better performance than conventional LQR only controller under the influence of sea current.

• Journal of Plant Biotechnology
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• 제31권3호
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• pp.219-223
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• 2004

두릅나무의 엽병을 1.0 mg/L 2,4-D가 포함된 MS 고체배지에서 배발생캘러스를 유도하였다. 배발생세포와 배발생세포괴는 1.0 mg/L 2.4-D가 포함된 MS 액체배지에서 배발생캘러스를 2주간 현탁배양하여 대량으로 얻었다. 그물망을 통과한 배발생세포는 1.0 mg/L 2.4-D가 포함된 MS 액체배지에서 배양하면 배발생능이 소실되지 않고 지속적으로 유지 및 증식시킬 수 있었다. 그물망을 통과하지 못한 배발생세포괴를 식물생장조절물질이 첨가되지 않은 1/2 MS 액체배지에 옮겨 2주간 배양하면 구상형의 체세포배로 발달하였다. 구상형의 체세포배는 5 L의 bioreactor를 이용하여 배양하면 심장형, 어뢰형, 자엽형의 배와 유식물체로 발달하였다. Bioreactor 배양을 통해 두릅나무의 체세포배를 효과적으로 대량증식 시킬 수 있었다.

• 식물조직배양학회지
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• 제28권1호
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• pp.21-24
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• 2001

식용 및 약용으로 사용되는 갯기름나물의 기내배양을 통한 재분화율을 조사하였다. 캘러스는 잎과 엽병의 절편체에서 발생하였고 0∼5 mg/L의 NAA와 0∼10 mg/L BA가 첨가된 MS 기본배지에 치상하여 암배양 결과 자발적인 배 분화와 기관 분화를 보여주었으며 2.5 mg/L NAA와 10 mg/L BA의 조건에서 재분화율이 가장 높았다. 체세포 배의 발생양상은 구형, 심장형, 어뢰형을 거쳐 자엽 단계로 발달하여 전형적인 접합자 배의 모습으로 발달하였다. 배 발생한 일차 체세포배를 0.2 mg/L의 NAA가 첨가된 배지에서 배양하였을 때, 이차 체세포배가 발생하였으며 주로 일차 체세포배의 배축과 하배축에서 많이 발생하였고 그 다음으로 자엽이나 뿌리 부분에서 발생하였다.

• 한국산림과학회지
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• 제98권6호
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• pp.719-725
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• 2009

본 연구는 체세포배를 통해 증식된 서울오갈피(Eleutherococcus seoulensis)의 기외 대량 묘목생산을 위한 최적의 조건을 구명하기 위해 수행되었다. 어뢰형의 체세포배는 $GA_3$가 각각 3.0 mg/L와 5.0 mg/L가 첨가된 1/3 MS와 WPM 배지에 치상하여 4주간 발아시켰으며 발아된 유식물체는 0.2% 활성탄과 1.0 mg/L $GA_3$가 첨가된 1/2 SH 배지에 옮겨주어 신장을 유도하였다. 신장된 유식물체는 대기순화 효과를 관찰하기 위해 membrane filter가 부착된 대기순화 용기에 치상하였다. 대기순화 처리와 더불어 토양의 종류가 야외순화에 미치는 영향을 살펴보기 위해 혼합토(펄라이트+피트모스), 펄라이트, 서울 남산상토에 이식하였고, 서울 남산상토에서 대기순화 과정을 거친 식물체가 8주 후 70% 이상 생존하였다. 토양순화 과정을 거친 묘목은 야외 묘포장에 이식하였고, 그 결과 8주 후 95% 이상생존하였다.

• 한국자원식물학회지
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• 제28권3호
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• pp.350-356
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• 2015

Abeliophyllum distichum is a monotypic taxon of Oleaceae and endemic to Korea. A comprehensive study on embryogeny and fruit and seed coat ontogeny in Abeliophyllum was carried out via microtome and light microscopy. The fertilization occurs during mid– to late April and embryo matures by early July. The embryo development follows the general fashion from globular embryo – transition embryo – heart shaped embryo – torpedo embryo – walking-stick embryo to mature embryo. The pericarp clearly differentiates into three histological zones: exocarp, mesocarp, and endocarp. The young seed comprises 10-12 cells thick seed coat and the mature seed coat comprises an exotesta, 6-8 mesotesta and an endotesta. Any crystals, phenolic-like compounds, idioblasts, and the sclereids are not found in pericarp as well as seed coat. An overall development confirms Solanade type of embryogenesis in Abeliophyllum. The endocarp becomes more prominent in mature fruit and all the layers of endocarp are highly lignified. On the basis of mechanical layer the seed coat is of exotestal type.

• Journal of Plant Biology
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• 제39권2호
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• pp.127-135
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• 1996

An efficient system of somatic embryogenesis was established for the red pepper plant (Capsicum annuum L. cv. Nokkwang) usign immature zygotic embryos. The size of the immature zygotic embryos and the concentrations of 2, 4-D and sucrose were found to be critical. Somatic embryos were induced via callus or directly from explants and regenerated into plantlets successfully. When zygotic embryos 1~2 mm long were cultured on the modified Murashige-Skoong (MS) medium supplemented with 2 mg/L 2, 4-D for 3 weeks in the dark, somatic embryos were induced directly from the apical region of zygotic embryos with the highest frequency being approximately 90%. To mature the somatic embryos, ABA and an ethylene inhibitor AgNO3 were used. The highest frequency of shoot regeneration (25% in each) resulted at 2$\mu$M ABA or 20$\mu$M AgNO3 treatment at rates 3.7 and 1.6 times control, respectively. Shoots developed mainly from the cotyledonary node on CoCl2-containing medium, and from the upper side of cotyledon on medium containing AgNO3 while the embryos on the control medium produced shoots from both the cotyledonary node and the upper region of cotyledons both at frequencies of 50%. Indirect somatic embryogenesis via callus was induced at an efficiency of approximately 10% with zygotic embryos 3~4 mm long cultured on MS medium containing 5~10 mg/L, 2, 4-D for 5~7 weeks under a continuous light condition. The plants regenerated from the somatic embryos were morphologically normal. Using scanning electron microscopy, the direct and indirect somatic embryogeneses were observed to follow the globular, heart and torpedo stages, similar to zygotic embryogenesis. Also, suspensors appeared in the early globular and ovoid-shaped late globular embryos during indirect somatic embryogenesis.