• International Journal of Control, Automation, and Systems
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• v.1 no.2
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• pp.243-251
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• 2003

In this paper, a new model for mobile soccer robot, a type of linear system, is presented. A controller, consisting of two loops the one of which is the inner state feedback loop designed for stability and plant be well conditioned and the outer loop is a well-known PI controller designed for tracking the reference input, is suggested. Because the plant, the soccer robot, is parameter dependent, it requires the controller to be insensitive to the parameter variation. To achieve this objective, the pole-sensitivity as a pole-variation with respect to the parameter variation is defined and design algorithms for state-feedback controllers are suggested, consisting of two matrices one of which is for general pole-placement and other for parameter insensitive. This paper shows that the PI controller is equivalent to the state feedback and the cost function for reference tracking is equivalent to the LQ cost. By using these properties, we suggest a tuning procedure for the PI controller. We that the control algorithm in this paper, based on the linear system theory, is well work by simulation, and the LPD system modeling and control are more easy treatment for soccer robot.

• Korean Journal of Pharmacognosy
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• v.31 no.2
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• pp.203-208
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• 2000

The concentrations of 4 kalosaponins from tissues of Kalopanax septemlobus (Thunb.)Koidz grown in 7 provenances in Korea were determined by HPLC. Kalosaponin contents in plant part were much higher in the inner bark(30.59 mg/g on the dry weight basis) than those of young leaves(22.74 mg/g on the dry weight basis) and root bark(18.02 mg/g on the dry weight basis). A considerable range of variation in the contents was observed among population. The kalosaponin contents in inner bark from each population were highest in the Mt. Barwang (30.37 mg/g on the dry weight basis) followed by Mt. Gariwang, Hanra II, Mangun, Paltan, and Hanra I population. A variation of kalosaponin contents among population may be affected by both environmental and genetic factors. Establishment of selection and propagation of high kalosaponin containing trees can be a good source for the development of valuable forest products.

• Korean Journal of Plant Tissue Culture
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• v.27 no.2
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• pp.137-142
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• 2000

Calli were induced from the explants of infloresence, petiole and leaf blade of Cnidium officinale on MS medium with 2.4-D, while embryogenic callus was induced only from inflorescence explants. Somatic embryos of 78 per explant were formed during subculture of the explants on medium without 2.4-D after culture on medium with 2 mg/L 2.4-D. Cotyledonary variation, cup-shaped cotyledon of 49% and other abnormal cotyledons of 13.5 % was observed on the somatic embryos. However this variation could be overcomed by the addition of activated charcoal onto culture medium. Somatic embryos at cotyledonary stage germinated on MS basal medium but the germination rate was very poor, blow 50 %. Somatic embryos on the medium with activated charcoal showed improved germinaton.

• Journal of Environmental Health Sciences
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• v.37 no.4
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• pp.258-266
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• 2011

Objectives: The aim of this study is to examine the possible changes over the past ten years in the estimated daily dietary lead intake (Pb-D) stemming from the variation of daily intake amounts for each food group. The following factors were considered; 1. time trends in Pb-D as the estimated values, 2. the time trend in Pb-D by food groups 3. the most influential food groups for dietary Pb intake. Methods: Estimated Pb-D was drawn from food consumption according to food groups reported in the Korean National Health and Nutrition Survey and the lead contents of each food group as reported in 23 prior publications. Results: The estimated Pb-D in a 2009 survey was 40.8 ${\mu}g/day$, of which 22.5 ${\mu}g/day$ (55.1%) was of plant origin and 18.3 ${\mu}g/day$ (44.9%) was of animal origin. Meats and poultry, fish and shellfish among foods of animal origin and beverages of plant origin had the largest contribution in Pb-D among the food groups. Conclusion: Over past ten years, daily lead intakes have slightly increased among men. Otherwise, no clear variation is apparent among women.

• Journal of Plant Biology
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• v.38 no.1
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• pp.39-45
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• 1995

Glycine soja Sieb. et Zucc., a predominantly selfing annual, has been served as a reservoir of germplasm for soybean, G. max (L.) Merr., cultivar improvement. This study describes the levels and distribution of genetic variation within and among 22 Korean populations of G. soja using starch gel electrophoresis. The species maintains very similar levels of genetic variability within populations observed in most other annuals. At the population level, the mean percent of polymorphic loci (P) was 32.6%, mean number of allele per locus (A) was 1.32, and mean expected heterozygosity (He) was 0.112. In addition, total genetic diversity (HT) calculated only for polymorphic loci was 0.347. However, significant differences in allele frequencies among populations were found for all loci (P<0.001 in each case) and, on average, about 70% of the total variation in the species is common to all populations. Indirects estimate of the number of migrants per generation (Nm=0.58, calculated from mean GST) indicates that gene flow is low among Korean populations of the species. In addition, analysis of fixation indices revealed a substantial heterozygote deficiency in most populations and at all loci. This indicates that most populations sampled may have been substructed largely due to inbreeding (predominantly selfing) and restricted gene flow, coupled with founder effect and genetic drift. Considering a high genetic divergence among populations, it is recommended that several Korean populations of the species should be preserved, especially such as populations in the eastern and southeastern Korean peninsula with high variation.

• Korean Journal of Plant Tissue Culture
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• v.28 no.2
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• pp.113-116
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• 2001

Chromosomal variation was investigated in the female and male somaclones regenerated from the leaf segment culture of Rumex acetosa L. Difference in phenotype depending on the sexuality was not observed. In female somaclones, 21 among 25 somaclones carried the same chromosome complements (2n＝14) with wildtype and others were tetraploids (2n=28), Considerable chromosomal variation was found in male somaclones. Only 4 among 20 somaclones carried normal chromosome number (2n=15) and 13 somaclones were aneuploids.

• Korean Journal of Medicinal Crop Science
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• v.10 no.3
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• pp.162-166
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• 2002

(Z)-ocimene+limonene, $(E)-{\beta}-ocimene$ and citronellal showed seasonal variation in the leaves of Z. schinifolium. Especially estragole was detected at fruiting stage regardless of collection sites. Common variation components in the leaves of Z. piperitum at all collection sites were (Z)-3-hexenol, ${\alpha}-pinene$, limonene and citronellal. The compositions with monthly variation in Z. schinifolium at arboretum were ${\alpha}-pinene$, myrcene, (Z)-3-hexenyl acetate, ${\alpha}-phellandrene$, (Z)-ocimene+limonene, ${\beta}-phellandrene$, linalool, geranyl acetate while in Z. piperitum were hexanal, (Z)-3-hexenol, (E)-2-hexenal, hexanol, ${\alpha}-pinene$, (Z)-ocimene, limonene, citronellal, geranyl acetate, ${\beta}-caryophyllene$. Estragole was not detected in Z. schinifolium leaves at arboretum due to too young tree to bearing fruit on it.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.2 no.1
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• pp.71-82
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• 1969

The present investigations were carried out with the purpose of making clear the fundamental features of the seasonal variations in chemical composition of the brown algae. Three species of samples, Ecklonia cava, Sargassum sagamianum and Hizikia fusiforme have been analyzed monthly for their contents of total ash, crude protein, alginic acid, mannitol, and laminarin over a year period. Three kinds of samples were collected from the same locality, situated on the southern coast of the Che-ju Island, from September 1966 to August 1967. In addition, the comparative analysis was made on fronds and stipes of the plant for their chemical composition. The results obtained are summarized as follows: 1, In general, the three species examined underwent a similar mode of seasonal variation, and no essential difference was detected among them. 2. The chemical composition of the plant exhibited a considerable difference between the species. The content of total ash in H. fusiforme was remarkably higher than those in the two other species respectively. The alginic acid content was relatively high in S. sagamianum and low in H. fusiforme. The contents of crude protein, mannitol and laminarin were appreciably high in E. cava and low in H. fusiforme in general. 3. The most outstanding feature in the seasonal variation was that, in general, the total ash, crude protein, and alginic acid contents were at a maximum in the winter months while laminarin and mannitol contents were at a minimum. The converse was true in summer. Total ash-Maximum values were observed from December to February and minimum from August till October. Crude Protein-All species exhibited maxima in January and February, and minima from August to October. Alginic acid-Maximum contents occured from January to March and minimum from September to November. Mannitol-The maximum content of mannitol was In May and lune and minimum in January, February and March. Leminerin-Maximum content was in September and October, and minimum in January and February. 4. The wide seasonal variation in chemical constitution occured in the fronds, but the stipes showed a slight seasonal variation. In the chemical composition, the stipe was high in alginic acid, low in mannitol and laminarin. The reverse was in the frond.

• Proceedings of the Korean Society of Crop Science Conference
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• 2017.06a
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• pp.221-221
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• 2017

This experiment was performed to analyze variation of growth traits of soybean to determine the information of less sensitive traits under different environmental conditions. Sowing was carried out on June 2 each year and the experimental plot was laid out in three replicates by randomized complete block design with thirty soybean varieties which consisted of 19 cultivars for beancurd and soypaste, 8 cultivars for soy-sprout including 1 landrace, and 3 cultivars for cooking with rice including 1 landrace during the period 2014-2015. The weather conditions during the experimental period were quite different with extremely low precipitation and longer sunshine duration in 2015 than 2014. The variation of characteristics related to growth period such as days of growth, days of maturity, days of flowering and the 100-seed weight was less in spite of different environmental conditions. While the variation of the number of pods per plant was high. Considering growth and seed characteristics like the number of pods per plant, the number of seeds per pod and 100-seed weight which are linked directly to the yield, cultivars such as Shingi, Daewonkong, Danbaegkong, and Daepung for beancurd and soypaste, Pungwon, Haepum and Shingang for soy-sprout and Seoritae for cooking with rice were more stable and could be expected to have high yield in Suwon, the south-central part of South Korea. These results could be useful for the selection of breeding resources to develop cultivars with high stability under changeable weather condition.

• Journal of Korean Society of Forest Science
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• v.94 no.6
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• pp.397-401
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• 2005

Homoharringtonine isolated from the plumyew tree (Cephalotaxus koreana) is currently considered as one of the most promising chemotherapeutic agents for anti-cancer. Variation of homoharringonine contents from eight natural populations of Korean native plumyew trees was determined by HPLC (high performance liquid chromatography), and compared with the variation among populations, the variation of the different parts(needle, root, stem and seed), and the variation according to their ages and growth features. Homoharringonine contents among populations were significantly different with Mt. South Dukyu ($1,048{\mu}g/g$) having the highest and Mt. Obong having the lowest. The analyses of plant pans showed that the homoharringtonine contents were highest in plant needles ($874{\mu}g/g$), and followed by roots, stems and seeds. Homoharringtonine contents of the plumyew trees decreased about 30% in increment with their ages and growth.