• Nuclear Engineering and Technology
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• v.56 no.4
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• pp.1330-1338
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• 2024

Information on isotopic composition and geometric structure is necessary for identifying a true warhead. Nevertheless, such classified information should be protected physically or electronically. With a novel Hash encryption algorithm, this paper presents a Monte Carlo-based design of a neutron activation analysis verification module. The verification module employs a thermal neutron source, a non-uniform mask (physically encrypting information about isotopic composition and geometric structure), a gamma detector array, and a Hash encryption algorithm (for electronic encryption). In the physical field, a non-uniform mask is designed to distort the characteristic gamma rays emitted by the inspected item. Furthermore, as part of the Hash algorithm, a key is introduced to encrypt the data and improve the system resolution through electronic design. In order to quantify the difference between items, Hamming distance is used, which allows data encryption and analysis simultaneously. Simulated inspections of simple objects are used to quantify system performance. It is demonstrated that the method retains superior resolution even with 1% noise level. And the performances of anti-statistical attack and anti-brute force cracking are evaluated and found to be very excellent. The verification method lays a solid foundation for nuclear disarmament verification in the upcoming era.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.283-288
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• 1994

The adaptive control and the robust control have been considered as the most influential methods for robotic motion control. The purpose of this paper is to compare control performance between these two strategies in unconstrained motion control of robot manipulator. In order to compare control performance properly, intensive experiments are required and only then can conclusions be drawn on the relative merit and demerit of the controllers. Firstly, the control algorithms for unconstrained motion control are summarized. In adaptive control, the controllers that have been proposed so far are classified according to the signals used for the computed control input. It enables rather easier to compare controller is examined to demonstrate control performance of robust controllers. Finally, the above two approaches, the adaptive and the robust are compared from the view-point of robustness to plant uncertainty, which is one of the most demanding properties in robot motion control.

• Journal of Animal Science and Technology
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• v.50 no.6
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• pp.753-762
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• 2008

The primers for RT-PCR and RACE-PCR were designed by aligning the pig genomic sequence and the human complement factor B(CFB) coding sequence(CDS) from the GenBank. Each PCR product was amplified in pig cDNA and sequencing was carried out. The CDS length of pig CFB gene was determined to be 2298 bp. In addition, the pig CDS was more longer than human and mouse orthologs because of insertion and deletion. The identities of porcine nucleotide sequences with those of human and mice were 84% and 80%, and the identities of amino acids were 79% to 77%, respectively. Three complement control protein(CCP) domains, one Von Willebrand factor A(VWFA) domain and a serine protease domain, that are revealed typically in mammals, were found in the pig CFB gene. Based on the CDSs determined, the primers were designed in intron regions for amplification of entire length of exons. In amplification and direct sequencing with genomic DNAs of six pig breeds, three cSNPs(coding single nucleotide polymorphisms) were identified and verified as missense mutations. Using the Multiplex-ARMS method, we genotyped and verified the mutations identified from direct sequencing. To demonstrate recrudescence, we performed both direct sequencing and Multiplex-ARMS with two randomly selected DNA samples. The genotype of each sample exhibited the same results using both methods. Therefore, three cSNPs were identified from pig CFB gene and that can be used for haplotype analysis of the swine leukocyte antigen(SLA) class III region. Moreover, the results indicate that the Multiplex-ARMS method should be powerful for genotyping of genes in the SLA region.

• Journal of Physiology & Pathology in Korean Medicine
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• v.24 no.3
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• pp.476-483
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• 2010

The present study was performed to investigate the putative anxiolytic-like effects of the aqueous extract of the roots of Scrophularia buergeriana (SB-W) using elevated plus-maze (EPM) and hole-board apparatus in mice. SB-W was orally administered at doses of 50, 100, 200 or 400 mg/kg to ICR mice, 1 h before the behavioral evaluation. Control group were administered with an equal volume of saline, and positive control group with buspirone (2 mg/kg, i.p.). The administration of SB-W significantly increased the percentage of time spent in open arms and entries into the open arms of the EPM compared with saline-treated control group (P < 0.05). Futhermore, those anxiolytic-like activities of SB-W were antagonized by flumazenil (a $GABA_A$ antagonist, 10 mg/kg), but not by WAY-100635 (a 5-$HT_{1A}$ antagonist, 0.3 mg/kg). Moreover, there were no changes in the locomotor activity and myorelaxant effects in any group compared with saline-treated control group. In the hole-board test, the administration of SB-W (200 and 400 mg/kg) significantly increased the number of head-dipping compared with saline-treated control group (P < 0.05). Therefore, these findings suggest that Scrophularia buergeriana promotes the anxiolytic-like activity mediated by GABAergic nervous system in mice.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.2
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• pp.126-132
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• 2002

Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper an independent joint adaptive fuzzy sliding mode scheme is developed leer control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. Numerical simulation for independent joint control of a 3-axis PUMA arm will also be included.

• YAKHAK HOEJI
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• v.49 no.5
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• pp.437-442
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• 2005

The purpose of this study was to characterize the putative anxiolytic-like effects of phenylpropanoids using the elevated plus maze (EPM) test in mice. Cinnamic acid, p-coumaric acid, caffeic acid and ferulic acid were orally administered to male ICR mice, 1 h before behavioral evaluation in an EPM, respectively. Control mice were treated with an equal volume of vehicle, and positive control mice diazepam (1 mg/kg). A single treatment with phenylpropanoids (at 8 mg/kg) significantly increased time-spent and arm entries into the open arms of the EPM, and decreased time-spent and arm entries into the closed arms of the EPM versus control (P<0.05). However, no changes in the locomotor activity and myorelaxant effect were seen in any group versus the saline control. These results suggest that phenylpropanoids may be an effective anx-iolytic agent.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.462-467
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• 2013

This paper presents a modified disturbance observer (MDOB) for controlling two arms of a manipulator designed for a home service robot. The MDOB is slightly different from the original DOB in that it uses an accelerometer to measure acceleration of the robot arm. Then it uses the acceleration to estimate the disturbance to cancel out in the control loop. Relying on the acceleration information of the robot arm, a partial model-based control structure is formed. Experimental studies of position control of 2 DOF robot arm are conducted to evaluate the performance of the proposed position control by an MDOB method.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.135-139
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• 1990

In general, the control of robot arms falls into two board categories (position control and force control). The joint interpolated trajectory schemes generally interpolate the desired joint path by a class of polynomial functions and generate a sequence of time based control set points for the control of a manipulator from a initial location to its destination. A digital position controller was designed and adapted to the industrial balancing manipulator. And also, the joint interpolated trajectory using 3rd order polynomial was generated in this study. The IBM PC used as the main controller and the trajectory planner had enough run-time capabilities. The 8097BH microcontroller is an integral pan of the joint controller which directly controls an axis of motion. The PI servo control system to treat each joint of the robot arm as a independent joint servo mechanism had satisfying performance, and a sequence of time-based intermediate configurations of the manipulator hand showed good continuity and smoothness on position and velocity of the manipulator's joint coordinates along the trajectory.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.657-660
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• 2003

Control of multi-link robot arms is a very difficult problem because of the highly nonlinear dynamics. Decentralized control scheme is developed for control of robot manipulators based on RBF(Radial Basis Function) Neural Networks. RBF Neural Networks is used to approximate the coupling forces among the joints, coriolis force, centrifugal force, gravitational force, and frictional force. The compensation controller is also proposed to estimate the bound of approximation error so that the chattering effect of the control effort can be reduced. The proposed scheme does not require an accurate manipulator dynamic, and it is proved that closed-loop system is asymptotic stable despite the gross robot parameter variations. Numerical simulations for two-link robot manipulator are included to show the effectiveness of controller.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1692-1695
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• 1997

In this paper, a new control scheme for master-slave control of telerobot is proposed. The porposed method can be classified into unilater master-slave control methods in the aspect of the data flow. But the master arm in the proposed control scheme can deliver operator the similar kinesthetic sense as other bilateral force reflecting master arms do. The principle concept is that the sensed operator's force/torque is used as the reference input for a damping controller type of telerobot controller which track the operators efforts. Master arm and master controller can be implemented in a simple form, and it needs not be driven by actuators, but force sensing capability.