• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 2017년도 춘계공동학술대회
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• pp.37-38
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• 2017

최근 방제 및 예찰과 같은 농작업에 단일 UAV(Unmanned Aerial Vehicle)시스템이 적용되고 있지만, 가반하중과 체공시간 등 기존시스템의 문제가 점차 대두되면서 작업 시간을 보다 단축시키고 작업 효율을 극대화 할 수 있는 농업용 멀티 UAV시스템의 필요성이 증대되고 있다. 본 논문에서는 작업자가 다수의 농업용 UAV를 효과적으로 제어할 수 있는 분산군집제어 알고리즘을 제안하며 알고리즘 검증 및 평가를 위한 시뮬레이터를 소개한다. 분산군집제어는 UAV 제어 계층, VP(Virtual Point) 제어 계층, 원격제어 계층으로 이루어진 3계층 제어구조를 가진다. UAV 제어 계층에서 각 UAV는 point mass로 모델링 되는 VP의 이상적인 경로를 추종하도록 제어한다. VP 제어 계층에서 각 VP는 입력 $p_i(t)=u^c_i+u^o_i+u^{co}_i+u^h_i$-(1)을 받아 제어되는데 여기서, $u^c_i{\in}{\mathbb{R}}^3$는 VP 사이의 충돌방지제어, $u^o_i{\in}{\mathbb{R}}^3$는 장애물과의 충돌방지제어, $u^{co}_i{\in}{\mathbb{R}}^3$는 UAV 상호간의 협조제어, $u^h_i{\in}{\mathbb{R}}^3$는 작업자로부터의 원격제어명령이다. (1)의 제어입력에서 충돌방지제어는 각 $u^i_c:=-{\sum\limits_{j{\in}{\eta}_i}}{\frac {{\partial}{\phi}_{ij}^c({\parallel}p_i-p_j{\parallel})^T}{{\partial}p_i}}$-(2), $u^o_c:=-{\sum\limits_{r{\in}O_i}}{\frac {{\partial}{\phi}_{ir}^o({\parallel}p_i-p^o_r{\parallel})^T}{{\partial}p_i}}$-(3)로 정의되면 ${\phi}^c_{ij}$와 ${\phi}^o_{ir}$는 포텐셜 함수를 나타낸다. 원격제어 계층에서 작업자는 햅틱 인터페이스를 통해 VP의 속도를 제어하게 된다. 이때 스케일변수 ${\lambda}$에 대하여 VP의 원격제어명령은 $u^t_i(t)={\lambda}q(t)$로 정의한다. UAV 시뮬레이터는 리눅스 환경에서 ROS(Robot Operating Systems)를 기반한 3차원 시뮬레이터인 Gazebo상에 구축하였으며, 마스터와 슬레이브 간의 제어 명령은 TCPROS를 통해 서로 주고받는다. UAV는 PX4 기반의 3DR Solo 모델을 사용하였으며 MAVROS를 통해 MAVLink 통신 프로토콜에 접속하여 UAV의 고도, 속도 및 가속도 등의 상태정보를 받을 수 있다. 현재 멀티 드론 시스템을 Gazebo 환경에 구축하였으며, 추후 시뮬레이터 상에 분산군집제어 알고리즘을 구현하여 검증 및 평가를 진행하고자 한다.

• Applied Biological Chemistry
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• 제7권
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• pp.45-52
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• 1966

This study was carried out to determine how the water soluble, the available $P_2O_5$ and urea-N would change in the course of time, when the mixtures of calcium superphosphate and urea with lime for fertilizer which occurred in Korea and largely contained calcium carbonate were made. Three kinds of materials, i. e., calcium superphosphate, urea and lime for fertilizer were used in this study. Three kinds of mixed fertilizer, i. e., A, B and C were made up by mixing these materials to satisfy the following formula. $$1)\;Ca(H_2PO_4)_2+CaCO_3+CO(NH_2)_2{\rightarrow}$$$$Ca_2H_2(PO_4)+H_2CO_3+NH_3$$ $$2)\;Ca(H_2PO_4)_2+CaCO_3+CO(NH_2)_2{\rightarrow}$$$$Ca_3(PO_4)_2+H_2CO_3+NH_3$$ $$3)\;Ca(H_2PO_4)_2+CaCO_3+CO(NH_2)_2{\rightarrow}$$$$Ca_3(PO_4)_2+H_2CO_3+CaCO_3+NH_3$$ A,B and C were placed in desiccators respectively a six month period. During the time of storage, the water soluble, the available phosphoric acid and urea-N were measured once a month, seven times with the control measurement. The results may be summarized as follows. 1. None of A, B and C showed any change in the urea-N with the lapse of time. This fact indicated that the combination of calcium superphosphate and urea with lime for fertilizer was not unfavourable. 2. A, B and C decreased in the amount of water soluble $P_2O_5$ with the passage of time. This fact indicated that the mixing of calcium superphosphate and urea with lime for fertilizer was unfeasible. 3. The available $P_2O_5$ in any of A,B and C did not undergo a change as time went by. This fact suggested that the combination of calcium superphate and urea with lime for fertilizer was favourable.

• 한국미생물·생명공학회지
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• 제19권6호
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• pp.575-582
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• 1991

글루타치온 생산증대를 도모하기 위하여 글루타치온 합성에 관여하는 효소들인 GSH-I 및 GSH-II 유전자들 pBR322 벡터에 클로닝하였다. gshI 유전자를 클로닝하기 위하여 GSH-I 효소활성이 결여된 GS903 균주를 분리하였다. E. coli K-12 염색체 DNA로부터 분리된 3.6Kb PstI DNA 절편을 pBR322 벡터에 클로닝하였다. gshII 유전자는 2.2Kb PstI-BamHI DNA 절편내에 존재하며 이 절편을 pUC13 벡터에 클로닝하였다. 플라스미드의 copy number와 gsh 유전자들을 포함하고 있는 삽입 DNA의 크기의 차이에 의한 gsh 유전자들의 발현 정도를 조사하기 위하여 pGH1090, pGH101, pGH200, pGH201, pLF4, pLF6 그리고 pGH300같은 여러 플라스미드를 사용함으로써 gshI 유전자의 발현이 의해 2배이상 증가하였다. 그러나 벡터 플라스미드내에 존재하는 gsh 유전자들을 포함하는 삽입 DNA의 크기의 차이에 의해서는 gsh 유전자들의 발현이 영향을 받지 않았다.

• Bulletin of the Korean Chemical Society
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• 제15권7호
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• pp.571-576
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• 1994

The photoreactions of $ReH_5(Cyttp)\;(1)\;(Cyttp=PhP(CH_2CH_2CH_2PCy_2)_2)\;with\;CO,\;CO_2\;and\;PMe_3 has been investigated to find the differences in reactivities from those of trismonophosphine analog. Irradiation of 1 under CO, $CO_2$ and excess $PMe_3$ in benzene results in the formation of the complexes, $ReH(CO)_2(Cyttp)\;(2),\;ReH_2({\eta}^2-HCO_2)(Cyttp)\;(3)\;and\;$ReH_3(PMe_3)(Cyttp)$ (4), respectively. The resulting products suggest that photoreactions of $ReH_5(Cyttp)$ proceed by photoextrusion of $H_2$ giving a phototransient species "$ReH_3$(Cyttp)" which can be trapped by CO, $CO_2\;and\;PMe_3$. The structures of 2, 3 and 4 are inferred based on $^1H,\;^{31}P$ NMR and I. R spectroscopy.

• 동력기계공학회지
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• 제8권3호
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• pp.36-43
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• 2004

The effect of bath composition, plating condition and plating rate on the magnetic property of electroless Co-Cu-P deposits were investigated. With increasing $CuCl_2$ concentration in the bath, plating rate increased, while the Br value of deposit decreased sharply. Deposited surface were inferiority by the increase pH above 10.5, bath temperature higher than $80^{\circ}C$. Plating reaction had been ceased by the increase of pH above 11, bath temperature higher than $90^{\circ}C$ and under $40^{\circ}C$. The Br value of deposit was uniform with various concentration of complexing agent(sodium citrate) in the bath. The Br value of deposit was almost equal to that found by the addition of stabilizer (thiourea) and accelerator(NaF). The Br value of deposit was uniform in plating time(20min) and heat treatment temperature(below $200^{\circ}C$), and were confirmed to have adequate bath stability for practical use.

• ALGAE
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• 제29권3호
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• pp.203-215
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• 2014

As global warming continues over the coming century, marine organisms will experience a warmer, more acidic ocean. Although these stressors may behave antagonistically or synergistically and will impact organisms both directly (i.e., physiologically) and indirectly (i.e., through altered species interactions), few studies have examined the complexities of these effects in combination. To address these uncertainties, we examined the independent and combined effects of elevated temperature and $pCO_2$ on the physiology of the adult sporophyte stage of giant kelp, Macrocystis pyrifera, and the grazing of the purple sea urchin Strongylocentrotus purpuratus. While elevating $pCO_2$ alone had no effect on M. pyrifera growth or photosynthetic carbon uptake, elevating temperature alone resulted in a significant reduction in both. However, when M. pyrifera was grown under elevated temperature and $pCO_2$ together, growth and photosynthetic carbon uptake significantly increased relative to ambient conditions, suggesting an interaction of these factors on photosynthetic physiology. S. purpuratus held under future conditions generally exhibited reduced growth, and smaller gonads than urchins held under present-day conditions. However, urchins fed kelp grown under future conditions showed higher growth rates, partially ameliorating this effect. Feeding rates were variable over the course of the experiment, with only the first feeding rate experiment showing significantly lower rates for urchins held under future conditions. Together, these data suggest that M. pyrifera may benefit physiologically from a warmer, more acidic (i.e., higher $pCO_2$) ocean while S. purpuratus will likely be impacted negatively. Given that kelp-urchin interactions can be important to kelp forest structure, changes to either of these populations may have serious consequences for many coastal environments.

• 약학회지
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• 제41권5호
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• pp.615-621
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• 1997

Dehydropeptidase-I (DHP-I) was solubilized from porcine kidney by treatment with n-butanol and partially purified 19.25 fold by $(NH_4)_2SO_4$ precipitation, DEAE-Sepharose CL-6B ion exchange chromatography and Sephacryl S-300 HR chromatography with an overall yield of 19.16. DHP-I showed its optimal activity at pH 7.5 and 25$^{\circ}C$. Its activity was stable under neutral and alkaline conditions, but was disappeared under acidic condition. And DHP-I was heat-labile and its activity remained at 45$^{\circ}C$ for 3hrs. The enzyme was not inhibited by dicationic ions, while its activity was increased by $Co^{2+}$(1mM) and $Zn^{2+}$ (0.1mM). The enzyme was inhibited by EDTA and N-ethylmaleimide. The relative molecular mass of DHP-I was estimated to be approximately 100kDa by gel filtration chromatography. The $K_m$ value of DHP-I for glycyldehydrophenylalanine (GDHP) was 1.98mM. DWP20418 [(1R, 5S, 6S)-6-[1-(R)-Hydroxyethyl]-1-methyl-2-[(2S, 4S)-2-(piperazinylcarbonyl)-1-(R)-hydroxyethyl)pyrrolidine-4-thio]carbapen-2-em-3-carboxylic acid], compared with meropenem (MEPM), was rather easily hydrolized by DHP-I, while it was four times more resistant than imipenem (IPM) to DHP-I.

• The Korean Journal of Physiology and Pharmacology
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• 제28권4호
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• pp.313-322
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• 2024

Mutations within the SCN5A gene, which encodes the α-subunit 5 (Na_V1.5) of the voltage-gated Na⁺ channel, have been linked to three distinct cardiac arrhythmia disorders: long QT syndrome type 3, Brugada syndrome (BrS), and cardiac conduction disorder. In this study, we have identified novel missense mutations (p.A385T/R504T) within SCN5A in a patient exhibiting overlap arrhythmia phenotypes. This study aims to elucidate the functional consequences of SCN5A mutants (p.A385T/R504T) to understand the clinical phenotypes. Whole-cell patch-clamp technique was used to analyze the Na_V1.5 current (I_Na) in HEK293 cells transfected with the wild-type and mutant SCN5A with or without SCN1B co-expression. The amplitude of I_Na was not altered in mutant SCN5A (p.A385T/R504T) alone. Furthermore, a rightward shift of the voltage-dependent inactivation and faster recovery from inactivation was observed, suggesting a gain-of-function state. Intriguingly, the co-expression of SCN1B with p.A385T/R504T revealed significant reduction of I_Na and slower recovery from inactivation, consistent with the loss-of-function in Na⁺ channels. The SCN1B dependent reduction of I_Na was also observed in a single mutation p.R504T, but p.A385T co-expressed with SCN1B showed no reduction. In contrast, the slower recovery from inactivation with SCN1B was observed in A385T while not in R504T. The expression of SCN1B is indispensable for the electrophysiological phenotype of BrS with the novel double mutations; p.A385T and p.R504T contributed to the slower recovery from inactivation and reduced current density of Na_V1.5, respectively.

• 대한치과기공학회지
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• 제22권1호
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• pp.69-78
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• 2000

The microstructure and corrosion behavior of commercially dental casting gold alloys were investigated to clarify the effect of burn-out temperature and cooling rate. In the case of water quenching after casting, only the αphase, which is typical dendritic microstructure of golda alloy, was detected. However, the precipitates along the grain boundary were detected only at the slow cooling rate and they increased inversely proportional to the burn-out temperature. This might be due to the time difference which solute atom could diffuse. EPMA and SEM results also demonstrated that the precipitate should be lamellar structure consisted of Ag rich phase(${\alpha}_1$) and Cu rich phase (${\alpha}_2$). In terms of corrosion, the galvanic coupling was formed due to the difference of composition between precipitates and matrix at the slow cooling rate. In the case of water quenching, the critical current density($i_p$) which indicate the degree of corrosion was lowest at $650^{\circ}C$ and below the burnout temperature, $i_p$ increased with it because of the effect of grain boundary segregation. But above the temperature, $i_p$ increased with it. This may be due to the strain field effect by residual thermal stress.

• Nuclear Engineering and Technology
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• 제5권4호
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• pp.321-333
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• 1973

브롬화벤젠썰포닐류 (R-C$_{6}$H$_4$SO$_2$Br, R=p-MeO, p-$CH_3$, p-H, p-NO$_2$등)의 할로겐 교환반응을 무수 아세톤 중에서 행하고 두 온도에서의 반응속도항수를 구함으로써 활성화 파라메타들을 아울러 결정하였다. 친핵자의 강도는 강한 전자흡인 치환기를 가졌거나 약한 전자공여 치환기를 가진 유도체에 대하여는 Cl->I-$\geq$Br-의 순위였으며, 강한 전자공여 치환기의 유도체에 대하여는 I-$\geq$Cl->Br-의 순위임을 보았다. 하메트(Harnmett)점시는 치환기를 가진 염화벤젠쎌포닐류에서와 유사하게 약간 위로 볼록한 특징을 보였는데 이것은 치환기를 가진 염화벤질류의 할로겐 교환반응의 그것이 아래로 오목함을 보이는 것과는 대조적이었다. 한편 브롬화벤젠썰포닐과 브롬화리티움 사이의 할로겐 교환반응 속도를 여러용매에서 측정한 결과 반응속도가 큰 순서는 ($CH_3$)$_2$CO>$CH_3$CN》MeOH이었다. 속도항수와 활성화파라메타들을 염화벤젠쎌포닐류에 대한 것과 비교하였으며 치환기효과, 용매효과 등에서 얻은 결과들을 전이상태의 구조적 특징으로 설명하고 반응기구를 논의하였다.