• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.3
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• pp.327-334
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• 2011

It is necessary that UGV(Unmanned Ground Vehicle) should generate a real-time travesability index map by analyzing raw terrain information to travel autonomously tough terrain which has various slope and roughness values. In this paper, we propose a local path planning method, $MA^*$(Modified $A^*$) algorithm, using DVGM (Directional Velocity Grid Map) for unmanned ground vehicle. We also present a path optimization algorithm and a path smoothing algorithm which regenerate a pre-planned local path by $MA^*$ algorithm into the reasonable local path considering the mobility of UGV. Field test is conducted with UGV in order to verify the performance of local path planning method using DVGM. The local path planned by $MA^*$ is compared with the result of $A^*$ to verify the safety and optimality of proposed algorithm.

• KSBB Journal
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• v.13 no.5
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• pp.593-598
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• 1998

Biological deinking process of used papers was studied by the polymer modified cellulase. Cellulase was modified with copolymers which consist of polyoxyethylene derivative and maleic anhydride(MA). The MA functional groups of copolymer can react with amino acids groups of the cellulase without much loss of activity. Modified degree of amino acids was controlled by the added copolymer. The maximum modified degree was about 60% and it was obtained when the weight ratio of copolymer and cellulase was 4. The remained activity of the maximum modified cellulase(MMC) was higher than 80% of native cellulase. The MMC's concentration was 0.05-2.0 wt% relative to the dry paper. In mechanical pulping process, cellulase enhanced the detachment of the ink particle from the used paper by partial hydrolysis of the fiber. The polyoxyethylene of modified cellulase produced the forms which can float the separated ink particle. Compared to the convention deinking method with NaOH or organic chemicals, the new biological deinnking process improved the physical properties such as freeness, tearing strength and whiteness.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.1
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• pp.211-215
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• 2017

The APF (All Pass Filter) method that utilizes the computational power of the controller is most commonly used. However, since the calculation of the filter coefficient is complicated, the calculation is carried out in advance. It is difficult to apply it to the frequency fluctuation environment because the coefficient value is fixed. In this paper, a new control method of single phase PLL that can be usefully used in PWM converter device for electric railway was explained. Comparison and examination of similarities and differences between the conventional APF method PLL controller method and the newly proposed modified MA filter method PLL technique were performed. The possibility of implementation of the modified MA filter method through computer simulation was analyzed. In conclusion, the method proposed as the conclusion was applied to the APU(Auxiliary Power System) of 8200 Series Electric Locomotive and its usefulness was confirmed.

• Journal of the Mineralogical Society of Korea
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• v.22 no.1
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• pp.63-72
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• 2009

Carbon-coated lithium iron phosphate ($LiFePO_4/C$) composites are synthesized by the modified mechanical activation method (modified MA process) and studied by the Rietveld structural refinement. Rietveld indices of $LiFePO_4/C$ indicate good fitting with $R_p=8.14%,\;R_{wp}=11.1%,\;R_{exp}=9.09%,\;R_B=3.88%$, and S (GofF, Goodness of fit) = 1.2, respectively. $LiFePO_4/C$ with a space group Pnma shows a = 10.3229(3)${\AA}$, b = 6.0052(2) ${\AA}$, c = 4.6939(1) ${\AA}$, and V = 290.98(1) ${\AA}^3$ in dimension, indicating good agreements with those of previous works. Synthetic powders are nano-sized ($65{\sim}90nm$) homogeneous particles with high purity. Thus the modified MA method will be an efficient process to get a high quality cathode material for commercial lithium batteries.

• Membrane Journal
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• v.31 no.3
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• pp.219-227
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• 2021

Molecularly imprinted membrane (MIM) is a porous polymer membrane incorporating with the molecular recognizing sites. In this study, the supporting P(AN-co-MA) asymmetric membrane was prepared by nonsolvent induced phase separation (NIPS) method. And then, MIM with lysozyme template sites was prepared using the surface imprinting method on the P(AN-co-MA) asymmetric membrane introducing a photoactive iniferter and then photo-grafting. The P(AN-co-MA) asymmetric membrane was modified with 3-chloropropyltrimethoxysilane and dithiocarbamate as a photoactive iniferter. To prepare a lysozyme imprinted membrane, the modified P(AN-co-MA) membrane was copolymerized with acrylamide as a functional momomer, N,N'-methylene bisacrylamide as a crosslinker and lysozyme as a template in the UV irradiation environment. The lysozyme imprinted MIM was analyzed by using SEM, FT-IR and EDS measurements. Its results confirm that all the P(AN-co-MA) membranes have an asymmetric structure and the iniferter group is successfully introduced on the membrane surface. The process parameters were adjusted to obtain MIM having the excellent lysozyme adsorption. The maximum lysozyme adsorption capacity reaches at 2.7 mg/g, which is 13 times higher than that of the non imprinted membrane (NIM). The permselective membrane filtration experiments of ovalbumin to lysozyme show that the P(AN-co-MA) MIM preferentially bounds a greater amount of lysozyme.

• Journal of Power Electronics
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• v.15 no.2
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• pp.346-355
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• 2015

On the basis of the conventional PID control algorithm, a modified adaptive PID (MA-PID) control algorithm is presented to improve the steady-state and dynamic performance of closed-loop systems. The proposed method has a straightforward structure without excessively increasing the complexity and cost. It can adaptively adjust the values of the control parameters ($K_p$, $K_i$ and $K_d$) by following a new control law. Simulation results show that the line transient response of the MA-PID is better than that of the adaptive digital PID because the differential coefficient $K_d$ is introduced to changes. In addition, experimental results based on a FPGA indicate that the MA-PID control algorithm reduces the recovery time by 62.5% in response to a 1V line transient, 50% in response to a 500mA load transient, and 23.6% in response to a steady-state deviation, when compared with the conventional PID control algorithm.

• Journal of the Korea Safety Management & Science
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• v.22 no.2
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• pp.1-6
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• 2020

Apples are one of the most produced fruits in Korea, with 2,423,000 tons of fruits produced in Korea in 2018, of which 365,000 tons (MAF, 2018) account for about 15% of the total production. For quality safety after harvesting apples, the application of MA(modified atmosphere) packaging technology (Mostofi et. al., 2008) is being actively studied. In addition, the effects of functional packaging materials that have added functions such as fireproof, antibacterial, high-blocking, degradability, and far-infrared radiation have been studied (Chung et al., 2009). In addition, there are reports of the effects of quality changes (Park et al., 2007) and MA storage methods on the quality of apples by packing apples with functional MA films((Park et al., 2004). But there are only few reports on quality safety by analyzing the correlation between the change of reducing sugar and total sugar and preference during storage by packing Geochang, Yeongju, and Yesan apples in functional MA film. Therefore, this study aims to propose a method to secure the quality safety of apples by investigating the effect of sugar change on the preference of apples during storage by packing apples in three regions in functional MA films.

• Journal of Hydrospace Technology
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• v.2 no.2
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• pp.24-35
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• 1996

This paper describes parameter identification techniques formulated for the estimation of maneuvering coefficients of a submerged body. The first part of this paper is concerned with the identifiability of the system parameters. The relationship between a stochastic linear time-invariant system and the equivalent dynamic system is investigated. The second is concerned with the development of the numerically stable identification technique. Two identification techniques are tested; one is the ma7mum likelihood (ML) methods using the Holder & Mead simplex search method and using the modified Newton-Raphson method, and the other is the modified extended Kalman filter (MEKF) method with a square-root algorithm, which can improve the numerical accuracy of the extended Kalman filter. As a results, it is said that the equations of motion for a submerged body have higher probability to generate simultaneous drift phenomenon compared to general state equations and only the ML method using the Holder & Mead simplex search method and the MEKF method with a square-root algorithm gives acceptable results.

• Asian-Australasian Journal of Animal Sciences
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• v.29 no.12
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• pp.1782-1789
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• 2016

This study evaluated the effect of vacuum and modified atmosphere (40% $CO_2+60%$ $N_2$, MA) packaging on the chemical composition, physicochemical properties and sensory attributes of chill-stored meat from 10 fallow deer (Dama dama) bucks at 17 to 18 months of age. The animals were hunter-harvested in the forests of north-eastern Poland. During carcass dressing (48 to 54 h post mortem), both musculus longissimus muscles were cut out. Each muscle was divided into seven sections which were allocated to three groups: 0, A, and B. Samples 0 were immediately subjected to laboratory analyses. Samples A were vacuum-packaged, and samples B were packaged in MA. Packaged samples were stored for 7, 14, and 21 days at $2^{\circ}C$. The results of the present study showed that the evaluated packaging systems had no significant effect on the quality of fallow deer meat during chilled storage. However, vacuum-packaged meat samples were characterised by greater drip loss. Vacuum and MA packaging contributed to preserving the desired physicochemical properties and sensory attributes of meat during 21 days of storage. Regardless of the packaging method used, undesirable changes in the colour, water-holding capacity and juiciness of meat, accompanied by tenderness improvement, were observed during chilled storage.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.37 no.4
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• pp.232-239
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• 1988

The approximate overdetermined method is proposed for high resolution spectral estimation in case of short data record length or narrow band signal. And a new recursive AR parameter estimation is derived in the form of fast algorithm. For ARMA spectral estimation, two stage procedure is used in estimating ARMA parameters. First AR parameters are estimated by using the modified Yule-Walker equations, and then MA parameters are implicitly estimated by estimating numerator spectral(NS) coefficients.