• 로봇학회논문지
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• 제15권2호
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• pp.115-123
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• 2020

Farmers using conventional sprayer system are exposed to pesticide poisoning and soil pollution due to pesticide application. In order to reduce this problem, the effective sprayer system is required. In this paper, we propose development of intelligent sprayer system using tree recognition. This intelligent sprayer system consists of an image recognition module, a remote control, a sprayer system, an air blower, and a control module. It is possible to spray pesticides automatically and manually through remote control using cameras and controls. We conducted a total of four experiments in tree recognition experiment, test of attachment and water sensitive papers, measurement of pesticide consumption, and measurement of worker exposure. The test results showed that the consumption of pesticides could be reduced while giving the same effect as conventional controls.

• 한국자동차공학회논문집
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• 제10권4호
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• pp.15-22
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• 2002

As the emission regulations on the automobiles have been increasingly stringent, precise control of air/fuel ration is one of the most important issues on the gasoline engines. Although many researches have been carried out to identify the fuel transport phenomena in the port fuel injection gasolines, mixture preparation in the cylinder has not been fully understood due to the complexity of fuel film behavior, In this paper, the mixture preparation during cold engine start is studied by using a Fast Response Flame ionization Detector.(FRFID) In order to estimate the transportation of injected fuel from the intake port into cylinder, the wall wetting fuel model was used. The two coefficient($\alpha$,$\beta$) of the wall-wetting fuel model was determined from the measured fuel mass that was inducted into the cylinder at the first cycle after injection cut-in. $\alpha$( ratio of directly inducted fuel mass into cylinder from injected fuel mass) and $\beta$ (ratio of indirectly inducted fuel mass into cylinder from wall wetted fuel film on the wall) was increased with increasing cooling water temperature. To reduce a air/fuel ratio fluctuation during cold engine start, the appropriate fuel injection rate was obtained from the wall wetting fuel model. Result of air/fuel ratio control, air/fuel excursion was reduced.

• 한국산업융합학회 논문집
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• 제17권2호
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• pp.54-60
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• 2014

The equipment of SCARA robot in processing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not requirethe precise calculation of tree-dimensional object data and image Jacobian.

• Journal of Microbiology and Biotechnology
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• 제13권3호
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• pp.444-450
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• 2003

In order to develop an effective means to treat P. aeruginosa infections, we have purified P. aeruginosa outer membrane proteins (OMPs)-specific human IgG antibody. In this study, we investigated the protective activity of the purified anti-OMPs IgC against P. aeruginosa infection in a rabbit endophthalmitis model. Rabbits were inoculated by an intravitreal injection with P. aeruginosa, and treated with a single dose of 1 mg anti-P. aeruginosa OMPs IgG. All the control rabbits predominantly developed edematous responses and opacity in the eyes, but the rabbits treated with the antibody showed only very limited degree of edema. Aliquots of the vitreous humor were extracted and analyzed for the number of viable bacteria and endotoxin level. The results showed that the anti-OMPs IgC significantly reduced the bacterial count compared with the control group, and that the endotoxin level of the vitreous from the IgG-treated rabbits was more than 70-fold lower 6 h after the administration than the control animals. These data suggested that the anti-P. aeruginosa OMPs IgG is effective in inhibiting the bacterial growth and thereby in reducing endotoxin levels in the vitreous, warranting further development of the anti-P. aeruginosa OMPs IgG as a therapeutic means for treating Pseudomonas endophthalmitis.

• Journal of the Optical Society of Korea
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• 제18권6호
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• pp.657-662
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• 2014

We demonstrate a simulation of a parallel hybrid fiber amplifier in the C+L-band with a gain controlling technique. A variable optical coupler is used to control the input signal power for both EDFA and RFA branches. The gain spectra of the C+L-band are flattened by optimizing the coupling ratio of the input signal power. In order to enhance the pump conversion efficiency, the EDFA branch was pumped by the residual Raman pump power. A gain bandwidth of 60 nm from 1530 nm to 1590 nm is obtained with large input signal power less than -5 dBm. The gain variation is about 1.06 dB at a small input signal power of -30 dBm, and it is reduced to 0.77 dB at the large input signal power of -5 dBm. The experimental results show close agreement with the simulation results.

• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.77-83
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• 2005

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has a battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joints don't maintain optimally, it is difficult for a robot to have working time for a long time. Also, if a gait trajectory doesn't have optimal state, the expected life span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by a PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration for the joint motion and distributed computation of the humanoid, ISHURO, and suggest its result such as the structure of the network and a disturbance observer.

• 대한임베디드공학회논문지
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• 제14권6호
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• pp.347-353
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• 2019

Electric-hydraulic sever cylinders are used in many offshore applications such as wind energy farms, solar farms and plants. Jack-up barges are often used for these offshore system operations. Jack-up barge control is up/down by hydraulic cylinder position control. Working in harsh environments can lead to changes in internal parameters. This nonlinearity makes precise control difficult. In order to overcome the problems, we proposed a method of unknown-parameter estimation algorithm based on measurements obtained by system. In this paper, we employee Unscented Kalman filter (UKF) to estimate states and unknown-parameter from augmented nonlinear equation. Performance of estimation results is verified in simulation on an environments of Matlab. The estimation results of the state and unknown-parameter show that the estimation error of unknown-parameter is reduced according to decreasing the state estimation error.

• 제어로봇시스템학회논문지
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• 제21권9호
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• pp.807-810
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• 2015

In this paper, a finite impulse response(FIR) fixed-lag smoother is proposed for discrete-time nonlinear systems. If the actual state trajectory is sufficiently close to the nominal state trajectory, the nonlinear system model can be divided into two parts: The error-state model and the nominal model. The error state can be estimated by adapting the optimal time-varying FIR smoother to the error-state model, and the nominal state can be obtained directly from the nominal trajectory model. Moreover, in order to obtain more robust estimates, the linearization errors are considered as a linear function of the estimation errors. Since the proposed estimator has an FIR structure, the proposed smoother can be expected to have better estimation performance than the IIR-structured estimators in terms of robustness and fast convergence. Additionally the proposed method can give a more general solution than the optimal FIR filtering approach, since the optimal FIR smoother is reduced to the optimal FIR filter by setting the fixed-lag size as zero. To illustrate the performance of the proposed method, simulation results are presented by comparing the method with an optimal FIR filtering approach and linearized Kalman filter.

• 한국지역사회생활과학회지
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• 제23권4호
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• pp.501-508
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• 2012

In order to find the effect of improving hyperlipidemia by Acanthopanax senticosus water extract, a hypercholesterol diet and Acanthopanax senticosus water extract were supplemented to week- old male Spargue Dawley rats for four weeks in different amount. Results showed that serum total cholesterol significantly decreased in the group supplemented with Acanthopanax senticosus water extract by 50mg/kg(ASW-50) and 75mg/kg(ASW-75) compared with the control group.(p<0.05). Serum triglyceride also showed a significant decrease in the group supplemented with 50mg/kg(ASW-50) and 75mg/kg(ASW-75) compared with the control group. Liver total cholesterol showed a significant decrease in the group supplemented with Acanthopanax senticosus water extract by 50mg/kg(ASW-50) and 75mg/kg(ASW-75) compared with the control group(p<0.05), but liver triglyceride did not show a significant decrease in all of the experiment groups. Total cholesterol and triglyceride in feces significantly increased in all of the groups supplemented with Acanthopanax senticosus water extract(p<0.05). Acanthopanax senticosus water extract decreased the level of serum total cholesterol and triglyceride, reduced total cholesterol in the liver, and increased the excretion of total cholesterol and triglyceride in the feces.

• 한국공작기계학회논문집
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• 제16권4호
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• pp.101-107
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• 2007

The objective of this research work is to investigate into effects of an auto tracking of the focal distance on the quality of the cut part in the cutting of a low carbon sheet using a high-power CW Nd:YAG laser. An auto-tracking system with a capacitance based distance control loop has been employed to perform a real control of the focal distance. In order to examine the influence of the auto-tracking of a focal distance on the optimum focal distance, the kerfwidth, surface roughness and the formation of the cut section, several linear cutting tests have been carried out using the auto-tracking system. The results of experiments have been shown that the optimum focal distance is 0.9mm. In addition, it has been shown that the variation of kerfwidth and the surface roughness of the cut part with control of the focal distance are reduced 40-80% and 30-55% in comparison with those of the cut part without tracking of the focal distance. From the results of the experiments, it has been found that the real time tracking of the focal distance can improve the part quality.