• Development and Reproduction
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• v.6 no.1
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• pp.1-6
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• 2002

To elucidate the mechanism underlying the embryotropic effect of extracellular matrix(ECM) on the preimplantation development of mammalian embryos, the involvement of mitogen-activated protein kinase(MAPK) downstream the integrin signaling was examined in mouse blastocysts. Blastocysts were cultured in the presence of growth factor-reduced(GFR) Matrigel(0.5％, v/v). MAPK activity was measured by in vitro phosphorylation of myelin basic protein by the Erk1/2 antibody immunoprecipitates of embryonic extract following the Matrigei treatment. MAPK activity of the early blastocysts rapidly increased within 10 min fo1lowing the Matrigel treatment. When the embryos were cultured for 12 h in the presence of Matrigel, the MAPK activity was significantly higher than that ot the control embryos. PD098059, a MAPK kinase(MEK) inhibitor, attenuated the effect of Matrigel on the change in MAPK activity. Taken together, it suggested that the embryotropic effect of ECM proteins might be mediated by the activation of MAPK cascade.

• The KIPS Transactions:PartA
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• v.13A no.6 s.103
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• pp.501-510
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• 2006

The self-organizing super peer ring P2P search scheme improves search performance of the existing unstructured peer-to-peer systems, in which super peers with high capacity constitute a ring structure and all peer in the system utilize the ring for publishing or querying their keys. In this paper, we further improves the performance of the self-organizing ring by adaptively changing its super peer ratio according to the status of the entire system. By using PSO, the optimized super peer ratio can be maintained within the system. Through simulations, we show that our self-organizing super peer ring optimized by PSO outperforms not only the fixed super peer ring but also the self-organizing super ring with fixed ratio in the aspect of query success rate.

• Journal of the Korea Institute of Military Science and Technology
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• v.23 no.4
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• pp.407-416
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• 2020

Recent complex battle field demands Network Centric Warfare(NCW) ability to control various parts into a cohesive unit. In path planning filed, the NCW ability increases complexity of path planning algorithm, and it has to consider a communication coverage map as well as traditional parameters such as minimum radar exposure and survivability. In this paper, pros and cons of various propagation models are summarized, and we suggest a coverage map generation method using a Longley-Rice propagation model. Previous coverage map based on line of sight has significant discontinuities that limits selection of path planning algorithms such as Dijkstra and fast marching only. If there is method to remove discontinuities in the coverage map, optimization based path planning algorithms such as trajectory optimization and Particle Swarm Optimization(PSO) can also be used. In this paper, the Longley-Rice propagation model is used to calculate continuous RF strengths, and convert the strength data using smoothed leaky BER for the coverage map. In addition, we also suggest other types of rough coverage map generation using a lookup table method with simple inputs such as terrain type and antenna heights only. The implemented communication coverage map can be used various path planning algorithms, especially in the optimization based algorithms.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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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.

• Economic and Environmental Geology
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• v.12 no.2
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• pp.51-73
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• 1979

The zinc-lead deposits at the Yeonhwa I mine were investigated in terms of ore-forming geologic setting, structural style of ore control, geometry of individual orebodies, zoning, paragenesis and chemical composition of skarn minerals, as well as metal grades and ratios of selected orebodies. The Yeonhwa I mine is characterized by a large swarm of chimney type massive orebodies with thin skarn envelopes, boldly developed through a thick sequence of Pungchon Limestone, the overlying Hwajeol Formation, and the underlying Myobong Slate of Cambrian age. Nearly 20 orebodies of similar shape, but of varying size are arranged in a V-shaped pattern with northwest and northeast trends, clearly indicating an outstanding ore control by a conjugate system of fractures with these trends. Important orebodies are the Wolam 1, 2, 3, and 5 orebodies in the west, and the Namsan 1, 2, 3. and 5 orebodies in the east, among others. The Wolam 1 orebody, which was observed from the -360 level through the -240, -120, and 0 levels to the surface outcrops (totaling a vertical height of about 500m), shows a vertical variation in skarn mineralogy, ranging from pyroxene-garnet zone on the lower levels. through pyroxene (without garnet) zone on the intermediate levels, and finally to rhodochrosite vein on the upper levels and surface. Microprobe analyses of pyroxene and garnet on a total of 14 mineral grains revealed that pyroxenes are manganoan salitic in most samples, with downward increase of Fe and Mn, whereas garnets are highly andraditic, containing fractions of subordinate grossular with downward decrease of Fe. This indicates a reverse relationship of Fe-contents between pyroxene and garnet with depth. Ore minerals are major sphalerite, subordinate galena, and minor chalcopyrite. Sulfide gangue minerals include major pyrrhotite, and minor pyrite and marcasite of later age. Two types of variational trends in metal grades and ratios with depth are present on the plots of assay data from the Wolam orebodies: one is a steady upward increase in Pb, Zn, and Pb:Zn ratios, with a terminal decline at the top of orebody: the other is an irregular or sinusoidal change. The former is characteristic of chimney-type orebodies, whereas the latter is of vein· shaped orebodies. The Pb grades show large variations among orebodies and from level to level, whereas the Zn grades are relatively constand or less variable.