• Korean Journal of Plant Tissue Culture
• /
• v.22 no.4
• /
• pp.207-211
• /
• 1995

Immature zygotic embryos from immature seeds of Wasabia japonica (cv Dalma) were isolated and cultured on modified MS medium supplemented with 2,4-D, IAA, and BA. Immature zygotic embryos were classified into torpedo shape and cotyledon stage. The highest rates of callus formation were obtained of 1.0mg/L IAA(torpedo stage, 90.0%)and 1.0mg/L 2,4D plus 0.1mg/L BA(cotyledany stage,84.3%). Somatic embryos after 60 days of culture. These numerous somatic embryo could be seperated and subcultured on the same media for further propagation. After 90 days of culture, most somatic embryos were developed well organized embryos which were able to produce into whole plants.

• Journal of Ocean Engineering and Technology
• /
• v.23 no.6
• /
• pp.146-155
• /
• 2009

This paper considers the path tracking problem in a horizontal plane for underactuated (or non-holonomic) autonomous underwater vehicles (AUVs). Underwater mapping has been an important mission for AUVs. Recently, underwater docking has also become a main research field of AUVs. These kinds of missions basically require accurate attitude and trajectory control performance. However, the non-holonomic problem should be solved to achieve accurate path tracking for the torpedo-type of AUVs. In this paper, resolved motion and acceleration control (RMAC) is considered as a path tracking controller for an underactuated torpedo-shaped AUV, ISiMi. A set of numerical simulations is carried out to illustrate the effectiveness of the proposed RMAC scheme, and experimental data with ISiMi100 and discussions are presented.

• Plant Biotechnology Reports
• /
• v.3 no.3
• /
• pp.205-211
• /
• 2009

An efficient in vitro regeneration protocol for moth bean [Vigna aconitifolia (Jacq.) Marechal] via somatic embryogenesis has been developed. Embryogenic callus cultures were established from the cotyledonary node as explant on semi-solid Murashige and Skoog (MS) medium supplemented with $0.75mg\;1^{-1}$ 2,4-dichlorophenoxyacetic acid (2,4-D) and $1.5mg\;1^{-1}$ 6-benzylaminopurine (BA) and with various additives ($50mg\;1^{-1}$ ascorbic acid and $25mg\;1^{-1}$ each of adenine sulphate, citric acid and $_L-arginine$). Numerous somatic embryos differentiated on MS basal nutrient medium supplemented with $0.25mg\;1^{-1}$ 2,4-D and $0.5mg\;1^{-1}$ of kinetin (Kin). Sustained cell division resulted in the formation of cell aggregates, which progressed to the globular- and heart-shaped somatic embryos and then, if they differentiated properly, to the torpedo shape and cotyledonary stages. The transfer of embryos onto fresh MS basal medium containing $0.2mg\;1^{-1}$ BA and $2.0mg\;1^{-1}$ gibberellic acid enabled the embryos to achieve complete maturation and germination. More than 80% of somatic embryos were converted into true-to-type fertile plants. In vitro-regenerated plantlets with well-developed roots were successfully hardened in a greenhouse and established in soil.

• Korean Journal of Medicinal Crop Science
• /
• v.17 no.4
• /
• pp.238-242
• /
• 2009

Somatic embryos on growth regulator-free medium can be produced directly from cotyledon explants of Panax ginseng C. A. Meyer. When the embryo developmental stage was torpedo and cotyledon, the germination rate of embryos was quite high on MS medium supplemented with gibberellic acid ($GA_3$). However, the percentage of plantlet formation at the cotyledon stage was higher than that at the torpedo stage. This result demonstrates that the embryo at the cotyledon stage was the most appropriate for increasing germination by $GA_3$. Embryos cultured on medium including four levels of $GA_3$ concentrations (3, 5, 10, or 20 mg/$\ell$) showed all quite high germination rates (87-91%). When the well-developed embryos were continuously cultured on media including high concentrations of $GA_3$ from 10 to 20 mg/$\ell$, the percentage of formation of normal plantlets was lower than that seen under low concentrations from 3 to 5 mg/$\ell$. This treatment of high concentrations resulted in shoots with abnormal shape. The optimal $GA_3$ treatment provides a basis for the efficient method obtaining healthy plantlets derived from ginseng somatic embryos.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.2 no.1
• /
• pp.39-44
• /
• 2010

Recently underwater systems moving at high speed such as a super-cavitating torpedo have been studied for their practical advantage of the dramatic drag reduction. In this study we are focusing our attention on super-cavitating flows around axisymmetric cavitators. A numerical method based on inviscid flow is developed and the results for several shapes of the cavitator are presented. First using a potential based boundary element method, we find the shape of the cavtiator yielding a sufficiently large enough cavity to surround the body. Second, numerical predictions of supercavity are validated by comparing, with experimental observations carried out in a high speed cavitation tunnel at Chungnam National University (CNU CT).

• IEMEK Journal of Embedded Systems and Applications
• /
• v.12 no.2
• /
• pp.105-112
• /
• 2017

To control the depth of an underwater glider, a control method by using Lyapunov's direct method is proposed. The underwater glider has a torpedo-shape hull, a movable mass in the hull, and an inflatable buoyancy bag in the hull, but doesn't have large wings that increase the lift force for the conventional underwater glider. The control laws to adjust the position of the movable mass and the mass of the inflatable buoyancy bag are derived. For a selected speed and an angle of attack, we simulated the operation of the underwater glider using Matlab/Simulink. The efficiency of the proposed controller is shown in the fact that the control effort is active during only a short period of time when the zigzag trajectory is changed from downward to upward or vice versa.

• Journal of Plant Biology
• /
• v.28 no.2
• /
• pp.141-148
• /
• 1985

The effects of sizes and densities of cells cultured, conditioned medium, and media pH on the somatic embryogenesis of carrot (Daucus carota L.) were examined. A large number of globular embryoids was formed after 4 days in cell culture, and later globular embryoids developed into heart and torpedo shape. High cell density resulted in higher number and better growth of embryos, especially on conditioned medium than Murashige-Skoog medium. The fresh weight and number of embryoids formed increased with the decrease in cell size. The significant reduction in fresh weight and number of embryoids was obtained when culturing cells with diameter of over 90 ${\mu}{\textrm}{m}$. Dry weight and number of embryoids were markedly reduced with medium pH of 4 or 7, but promoted with pH 6.0.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2010.05a
• /
• pp.443-449
• /
• 2010

Recently underwater systems moving at hyper-speed such as a super-cavitating torpedo have been studied for their practical advantage of the dramatic drag reduction. In this study we are focusing our attention on super-cavitating flows around axisymmetric cavitators. A numerical method based on inviscid flow is developed and the results for several shapes of the cavitator are presented. First using a potential based boundary element method, we find the shape of the cavitator yielding a sufficiently large enough cavity to surround the body. Second, numerical predictions of super-cavity are validated by comparing with experimental observations carried out in a high speed cavitation tunnel at Chungnam National University (CNU CT).

• Journal of the Korea Institute of Military Science and Technology
• /
• v.17 no.1
• /
• pp.25-32
• /
• 2014

Recently supercavitating torpedo has been studied because of its high-speed performance as the next generation of underwater weapon systems. In this study, we present a numerical method based on the potential flow. Characteristic features of the shape of supercavities and drag forces are investigated. In addition, we introduce a viscous-potential method to compensate for the effects of viscosity. The results are compared with viscous calculations using a commercial package, FLUENT V13.

• Journal of the Society of Naval Architects of Korea
• /
• v.56 no.4
• /
• pp.298-307
• /
• 2019

The evolution of the cavity and the variation of the drag for an underwater body with control fins are investigated through a numerical analysis of the steady cavitating turbulent flow. The continuity and the steady-state RANS equations are numerically solved using a mixture fluid model for calculating the multiphase turbulent flow of air, water and vapor together with the SST $k-{\omega}$ turbulence model. The method of volume of fluid is applied by the use of the Sauer's cavitation model. Numerical solutions have been obtained for the cavity flow about an underwater body shaped like the Russian high-speed torpedo, Shkval. Results are presented for the cavity shape and the drag of the body under the influence of the gravity and the free surface. The evolution of the cavity with the body speed is discussed and the calculated cavity shapes are compared with the photographs of the cavity taken from an underwater launch experiment. Also the variation of the drag for a wide range of the body speed is investigated and analyzed in details.