• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.41 no.7
• /
• pp.655-663
• /
• 2017

With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.

• Applied Biological Chemistry
• /
• v.38 no.2
• /
• pp.118-122
• /
• 1995

Escherichia Coli ornithine transcarbamylase is the enzyme which catalyzes the L-citrulline biosynthesis from L-ornithine and carbamyl phosphate. To facilitate the purification of enzyme which will be used for many biochemical studies such as structure and function relationships and catalytic mechanisms, the cloning and expression of E. coli argI gene for ornithine transcarbamylase was conducted. argI was amplified from genomic DNA of E. coli strain of $DH5{\alpha}$, by polymerization chain reaction (PCR) method. The amplified argI gene was ligated to the prokaryotic expression vector pKK223-3 and used for transformation of E. coli TB2 which was deficient of ornithine transcarbamylase. The over-produced enzyme by the tnansformant was purified by ammonium sulfate fractionation, heat denaturation and affinity chromatography. The result of SDS denaturation gel electrophoresis for the purified enzyme showed a single band of about 38 kDa of ornithine transcarbamylase. Kinetic data for the expressed enzyme gave almost the s?????? values as those of the wild type enzyme. The $k_{cat}$, of the enzyme was $1.0{\times}10^5min^{-1}$, and $K_ms$ for ornithine and carbamyl phosphate were 0.35 mM and 0.06 mM, respectively.

• Economic and Environmental Geology
• /
• v.49 no.4
• /
• pp.269-280
• /
• 2016

I presented three vector crustal magnetic anomaly components and six gradients by using spherical Slepian functions over the cap area of $20^{\circ}$ of radius centered on the South Pole. The Swarm mission, launched by European Space Agency(ESA) in November of 2013, was planned to put three satellites into the low-Earth orbits, two in parallel in East-West direction and one in cross-over of the higher altitude. This orbit configuration will make the gradient measurements possible in North-South direction, vertical direction, as well as E-W direction. The gravity satellites, such as GRACE and GOCE, have already implemented their gradient measurements for recovering the accurate gravity of the Earth and its temporal variation due to mass changes on the subsurface. However, the magnetic gradients have little been applied since Swarm launched. A localized magnetic modeling method is useful in taking an account for a region where data availability was limited or of interest was special. In particular, computation to get the localized solutions is much more efficient and it has an advantage of presenting high frequency anomaly features with numbers of solutions fewer than the global ones. Besides, these localized basis functions that were done by a linear transformation of the spherical harmonic functions, are orthogonal so that they can be used for power spectrum analysis by transforming the global spherical harmonic coefficients. I anticipate in scientific and technical progress in the localized modeling with the gradient measurements from Swarm and here will do discussion on the results of the localized solution to represent the three vector and six gradient anomalies over the Antarctic area from the synthetic data derived from a global solution of the spherical harmonics for the crustal magnetic anomalies of Swarm measurements.

• Journal of The Korean Society of Grassland and Forage Science
• /
• v.27 no.2
• /
• pp.109-116
• /
• 2007

Environmental stress is the major limiting factor in plant productivity. As an effort to solve the global food and environmental problems using the plant biotechnology, we have developed transgenic tall fescue (Festuca arundinacea Schreb.) plants via Agrobacterium-mediated gene transfer method. To develop transgenic tall fescue plants with enhanced tolerance to the environmental stresses, both CuZn superoxide dismutase (CuZnSOD) and ascorbate peroxidase (APX) genes were incorporated in a pIG121 binary vector and the both of the genes were controlled separately by an oxidative stress-inducible sweet potato peroxidase 2 (SWPA2) premoter expressed in chloroplasts. Leaf discs of transgenic plants showed 10-30% less damage compared to the wild-type when they exposed to a wide range of environmental stresses including methyl viologen (MV), $H_2O_2$ and heavy metals. In addition, when $200{\mu}M$ MV was sprayed onto the whole plants, transgenic plants showed a significant reduction of visible damage compared to wild-type plants that were almost damaged. These results suggest that over expression of CuZnSOD and APX genes in transgenic plants might be a useful strategy to protect the crops against a wide range of environmental stresses.

• Journal of KIISE:Software and Applications
• /
• v.34 no.6
• /
• pp.539-548
• /
• 2007

Mobile content adaptation is a technology of effectively representing the contents originally built for the desktop PC on wireless mobile devices. Previous approaches for Web content adaptation are mostly device-dependent. Also, the content transformation to suit to a smaller device is done manually. Furthermore, the same contents are provided to different users regardless of their individual preferences. As a result, the user has difficulty in selecting relevant information from a heavy volume of contents since the context information related to the content is not provided. To resolve these problems, this paper proposes an enhanced method of Web content adaptation for mobile devices. In our system, the process of Web content adaptation consists of 4 stages including block filtering, block title extraction, block content summarization, and personalization through learning. Learning is initiated when the user selects the full content menu from the content summary page. As a result of learning, personalization is realized by showing the information for the relevant block at the top of the content list. A series of experiments are performed to evaluate the content adaptation for a number of Web sites including online newspapers. The results of evaluation are satisfactory, both in block filtering accuracy and in user satisfaction by personalization.

• Journal of the Korea institute for structural maintenance and inspection
• /
• v.18 no.1
• /
• pp.166-173
• /
• 2014

A noncontact nondestructive testing (NDT) method is proposed to detect the damage of pipeline structures and to identify the location of the damage. To achieve this goal, a scanning laser source actuation technique is utilized to generate a guided wave and scans a specific area to find damage location more precisely. The ND: YAG pulsed laser is used to generate Lamb wave and a piezoelectric sensor is installed to measure the structural responses. The measured responses are analyzed using three dimensional Fourier transformation (3DFT). The damage-sensitive features are extracted by wavenumber filtering based on the 3D FT. Then, flaw imaging techniques of a pipeline structures is conducted using the damage-sensitive features. Finally, the pipes with notches are investigated to verify the effectiveness and the robustness of the proposed NDT approach.

• Proceedings of the Korea Institute of Convergence Signal Processing
• /
• 2001.06a
• /
• pp.173-176
• /
• 2001

In this thesis, a new measurement system is implemented for depth data extraction based on the camera calibration of the known pattern. The relation between 3D world coordinate and 2D image coordinate is analyzed. A new camera calibration algorithm is established from the analysis and then, the internal variables and external variables of the CCD camera are obtained. Suppose that the measurement plane is horizontal plane, from the 2D plane equation and coordinate transformation equation the approximation values corresponding minimum values using Newton-Rabbson method is obtained and they are stored into the look-up table for real time processing . A slit laser light is projected onto the object, and a 2D image obtained on the x-z plane in the measurement system. A 3D shape image can be obtained as the 2D (x-z)images are continuously acquired, during the object is moving to the y direction. The 3D shape images are displayed on computer monitor by use of OpenGL software. In a measuremental result, we found that the resolution of pixels have $\pm$ 1% of error in depth data. It seems that the error components are due to the vibration of mechanic and optical system. We expect that the measurement system need some of mechanic stability and precision optical system in order to improve the system.

• Journal of KIISE:Software and Applications
• /
• v.32 no.12
• /
• pp.1283-1291
• /
• 2005

One of the problems in boosting Java performance using a Just-in-Time (JIT) compiler is removing redundant array bound checks. In conventional static compilers, many powerful algorithms have been developed, yet they are not directly applicable to JIT compilation where the compilation time is part of the whole running time. In the current JIT compilers, we tan use either a naive algorithm that is not powerful enough or an aggressive algorithm which requires the transformation into a static single assignment (SSA) form of programs (and back to the original form after optimization), thus causing too much overhead not appropriate for JIT compilation This paper proposes a new algorithm based on an inequality graph which can eliminate array bounds check codes aggressively without resorting to the SSA form. When we actually perform this type of optimization, there are many constraints in code motion caused by the precise exception rule in Java specification, which would cause the algorithm to miss many opportunities for eliminating away bound checks. We also propose a new method to overcome these constraints.

• Journal of Korea Society of Industrial Information Systems
• /
• v.24 no.6
• /
• pp.25-34
• /
• 2019

VTON (Virtual try-on) is a key technology that can activate the online commerce of fashion items. However, the early 3D graphics-based methods require the 3D information of the clothing or the human body, which is difficult to secure realistically. In order to overcome this problem, Image-based deep-learning algorithms such as VITON (Virtual image try-on) and CP-VTON (Characteristic preserving-virtual try-on) has been published, but only a sampled results on performance is presented. In order to examine the strength and weakness for their commercialization, the performance analysis is needed according to the complexity of the clothes, the object posture and body shape, and the degree of occlusion of the clothes. In this paper, IoU and SSIM were evaluated for the performance of transformation and synthesis stages, together with non-DL SCM based method. As a result, CP-VTON shows the best performance, but its performance varies significantly according to posture and complexity of clothes. The reasons for this were attributed to the limitations of secondary geometric deformation and the limitations of the synthesis technology through GAN.

• KSBB Journal
• /
• v.14 no.4
• /
• pp.422-428
• /
• 1999

A transformat Alcaligence eutrophus GA5 harboring phbC gene from A. latus was cultivated for production of Poly(3-hydroxybutyrate-4-hydroxybutyrate)[P(3HB-4HB)] containing high molar fraction of 4-hydroxybutyrate(4HB)] containing high molar fraction of 4-hydroxybutyrate(4HB). Transformation did not influenced significantly on total cell growth, on total cell growth, concentration, and content of P(3HB-4HB), however, significantly influenced on 4HB molar fraction in P(3HB-4HB) increasing from 12.3 to 23.5 mol% after 48 h cultivation in two-stage using 1.0%(W/V) of ${\gamma}$-butyrolactone as a precursor compare to parent strain. Above increment may be due to the accelerated polymerization between 3HB and 4HB converted from precusor compound by amplified phbC gene. Citrate increased remarkbly total cell mass and P(3HB-4HB) concentration, but did not influenced on the molar fraction of 4HB, meanwhile, magnesium ion influenced on P(3HB-4HB) concentration and 4HB molar fraction significantly. The two-stage cultivation method was modified, in such a way minimizing P(3HB) accumulated inside of cell grown at first-stage, consquently, 26.3% of P(3HB-4HB) containing 61.0 mol% of 4HB fraction was obtained after 72hr. Furthermore, semi-homopolymeric P(4HB) containing 92.0 mol% of 4Hb was obtained, and its structure was confirmed by $^1$H-NMR.