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Pilot-scale Production of Carboxymethylcellulase from Rice Hull by Bacillus amyloliquefaciens DL-3
조강익,이유정,정정한,남수완,김보경,이보화,Sung-Koo Kim,이진우 한국생물공학회 2008 Biotechnology and Bioprocess Engineering Vol.13 No.2
Optimal conditions for pilot-scale production of the carboxymethylcellulase (CMCase) by Bacillus amyloliquefaciens DL-3 were investigated. The best carbon and nitrogen sources for the production of CMCase by B. amyloliquefaciens DL-3 were found to be rice hull and peptone and their optimal concentrations were 5.0 and 0.20% (w/v), respectively. Optimal temperature and initial pH for the production of CMCase were 37℃ and 6.8. Optimal agitation speed and aeration rate for the production of CMCase were 300 rpm and 1.0 vvm in a 7 L bioreactor, which were different from those for the cell growth of B. amyloliquefaciens DL-3. The highest productions of CMCase by B. amyloliquefaciens DL-3 from 5.0% (w/v) rice hull as a carbon source under optimal conditions in a 7 or 100 L bioreactor were 220 and 367 U/mL, respectively.
앞먹임 Image-Based Visual Servoing을 이용한 함상 자동 착륙
조강익(Gangik Cho),최준원(Joonwon Choi),배근식(Geunsik Bae),오현동(Hyondong Oh) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.6
무인비행이동체 (UAVs)의 자율 임무 수행에 있어 자동 착륙은 필수적이다. 특히 함상과 같이 좁고 빠르게 이동하는 목표물에 착륙하기 위해서는 일반적으로 UAV에 사용되는 Global positioning system (GPS)와 같은 정밀도가 낮은 센서를 이용하는 것은 불가능하다. 본 연구에서는 GPS의 낮은 정밀도를 보완하기 위해 영상을 이용한 방법 중 하나인 Image-based visual servoing (IBVS)를 이용한 자동 착륙 방법을 소개한다. 또, 빠르게 전진하는 배의 속도를 보정하기 위해 배에 부착된 GPS를 이용하여 배의 속도를 추정하고 이를 더해주는 앞먹임 IBVS를 소개한다. Autonomous landing are essential for autonomous missions of unmanned aerial vehicles (UAVs). In particular, in order to land on a small and moving fast target such as a ship, it is impossible to use a low-precision sensor such as Global Positioning System (GPS), which is generally used in UAVs. In this study, an autonomous landing method using Image-based visual servoing (IBVS), which is one of the visual control methods to replace GPS with low precision, is introduced. In addition, in order to compensate the velocity of a fast moving forward ship, feed-forward IBVS, which estimates the velocity of the ship using GPS attached on the ship and adds the its velocity as feed-forward term to control scheme is introduced.