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Gimbals Control with the Camera for Aerial Photography in RC Helicopter
Taki Shiino,Kazuo Kawada,Toru Yamamoto,Manabu Komichi,Takafumi Nishioka 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In this paper, PD parameters tuning method for controlling a Gimbals device is proposed. The controlled object the gimbals device is the hanging device, and it is used to keep the camera to be the horizontal position. For example this technique has been paid to attention in the aerial photography by the RC helicopter.However, it is thought as problem that the camera vibrates and the image shakes in the aerial photography by the RC helicopter. Therefore, the position of the camera is first controlled so that the camera may always move to the horizontal position in the ground. As the control technique, the system parameters are estimated by the least squares method. Next, the PD parameters are computed by the generalized minimum variance control law, and control the gimbals device by the gimbals control using the PD control technique. In this paper, the design scheme of the control system is discussed, and the behavior of the control system is examined in the experimental equipment.
Taki Karsli,Murat Soner Balcioglu 아세아·태평양축산학회 2019 Animal Bioscience Vol.32 No.1
Objective: The first stage in both breeding and programs for the conservation of genetic resources are the identification of genetic diversity in the relevant population. The aim of the present study is to identify genetic diversity of six brown layer pure chicken lines (Rhode Island Red [RIRI, RIRII], Barred Rock [BARI, BARII], Columbian Rock [COL], and line 54 [L-54]) with microsatellite markers. Furthermore, the study aims to employ its findings to discuss the possibilities for the conservation and sustainable use of these lines that have been bred as closed populations for a long time. Methods: In the present study, a total number of 180 samples belonging to RIRI (n = 30), RIRII (n = 30), BARI (n = 30), BARII (n = 30), L-54 (n = 30), and COL (n = 30) lines were genotyped using 22 microsatellite loci. Microsatellite markers are extremely useful tools in the identification of genetic diversity since they are distributed throughout the eukaryotic genome in multitudes, demonstrate co-dominant inheritance and they feature a high rate of polymorphism and repeatability. Results: In this study, we found all loci to be polymorphic and identified the average number of alleles per locus to be in the range between 4.41 (BARI) and 5.45 (RIRI); the observed heterozygosity to be in the range between 0.31 (RIRII) and 0.50 (BARII); and FIS (inbreeding coefficient) values in the range between 0.16 (L-54) and 0.46 (RIRII). The FIS values obtained in this context points out to a deviation from Hardy-Weinberg equilibrium due to heterozygote deficiency in six different populations. The Neighbour-Joining tree, Factorial Correspondence Analysis and STRUCTURE clustering analyzes showed that six brown layer lines were separated according to their genetic origins. Conclusion: The results obtained from the study indicate a medium level of genetic diversity, high level inbreeding in chicken lines and high level genetic differentiation between chicken lines.
Taki, Kazuo,김학수,독고석,한무영 대한상하수도학회 2002 상하수도학회지 Vol.16 No.4
The DAF has been studied in a theoretical principle and a practical technology, especially in a purification held of the water quality in fine solid particles as inorganic matter. However, DAF technology has never been developed for the soft particles as phytoplankton in a eutrophicated practical lake, which is utilized for the reservoir in stream source area, because the cell surface is complexly made from/with inarticulate compositions. The research in red cell and article cell as vital cell is only furthered in a field of electrochemical characteristics. In this paper, electrochemical characteristics on the surface of phytoplankton cell is theoretically and experimentally considered for the development of DAF technology as a pre-treatment technology for the water quality improvement of eutrophicated lakes. As results, it became clear that the value of zeta potential is in proportion to the diameter of phytoplankton cell. Blue algae cells and diatoms cells have optimum pH values for the coagulation; namely the optimum value in the blue algae has higher pH than diatoms. The softness parameter Instead of zeta potential on the cell surface is most important parameter for the DAF technology.
부영양화 호소에서의 우점종 조류 제거를 위한 DAF 기술
Taki, Kazuo,Ishiyama, Yoriumi,독고석,김학수 대한상하수도학회 2004 상하수도학회지 Vol.18 No.2
Major species of Lake Deganuma has varied depending on the season. Namely, there are Micractnium pusillum, chlorella., Scenedesmus sp. shown up in spring season, Microcystis aentginosa, Microcystis wesenbergii, Anabena spiroides in summer and autumn season and Cyclostephanos invisitatus, Diatoma in winter season in the Lake. As the number of plankton increased, the zeta potential on their surface of them decreased. For this reason, they were dispersed in the lake though the population increased. Zeta potential of M. aeruginosa showed -20mV when their outer size got smaller. As for coagulant dosing in DAF, large amount of coagulant was effective to get lots of sludge during water treatment.
XPS STUDY OF CARBON NITRIDE THIN FILMS PREPARED BY ARC ION PLATING METHOD
Taki, Yusuke,Kitagawa, Toshihisa,Takai, Osamu 한국재료학회 1995 Fabrication and Characterization of Advanced Mater Vol.2 No.4
Amorphous carbon nitride thin films were prepared in $N_2-H_2\;and\;N_2-He$ plasmas by arc ion plating(AIP) method. X-ray photoelectron spectroscopy(XPS) study revealed that nitrogen atoms were bonded with carbon atoms as the forms of $C{\equiv}N$, C=N and C - N(not reliable) in the films. The decrease in $N_2$ partial pressure led N/C atomic ratio to be reduced from 0.3 to 0.1 because of the loss of reactive nitrogen in the systme. In the $N_2-H_2$ system, the component of the C=N bonding became predominant with the decrease in the $N_2$ partial pressure because hydrogen atoms terminated $sp^3$-carbon$ dangling bonds and nitrogen atoms were linked to carbon atoms located $sp^2$ sites.
A Rare Case of a White-Furred Ileocecal Valve
Shinya Taki,Takao Maekita,Masayuki Kitano 대한소화기내시경학회 2021 Clinical Endoscopy Vol.54 No.4
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