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Feedback Linearization vs. Adaptive Sliding Mode Control for a Quadrotor Helicopter
이대원,Shankar Sastry,김현진 제어·로봇·시스템학회 2009 International Journal of Control, Automation, and Vol.7 No.3
This paper presents two types of nonlinear controllers for an autonomous quadrotor helicopter. One type, a feedback linearization controller involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty. The second type involves a new approach to an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter, sensor noise, and uncertainty without using control inputs of large magnitude. The sliding mode controller performs very well under noisy conditions, and adaptation can effectively estimate uncertainty such as ground effects.
이대원,김현태,이용국,김동우,성시홍 (사) 한국생물환경조절학회 2001 생물환경조절학회지 Vol.10 No.3
A grape fruit is required for a lot of labor to harvest in time in Korea, since the fruit is cut andgrabbed currently by hand. In foreign country, especially France, a grape harvester has been devel-oped for processing to make wine out of a grape, not to eat a fresh grape fruit. However, a harvesterwhich harvests to eat a fresh grape fruit has not been developed yet. Therefore, this study wasdesigned and constructed to develope a image processing system for a fresh grape harvester. Its devel-opment involved the integration of a vision system along with an personal computer and two cam-eras. Grape recognition, which was able to found the accurate cutting position in three dimension bythe end-effector, needed to find out the object from the background by using two different imagesfrom two cameras. Based on the results of this research the following conclusions were made: Themodel grape was located and measured within less than 1,100 mm from camera center, which meanscenter between two cameras. The distance error of the calculated distance had the distance errorwithin 5mm by using model image in the laboratory. The image processing system proved to be a reli-able system for measuring the accurate distance between the camera center and the grape fruit. Also,difference between actual distance and calculated distance was found within 5 mm using stereo visionsystem in the field. Therefore, the image processing system would be mounted on a grape harvester tobe founded to the position of the a grape fruit.
실외 배양 조건에서 요소를 첨가한 배지 성분에 따른 Spirulina (Arthrospira) platensis의 성장 비교
이대원,Affan Md Abu,이현용,마채우,박흥식,권문상,강도형 한국해양과학기술원 2013 Ocean and Polar Research Vol.35 No.4
One of the most important challenges facing the Spirulina mass cultivation industry is to find a way to reduce the high production costs involved in production. Although the most commercial medium (Zarrouk’s medium) for Spirulina cultivation is too expensive to use, it contains higher amount of NaHCO3 (16.80 g L−1), trace metals and vitamin solutions. The purpose of this study was to increase the efficiency of Spirulina platensis biomass production by developing a low-cost culture medium at an isolated tropical island such as Chuuk State, Federated States of Micronesia (FSM). This study set out to formulate a lowcost medium for the culture of S. platensis, by substituting nutrients of Zarrouk’s medium using fertilizer grade urea and soil extract with a different concentration of carbon source under natural weather condition. In order to select a low-cost culture medium of S. platensis, 10 culture media were prepared with different concentrations of nitrogen (urea and NaNO3) and NaHCO3. The highest maximum specific growth rate (μmax) and mass production were 0.50 day−1 and 1.05 g L−1 in modified medium (NaHCO3 7.50 g L−1, urea 2.00 g L−1 without NaNO3) among all the synthesized media. Protein (56.14%) and carbohydrate (16.21%) concentrations of the lyophilized standard samples were estimated with highest concentration of glutamic acid (14.93%). This study revealed that the use of a low concentration of urea and NaHCO3 with soil extract was an affordable medium for natural mass cultivation in the FSM.
이대원,장규식,김민준,안용준,조형찬,김순일 한국응용곤충학회 2015 Journal of Asia-Pacific Entomology Vol.18 No.4
The acaricial activity of 13 commercialized insecticides in Korea against the hard tick nymphs Haemaphysalis longicornis collected in a field was tested using nymph dipping and folded filter paper methods and a spraying-residual assay. In a nymph dipping bioassay, 100% mortality at all tested doses was observed in insecticides containing active ingredients such as phthalthrin 8% + D-phenothrin 2% + piperonyl butoxide 20%, deltamethrin 1.5%, pyrethrum 0.5%, lambda-cyhalothrin 5.5%, alpha-cypermethrin 10% and teflubenzuron 50%, whereas the insecticide containing etofenprox 5% + octachlorodipropyl ether 11% at recommended dose (RD) and 0.5 times RD showed 97 and 90% activity, respectively. Other insecticides containing alpha-cypermethrin 5%, polyoxyethylene isostearylether 10%, etofenprox 5%, bistrifluron 10% and Bti did not showany significant activity. In the folded filter paper contact testwith nymph H. longicornis at RD, polyoxyethylene isostearylether 10%, deltamethrin 1.5% and alpha-cypermethrin 10% showed 100% mortality at 1 day after treatment (DAT). At 7 DAT, polyoxyethylene isostearylether 10%, deltamethrin 1.5% and lambda-cyhalothrin 5.5% exhibited 100, 93 and 87% mortality. Although the selected 5 insecticides showed strong mortality under laboratory conditions, their residual effect sprayed on field grown lawn leaves significantly decreased depending on DAT. Etofenprox 5% mixture (+octachlorodipropyl ether 11%) only showed 93 and 80% mortality at 1 and 2 DAT, respectively. Polyoxyethylene isostearylether 10% gave 0% mortality at even 1 DAT and the other insecticides also showed 60–70% mortality at 1 DAT. These results indicate that pyrethroid insecticides gave good activity against the H. longicornis nymphs but their residual effect is within 1 DAT under field conditions.
이대원,송진아,박흥식,최철영 한국해양과학기술원 2021 Ocean science journal Vol.56 No.2
Carbon dioxide (CO2) is being continuously discharged into the atmosphere and is now at a concentration sufficient to cause ocean acidification. In particular, it has been reported that changes in carbonate concentration in seawater by ocean acidification can inhibit olfactory function and predator avoidance ability in fish and affect their circadian rhythm. However, although increased CO2 concentration in seawater is an important environmental factor affecting fish survival, only a few studies have been conducted to evaluate the effect of CO2 and different photoperiods. Therefore, in this study, we investigated changes in the circadian rhythm of juvenile olive flounder (Paralichthys olivaceus) under different light conditions (12 h ligh:12 h dark; constant dark; constant light) and CO2 exposure levels (pH 8.1, 7.8, and 7.5), by analyzing changes in plasma concentrations of Cryptochrome1 and Period2, which are secreted during the day (light conditions), and melatonin, which is secreted at night (dark conditions). CO2 exposure led to phase shifts (temporarily abolished, phase delayed, or reversed) in the rhythm of juveniles. In conclusion, CO2 exposure, along with changes in photoperiods, increases the disturbance in the circadian rhythm of juvenile P. olivaceus.
서양뒤영벌 야외개체군에서 Real-Time PCR을 이용한 Nosema ceranae의 검출
이대원,Lee, Dae-Weon 한국미생물학회 2013 미생물학회지 Vol.49 No.3
The bumblebee, Bombus terrestris, has played an important role as one of the alternative pollinators since the outbreak of honeybee collapse disorder. Recently, pathogens and parasites such as viruses, bacteria and mites, which affect the life span and fecundity of their host, have been discovered in B. terristris. In order to detect the microsporidian pathogen, Nosema spp. in the field populations of B. terristris, we collected adults and isolated their genomic DNA for diagnostic PCR. The PCR primers specific for Nosema spp. were newly designed and applied to gene amplification for cloning. Only small subunit ribosomal RNA (SSU rRNA) gene of N. ceranae was successfully amplified among examined genes and sequenced, which indicates that N. ceranae mainly infects the examined field population of B. terristris. To detect of SSU rRNA gene, two regions of SSU rRNA gene were selected by primary PCR analysis and further analyzed in quantitative real-time PCR (qRT-PCR). The qRT-PCR analysis demonstrated that SSU rRNA of N. ceranae was detected at concentration as low as $0.85ng/{\mu}l$ genomic DNA. This result suggests that the detection via qRT-PCR can be applied for the rapid and sensitive diagnosis of N. ceranae infection in the field population as well as risk assessment of B. terristris. 서양뒤영벌(Bombus terrestris)은 꿀벌의 봉군붕괴증후군(colony collapse disorder)에 대한 대체 화분매개곤충으로서 농업분야에서 중요한 역할을 하고 있다. 최근 서양뒤영벌에서 바이러스, 세균, 응애 등의 여러 병원체와 기생체가 발견되었고, 이들은 서양뒤영벌의 수명과 생식력 등에 영향을 주는 것이 알려져 있다. 서양뒤영벌 야외개체군에서 Nosema spp.를 탐지하기 위해, 서양뒤영벌 성충으로부터 genomic DNA를 추출하여 Nosema spp. 유전자들에 대해 polymerase chain reaction (PCR)을 수행하였다. 이들 유전자 중에서 small subunit ribosomal RNA (SSU rRNA) 유전자만이 증폭되었고, 염기서열분석을 통해 N. ceranae로 확인된 것은 조사된 야외개체군에서 N. ceranae가 서양뒤영벌의 주된 감염체임을 보여준다. Quantitative real-time PCR (qRT-PCR)을 이용하여 SSU rRNA 유전자를 탐지하기 위해, 먼저 PCR을 통해 SSU rRNA 유전자의 2개 영역에 대한 유전자 특이적 증폭을 확인하였다. qRT-PCR을 이용하여 각 개체에서 얻은 genomic DNA의 순차적인 농도희석를 통해 $0.85ng/{\mu}l$ 이하의 genomic DNA 농도에서도 SSU rRNA 유전자가 성공적으로 증폭되는 것이 확인되었다. 이러한 실험 결과, qRT-PCR를 이용한 N. ceranae 특이 유전자 증폭은 서양뒤영벌의 병원체 감염 진단 뿐만 아니라 생태계 위해성 평가에도 활용될 수 있을 것으로 사료된다.
초파리 Schneider2 세포와 Chinese hamster ovary-K1 세포에서 Aedes aegypti 5-Hydroxytryptamine7 수용체의 발현비교
이대원 한국응용곤충학회 2004 한국응용곤충학회지 Vol.43 No.2
Serotonin receptor binds to serotonin (5-HT) and activates effector proteins such as adenylyl cyclase, phospholipase C, cyclic GMP phosphodiesterase or ion channel through G protein on the cell membrane, resulting in various physiological responses like diuresis, memory and development. To examine the comparative expression of the 5-HT$\_$7/ receptor of Aedes aegypti, the Aedes 5-HT$\_$7/ receptor gene was transfected into Drosophila Schneider2 (S2) cells and mammalian Chinese hamster ovary (CHO)-Kl cells. The expression of the Aedes 5-HT$\_$7/ receptor gene in selected cell lines, Tr-CHO and Tr-S2, was confirmed with reverse transcription-PCR, Western blot and immunocytochemistry. Compared with the induced intracellular cAMP level of Tr-S2 cell line to 5-HT, the induced cAMP in the Tr-CHO cell line was over 9 times higher and was dose-dependent. These results suggest that the functionality of Aedes 5-HT$\_$7/ receptor is much more effective in mammalian CHO-K 1 cells and that the Tr-CHO cell line expressing Aedes 5-HT$\_$7/ receptor can be used for synthetic agonist or antagonist candidate screening. 세로토닌 수용체는 세로토닌과 반응하여 세포막의 G단백질을 통해 중개단백질 (adenylyl cyclase, phospholipase C, cGMP phosphodiesterase, ion channel)을 활성화시켜, 이뇨, 기억, 발생 등의 다양한 생리적 반응에 관여한다. 곤충세포인 Schneider2 (S2)와 척추동물 세포인 Chinese hamster ovary (CHO)-Kl에서 Aedes 5-HT$_{7}$ 수용체 유전자 발현을 비교하기 위해, Aedes 5-HT$_{7}$ 수용체 유전자를 형질이입시켰다. 선발된 세포주들(Tr-S2, Tr-CHO)에서 세로토닌 수용체 유전자의 발현은 reverse transcription-PCR, Western blot, immunocytochemistry를 이용하여 확인하였다. 세로토닌 농도증가에 대한 Aedes 5-HT$_{7}$수용체의 기능을 세포 내 cAMP수준을 통해 조사한 결과,Tr-CHO 세포주는 Tr-S2 세포주보다 9배 이상 cAMP수준이 높게 나타났으며, 농도에 의존적이었다. 이 결과는 수용체 유전자가 세포에서 발현되었으나, 세포의 종류와 세포막에 존재하는 G단백질 차이에 따라 중개단백질 활성 차이가 있다는 것을 보여주었다. CHO-Kl 세포에서 Aedes 5-HT$_{7}$ 수용체의 기능이 S2 세포보다 더 효율적이며, Aedes 5-HT$_{7}$ 수용체를 발현하는 Tr-CHO 세포주는 동력제 또는 대립제 검정에 활용될 수 있을 것으로 기대된다. 것으로 기대된다.