로봇 포도수확기를 위한 엔드이펙터 개발

이대원,김현태,이용국 성균관대학교 생명공학연구소 2001 生命工學硏究 Vol.7 No.1

Most of fruits need laboring greatly to harvest fruit in the period of harvest season. Grape also needs requiring a lot of labor to harvest in time, since harvesting of grape is cut and graped by hand. At abroad, especially, a harvester of grape, which is not eat freshly raw grape fruit but is processed to be made wine, was developed in France. However, a harvester of grape which can eat freshly raw grape fruit haven't not been developed. Therefore, this study was designed and constructed to develope an end effector of the robotic harvesting system. In order to find average and standard deviation of size and shape of a bunch grape, the grape farm was visited and investigated to find out the important factors for end effector to be designed and built. The efficient end-effecter should reach very well a bunch of grape without touching obstacles, such as leaf and stem in the grape vine. Also, it was made as simple, small and light as possible. Therefore, It was made of duralumin, which was lighter material than iron, to reach easily fresh grape fruit and reduce a torque. After finding the optimum initial speed, slew speed, ramp speed, the end effector proved to be a smooth operating end effector. For verifying efficiency of the end-effecter, the control board was designed and manufactured, and also developed the software to control the motors of the end effector.

위 유문동 평활근세포의 Caffeine 활성화 전류에 미치는 Ascorbate의 효과

이무열,방효원,엄대용,이상돈 중앙대학교 의과대학 의과학연구소 1992 中央醫大誌 Vol.17 No.4

In order to observe the effects of ascorbate on the background current in pyloric circular smooth muscle cells, caffeine of which action was fairly clarified, was used to induce the current systems. To block all of the known currents, various blocking agents were added in the external bathing solution. A part of pyloric circular muscle tissue was excised out, and enzymatic isolation technique was used to obtain Ca^2+ -tolerant single circular muscle cells. The whole cell mode of patch-clamp experiment was conducted. The results were as follows : 1. Ascorbate induced the increase of inward currents in the hyperpolarized potential ranges, and quite a large increase of outward currents in the depolarized ranges. 2. Caffeine also induced similar results, but the magnitude of outward current was smaller than that of assorbate in the depolarized ranges. 3. These phenomena were disappeared by addition of the anion channel blocker. 4. Replacement of external NaCl with NMG·Cl was rarely affected the effects of ascorbate and and caffeine. But the effects of ascorbate and caffeine were almost abolished when sxternal Cl^- was substituted for aspartate. These results suggested that ascorbate affected chloride current which thought as a component of the background currents in the pyloric circular smooth muscle cells.

ROBOT식 多目的 播種機 開發

李鎔國,李大源,黃憲,吳永鎭 成均館大學校 科學技術硏究所 1992 論文集 Vol.43 No.2

Planting, transplanting, and harvesting are important processes for the successful production of farm products in Korea because those require the short term high labor intensity. In the automatic production system of the field or the green house, planting is the first process required to be automated considering subsequent operations such as transpalnting and harvesting. A proto type experimintal robotized seeder was designed and built to handle various sizes and shape of seeds. The developed seeder is automatically controlled with one chip micro-controller. System is composed of the transfer arm, pecker, and the equipments integrated with sensor such as hopper, feeder, counter, and shutter. System allows to control the number of seeds to be planted. Results of the developed experimental robotized seeder are as following : 1. For the adequate feeding and counting of seeds, components such as hopper, feeder, counter, and shutter were designed and built. 2. Kinematic motion of the transfer arm was analyzed and designed. 3. Picker was designed to dig and drop seeds into the soil by the open and close action of the bottom gate controlled by DC solenoid. Digging depth of the pecker was controlled by the transfer arm.

오이 특징점 인식을 위한 영상처리 알고리즘 개발

이원희,이대원,이용국 성균관대학교 생명과학자원연구소 1997 生命資源科學硏究 Vol.4 No.1

An image processing algorithm was designed and constructed to recognize and measure the geometric shapes of a cucumber for a short real time using a computer vision system. The main components of the vision system included fluorescent lighting equipment as a light source, CCD (charge coupled device) camera, VGA (video graphics array), PC computer to grade a stationary cucumber. The algorithm was developed to recognize geometric features of a cucumber and also to reduce the processing time of them. Total image processing time was about 0.5 second, where only grabbing time was required more than 0.3 second. Geometric features include straight length, chord length, bending length, area, bending angle, maximum thickness and minimum thickness. Qualitative performance of the algorithm proved to be a reliable algorithm for geometric features of a cucumber.

다동온실의 복합환경 제어시스템을 위한 소프트웨어 개발

이대원,김채웅 성균관대학교 생명공학연구소 1999 生命工學硏究 Vol.5 No.1

A hybrid environmental control system was designed and built in the multi-greenhouses. After the hardware system was developed, the software was designed and constructed for this project. A software was adequate for reading data from many sensors and operating side windows, top windows, curtains and fans in the two greenhouses. Separate programs for control of the hardware, written Visual basic, Turbo-C and Assembler computer language, were developed to make the hybrid environmental control system operate. The program was a menu driven program within Windows environment. The initial menu was easily implemented by pressing a keypad key(KPK) on the keyboard or a mouse. Continued manipulation of the KPK or a mouse enable the user to reach easily any of the sub modes in the many modes. This software proved to be a reliable program for the hybrid environmental control system in the two greenhouse.

Cyanobacterium Synechocystis PCC6803 내에서 Bacillus thuringiensis subsp. morrisoni PG-14 cryIVD 유전자의 발현

이대원,박현우,진병래,정영호,박영목,강석권 한국미생물생명공학회 ( 구 한국산업미생물학회 ) 1996 한국미생물·생명공학회지 Vol.24 No.2

미생물 살충제로 사용되고 있는 B. thuringiensis를 모기유충방제에 적용하기 위한 시도는 B. thuringiensis가 수서생태계에서 부유하지 못하고 가라앉으며, 생활환을 이루지 못한다는 문제점으로 인해 적용에 어려움이 있다. 따라서 본 연구는 모기유충에 강한 독성을 갖는 B. thuringiensis subsp. morrisoni PG-14의 cryIVD 유전자를 모기유충의 먹이인 cyanobactrium에 도입하기 위하여 발현벡터 pCYASK 5-1을 제작하고, cyanobacterium Synechocystis PCC6803에 형질전환시켜, 세포내에서 cryIVD 유전자의 발현과 뇌염모기에 대한 독성을 조사하였다. 그 결과 형질전환체 내에서 cryIVD 발현은 immunoblot 분석을 통해 B. thuringiensis subsp. morrisoni PG-14에서 발현된 단백질과 같은 분자량으로 발현되는 것을 확인하였으며, 모기유충에 대한 형질전환체의 독성은 1.40×10^6 cells/ml 농도에서 약 80%의 치사율을 나타내었다. Bacillus thuringiensis subsp. morrisoni PG-14 is a gram-positive soil bacterium producing mosquitocidal parasporal inclusions composed of several crystal proteins. Among these crystal protein genes, cryIVD gene is one of major component which has 72 kDa in size. However, these parasporal inclusions sink quickly from the surface of water where mosquito larval feeding occurred. To develope mosquitocidal cyanobacterium, therefore, we constructed the expression vector, pCYASK 5-1 harboring cryIVD gene. The expression vector, pCYASk5-1 was transformed into the cyanobacterium Synechocystis PCC6803 reported as a natural mosquito larval food source and the transformants were selected with kanamycin. Expression of cryIVD gene in transformant was characterized by SDS-polyacrylamide gel electrophoresis (PAGE) and immunoblot analysis. The mosquitocidal activity of a transformant was determined electrophoresis (PAGE) and immunoblot analysis. The mosquitocidal activity of a transformant was determined with Culex tritaeniorhynchus. The results showed that the transformed cyanobacterium is toxic to mosquito larvae and will be expected as a potential agent that is used for mosquito control.

大氣公害가 養蠶에 미치는 影響에 관한 硏究 : 人工 飼料中의 카드미움 濃度와 家蠶形質과의 關係 Relation between Silkworm larval characters and the levels of cadmium density in diets

李鍾哲,崔震浹,裵啓宣,孫興大,鄭元福 東亞大學校 大學院 1980 大學院論文集 Vol.4 No.2

Performed to study on effect of economic characters and quantity of Cd in silkworm body by feeding artificial diet which aded Cd per density to all age silkworms. The results were as follows: 1. Each treated parts was a little longer than control on silkworm larval duration. 2. Growing condition of 40 ppm on the 7th day after commencement incubation was uneven and found out around 80% of 1st instar-silkworm larvae which almost didn't grow at ones of 80 ppm. 3. Maximum weight of the 5th instar, pupation ratio, weight of cocoon, weight of cocoon layer and cocoon layer ratio of parts of 1,10, and 20 ppm was a lettle higher than control, but only ones of 40 ppm was lower than those. And found out it ws chronic toxicity. 4. Each treated parts on eclosion period was longer than control. Expecially non-eclosion ratio of 40 ppm was 30%. 5. The safe level density of Cd in diet was 20 ppm. 6. Toxicity will be occurred when Cd contents in is more than 5 PPM in silkworm body.

위 윤상근 세포의 Ca^2+-의존성 K^+-전류에 미치는 Ascorbate의 효과

배정원,이무열,방효원,엄대용,이상돈 중앙대학교 의과대학 의과학연구소 1991 中央醫大誌 Vol.16 No.2

In order to observe the effect of ascorbate on the Ca^2+-activated K^+ current in pyloric circular muscle cells which plays a critical role in generation and maintenance of repolarization and automatism, apart of pyloric circular muscle tissue was excised out, digested in collagenase containing Ca^2+-free physiological solution to get single circular muscle cells and the whole cell mode of patch-clamp experiment was conducted. Following results were obtained : 1. Oscillatory outward current was reduced by ascorbate in case of high intrapipette Ca^2+ concentration in whole voltage range and was enhanced in case of low intrapipette Ca^2+ concentration. 2. Oscillatory outward current was reduced in Ca^2+-free physiological solution with calcium channel blocker and not effected by ascorbate. 3. There were no qualitative differences among the control and ascorbate-treated group in effects of pH, steady state inactivation and the remaining component of the outward current. The above results could be concluded that ascorbate effects calcium-dependent component of the oscillatory outward current in the pyloric circular smooth muscle cells.

위 유문동 평활근 세포에서 Caffeine에 의해 활성화되는 이온 전류에 관한 연구

정인원,이무열,방효원,엄대용,이상돈 중앙대학교 의과대학 의과학연구소 1992 中央醫大誌 Vol.17 No.3

In order to clarify the existence of the non-selective cationic channel of CI^- -channel in gastric antral smooth muscle cells which suggested to play a critical role in generation and maintenance of depolarization and exitability, the whole cell mode of patch-clamp experiment was conducted. Following results were obtained ; 1. Puff injection of caffeine induced the increase of inward currents in the hyperpolarized holding potential ranges, and the increase of outward currents in the hypopolarized range. 2. In the case of blocking of all known currents, these current components were observed. 3. These current components were disappeared when known as a Cl^- -channel blocking agent was treated and intracellular EGTA concentration was increased. The above results could be concluded that these current components strongly suggested as a Ca^2+ -dependent Cl^- current in the gastric antral smooth muscle cells.

PBAN and its receptor in the Diamondback moth, Plutella xylostella (L.)

Dae-Weon Lee,Young Ho Koh 한국응용곤충학회 2008 한국응용곤충학회 학술대회논문집 Vol.2008 No.05

Many female moths produce and release sex pheromones to mate successfully with a conspecific male. Sex pheromone production in lepidopteran moth is known to be under the regulation of a pheromone biosynthesis activating neuropeptide (PBAN). A PBAN polypeptide is processed into five neuropeptides (NPs) after post-translational modification, resulting in diapause-like NP, PBAN, α-, β- and γ-NP. All of the peptides are amidated in their C-termini and shared a conserved motif, FXPR(or K)L structure. PBAN (Plx-PBAN) from Plutella xylostella consists of 30 amino acids, the shortest PBAN so far reported. When female adults were injected with synthetic Plx-PBAN, pheromone production showed a maximal increase 1 h post-injection. RT-PCR screening revealed that Plx-PBAN cDNA was expressed in both sexes, with the highest expression level in the head of female adults. Plx-PBAN binds to its receptor on pheromone gland cells. PBAN receptor has seven transmembranes, indicating G-protein coupled receptor family and transduces its signal via G-protein mediated signal transduction. Subsequently, calcium channels remain activated and stimulate biochemical reactions for sex pheromone production in the pheromone gland.