Since nuclear power plant (NPP) dismantling carries the possibility of radiation exposure from a hazardous environment, it’s important to minimize that by using a remote manipulator et al. However, due to complexity of nuclear facilities, it’s necessary for operators to increase their proficiency by operating in advance in a virtual environment. In this research, we propose a virtual manipulator system using a haptic device for NPP’s reactor vessel internals (RVI) dismantling which can realistically manipulate.

Samples were collected from planktonic habitats of the fresh and brackish waters in Korea from August 2016 to May 2018. As a result, three genera and nine species were newly recorded in Korea. The unrecorded indigenous genera were Anathece, Chondrocystis and Geminocystis, and nine species were Anabaenopsis arnoldii, Anathece smithii, Chondrocystis dermochroa, Coelosphaerium aerugineum, Eucapsis microscopica, Geminocystis herdmanii, Microcystis panniformis, Synechococcus nidulans and Woronichinia karelica. Anathece smithii, Coelosphaerium aerugineum, Eucapsis microscopica, Microcystis panniformis and Synechococcus nidulans had been reported to inhabit freshwater, but these were found in brackish water in this study. Microcystis panniformis, which is a potential genus for causing green-tide, is taxonomically valuable in Korea.

Samples were collected from benthic and subaerophytic habitats of fresh and brackish water in Korea from April 2017 to April 2018. Accordingly, three genera and seven species were newly recorded in Korea. Three unrecorded genera were Cephalothrix, Cyanophanon and Toxifilum, and seven species were Anagnostidinema pseudacutissimum, Calothrix elenkinii, Cephalothrix komarekiana, Cyanophanon mirabile, Cyanosarcina chroococcoides, Leptolyngbya ectocarpi and Toxifilum mysidocida. Anagnostidinema pseudacutissimum and Cephalothrix komarekiana had been previously reported to inhabit freshwater, but these were found to be present in brackish water during the period of the present study. Also, Cyanosarcina chroococcoides previously reported to inhabit moorland waters and swamps, were found to be present in subaerophytic habitat.

Phytoplanktons were collected from various environments including small marshes, small ponds, reservoirs and brackish water from March 2017 to November 2017. In this study, five species of family Scenedesmaceae were newly recorded in Korea. The genus Desmodesmus was newly reported in Korea. The newly recorded species are Scenedesmus nanus, S. praetervisus, Desmodesmus costato-granulatus, D. lunatus and D. spinulatus. S. nanus and S. praetervisus are known to occur in freshwater, but they were found in the brackish water in this study.

요약; 최근에는 기계 학습, 특히 심층 학습에 많은 연구가 진행되고 있다. 구글, 페이스 북과 같은 대기업이 인공 지능과 기계 학습에 관심을 가지고 있기 때문에, 이러한 연구는 날마다 발전하고있다. 기계 학습은 의학, 번역 및 IT와 같은 다양한 산업에서 사용될 것으로 기대됩니다. 게임 부문은 기계학습 기술적용의 효과가 예상되는 영역 중 하나라고 간주됩니다. 본 논문에서는 MMORPG-Tera의 게임 콘텐츠에서 몬스터의 승패를 예측하는 신경망을 Tensorflow를 통해 설계하였다. 이 모델은 1 개의 입력 레이어, 2 개의 숨겨진 레이어 및 1 개의 출력 레이어를 가지고 있다. 입력 레이어에는 8 개의 노드가 있고 각 숨겨진 레이어에는 16 개의 노드가 있으며 출력 레이어에는 1 개의 노드가 있다. 더 나은 결과를 위해 우리는 그라디언트 디센트, 시그 모이드 (Sigmoid) 함수 및 Relu 함수 (Activate 함수)에 Adam을 사용한다. 준비된 데이터 세트의 마지막 부분은 테스 트 데이터 용으로 사용되고 나머지는 학습 모델 용으로 사용되었다. 이 모델은 5 ~ 10 % 오차 이내의 확률을 예측할 수 있다. 데이터 세트의 부족은 만족스럽지 않은 점으로 남아 있으며, 충분한 데이터가 수집되고 더 개선 된 모델이 준비되면 오류를 더 줄일 수 있다. 그리고 제안된 모델은 앞으로 다른 게임이나 스포츠 게임에도 적용될 것이다.

Samples were collected between August 2016 and May 2017 at Sangju-si, Gyeongsangbuk- do, Jeju-do, and Uljin-gun, Gangwon-do. As a result, one genus and six species were newly recorded in Korea. The unrecorded indigenous genus was Borzia, and the six species were Anagnostidinema acutissimum, Komvophoron bourrellyi, Hydrocoleum stankovicii, Borzia trilocularis, Phormidium tinctorium and Pseudanabaena lohchoides. Phormidium tinctorium and Pseudanabaena lohchoides had been reported to inhabit freshwater, but in this study, these were found in brackish water. It had also been reported that B. trilocularis trichomes are composed of up to 8 cells, but in this study, a maximum of 10 cells was observed.

This study was carried out to clarify the response of butterfly communities on forest degradation in the Gwangneung Forest, Korea. We monitored butterfly communities with varying degrees of human activities by conducting line transect twice a month in 2011. A total of 70 species and 4,676 individuals butterflies were observed in four sites: natural forest, plantation forests, and Korean National Arboretum. Species richness increased with increasing open land. The result on niche breadth and habitat type of butterfly was consistent with our predictions; specialist species and forest interior species were abundant in natural forest, whereas generalist species and grassland species were abundant in Korea National Arboretum, the most modified area. Also, habitat breadth of butterflies clearly indicated the difference on the degree of forest degradation. Butterfly diversity associated with landscape patterns based on aerial photographs supported mosaic concept which indicates that species diversity increases as habitat heterogeneity and variability increase. Forest management plan that maintains various habitats and ensures grasslands is necessary to increase butterfly diversity in forest.

The present study investigated the effects of follicle stimulating hormone (FSH) and human chorionic gonadotrophin (hCG) on the nuclear maturation of canine oocytes. Oocytes were recovered from mongrel female ovaries in various reproductive states; follicular, luteal or anestrous stage. Oocytes were cultured in serum-free tissue culture medium (TCM)-199 supplemented with various concentrations of FSH (Exp. 1: 0, 0.5, 1.0 or 10 IU) or hCG (Exp. 2: 0, 0.5, 1.0 or 10 IU) or both (Exp. 3: 1 IU FSH + 1 IU hCG) for 72 hr to determine the effective concentration of these hormones, and to examine their combined effect. After maturation culture, oocytes were denuded in PBS containing 0.1% (w/v) hyaluronidase by gentle pipetting. The denuded oocytes were stained with 1.9 μM. Hoechst 33342 in glycerol and the nuclear state of oocytes was evaluated under UV light. More (p<0.05) oocytes matured to MII stage when follicular stage oocytes were supplemented with 1 IU FSH (6.2%) compared with the control, 0.1 or 10.0 IU FSH (0 to 1.2%). Significantly higher (p<0.05) maturation rate to MII stage was observed in follicular stage oocytes supplemented with 1.0 IU hCG (7.2%) compared with the control or other hCG supplemented groups (0 to 1.5%). However, the combination of FSH and hCG did not improve the nuclear maturation rate of canine oocyte (2.4 %) compared with FSH (6.2%) and hCG alone (7.2%). In conclusion, FSH or hCG alone significantly increased the maturation of canine oocytes to MII stage.

For dismantling heavy structure under special environment in radioactivity, there are many problems which should be tele-operated and feedback a cutting force for cutting a thick structure such as concrete. When operator dismantles a thick heavy concrete structure, it is in sufficient to judge whether robot is contacting or not with environment by using only vision information. To overcome this problem, force feedback and impedance model based bilateral control are introduced. The sliding mode control with sliding perturbation observer (SMCSPO) based bilateral control is applied and surveyed to a single rod hydraulic cylinder in this paper. The sliding mode control is used for robustness against a disturbance. The sliding perturbation observer is used for estimation of a reaction force such as cutting force. The bilateral control is executed using the information of reaction force estimated by SMCSPO. The contribution of this paper is that the estimation method and bilateral control of the single rod hydraulic cylinder are introduced and discussed by experiment.

When using commercialized robot assisted laparoscopic, surgeon has met some problems to depend only on image of the surgical field. To solve it, there were various researches. The previous study showed that it is possible to estimate the operation force on the commercialized instrument inside patient without sensors. To apply the estimated force to a haptic master console for the laparoscopy surgical robot system, the light haptic master console should be designed. This paper suggests the design of lighter master console handle to reduce a weight of the console whose structure can match with the joint and DOF of an instrument. A cable-conduit mechanism is designed to make light structure to perform a delicate manipulation. The cable-conduit mechanism removes the weight and inertia of link caused by haptic actuator and encoder which is separated from handle link of a manipulator.