In this paper, we present a global localization and position error compensation method in a known indoor environment using magnet hall sensors. In previous our researches, it was possible to compensate the pose errors of xe, ye, θe correctly on the surface of indoor environment with magnets sets by regularly arrange the magnets sets of identical pattern. To improve the proposed method, new strategy that can realize the global localization by changing arrangement of magnet pole is presented in this paper. Total six patterns of the magnets set form the unique landmarks. Therefore, the virtual map can be built by using the six landmarks randomly. The robots search a pattern of magnets set by rotating, and obtain the current global pose information by comparing the measured neighboring patterns with the map information that is saved in advance. We provide experimental results to show the effectiveness of the proposed method for a differential drive wheeled mobile robot.

이 연구는 제2형 당뇨 모델 동물인 Goto-Kakizaki(GK) 흰쥐를 사용하여 운동과 셀레늄 투여가 미토콘드리아 생성과 기능 향상을 조절하는 전사 인자의 발현 변화와 현상학적으로 당뇨의 증상 개선을 유도할 수 있는지를 구명하기 위해 실시하였다. 실험동물은 52주령된 GK 수컷 흰쥐로 24 m/min, 30 min/day, 5 days/week, 총 6주간 트레드밀 런닝을 실시하였다. Sodium selenite(5 umol/kg)는 selenium

The purpose of this study was to examine the relations between using experience of environmental education facilities and attitude toward environmental education in parents who have elementary students in Seattle, U.S. The findings of this study represented that elementary parents have a great understanding about the importance of environmental education. Parents have a strong agreement with the necessity of environmental education in childhood. This research also found the differences between grades and facilities for environmental education in expected effect on environmental education and desirable fields of environmental education. The awareness of the importance of environmental education increased according to frequency in using environmental education facilities. In addition, the more the experiences of using various environmental education facilities, such as museum of natural history, science museum, arboretum, and aquarium expanded, the more educational effects positively increased over time.

냉압착 들기름과 볶음 압착 들기름 및 볶음 가열 압착 들기름의 가열산화에 의한 색도 및 갈변도, 총 페놀 함량, 과산화물가, 산가, 이중공액산가, 전자공여능 및 지방산 함량 변화를 측정하여 각 들기름의 특성 및 가열산화에 의한 품질을 비교하였다. 냉압착 들기름은 Hunter L 값은 76.62로서 볶음 압착 들기름의 39.77에 비하여 2배 이상 높게 나타났으며, 갈색도의 경우에도 각각 0.027과 0.244을 나타내어 냉압착유의 갈색화 정도가

본 실험은 메밀새싹의 추출조건에 따른 수율, 총 페놀, -glucosidase 저해활성능, 및 ACE 저해활성능에 대해 반응표면 분석법을 이용하여 추출조건을 최적화하였다. 중심합성계획에 따라 추출온도(), 추출시간(0~12 hr) 및 에탄올 농도(0~100%)를 달리하였을 때 반응 표면 회귀식의 R2는 수율, 총 페놀, -glucosidase 저해활성능 및 ACE 저해활성능에서 각각 0.9461(p-glucosidase 저해활성능 및 ACE 저해

새싹 채소 중 무순의 위생적인 재배 조건을 설정하기 위하여 종자세척 및 관수로서 이산화염소수, citric acid 및 glycerin의 적용 효과를 조사하였다. 무 종자에 인위적으로 오염시키기 위하여 Salmonella typhimurium은 실험실 조건에서 배양하였으며, 무 종자를 S. typhimurium 현탁액에 침지시켜 균수를 약 로 조절하였다. 무 종자에 대한 세척 효과는 이산화염소수 및 citric acid의 단독처리보다 병행처리시

수도수(TW)와 0.5% sodium metabisulfite(0.5% SMS)를 대조구로 하고 강산성 전기분해수(SAEW: strong acidic electrolyzed water, pH 2.58, ORP 1,128 mV, HClO 105.0 ppm)와 약알칼리 전기분해수(LAEW: law alkaline electrolyzed water, pH 8.56, ORP 660 mV, HClO 73.8 mV)를 연근의 박피 후 침지액으로 하여 랩포장

본시험은 콩을 파종한 직후에 발생되는 조류의 피해양상 및 조류 피해경감 방법을 찾고자 수행하였다. 콩파종 후 방조망을 피복한 다음 파종기, 출현기, 자엽전개기, 초엽전개기에 방조망을 제거하여 피해양상을 살펴 본 결과 종자섭식, 종자발출, 자엽섭식, 생장점 가해 등의 양상으로 나타났다. 가해시기별 피해양상은 파종 후부터 새 피해에 노출된 처리에서는 종자섭식, 출현기에 방조망을 제거한 처리에서는 종자섭식과 종자발출, 자엽전개기와 초엽전개기에 방조망을 제거한 처리에서는 자엽 섭식과 생장점 가해 피해가 많았다. 조류퇴치 방법으로는 조류 혐오음 발생기, 맹금류 모빌, 송풍식 풍선 인형, 견사류, Thiram제제와 방향성 살충제 등의 효과를 검토한 결과, 조류 혐오음 발생기와 맹금류 모빌처리는 멧비둘기가 주로 가해하는 산간지에서는 효과가 우수했으나, 야생화 된 집비둘기가 피해를 주는 소도시나 주거지에 인접한 들녘에서는 효과가 낮았다. 송풍식 풍선인형은 반경 40m까지도 효과가 우수했으며, 타이머를 이용하여 파상적으로 작동시키면 파종 후 피해가 많은 초엽기까지는 학습효과에 의해 피해경감효과가 저하되는 현상을 막을 수 있었다. 방향성 살충제류를 이용한 조류 피해 경감 효과는 본 시험의 결과에서는 매우 낮거나 거의 없었다. 콩 재배면적별로 적합한 조류의 퇴치방법은 Thiram제제 종자 분의처리를 기본적으로 실천하고 대규모 집단재배지에서는 조류 혐오음 발생기와 맹금류 모빌을 조합한 방법이나 송풍식 풍선 인형을 이용한 퇴치방법이, 중･소농 규모에서는 은박테이프를 이용한 방법이 효과가 우수하고 경제적인 것으로 나타났다.

This paper describes the adsorption/desorpton efficiency of a modified activated carbon by irradiated microwave to treat toluene. By employing microwave energy, the regeneration time was considerably shortened compared with conventional thermal heating regeneration. New adsorbent called ACB(Activated Carbon-Bentonite) was prepared from powder activated carbon with mixing bentonite as a binder. Specific surface area, average pore size and total pore volume of ACB were calculated from the nitrogen adsorption/desorption isotherm. The surface of ACB was characterized with scanning electron microscope(SEM). The results showed that the specific surface area, total pore volume, average pore size of ABC was not influenced by regenerating cycle with microwave irradiation. Toluene was adsorbed onto ACB which desorbed by MW irradiation. Absorption capacity of ACB was 0.117 gtoluene/ gACB. Desorption efficiency of toluene increased as higher microwave output was applied.

The overall purpose of this study was to investigate pedestrians and commercial business men and employers' recognition on management of street trees and green spaces along street sides. The followings were main results of this study. Both pedestrians and commercial business men and employers mostly perceived positive influence of street trees on urban environment and their business. In addition, pedestrians gave higher scores of positive influence of trees function than those of commercial business men and employers. Pedestrians showed strong intention to participate management activities of street trees or green spaces. This study indicated that negative perception on street trees came from improper management rather than existence of street trees. Therefore, more intensive management actions are needed.

The purpose of this study was to offer the opportunity of contact with the nature to elementary school student by the creative educational space. We proposed educational space considering of the effects of environmental education, which transform plan into the system of nature image and effective space to ecological education space. The elementary school space is designed to be flexible in accommodating different time and events. It should be expected thin this design as following points: It will be improved environmental quality in elementary school, changed into the sustainable and environment-friendly green school as well. It will be energetic school as a living space for rest and ecological education. it will be improved the image of school and opened to the public. Through the elementary school space created by this plan, elementary school student will have more opportunity of contact with the nature.

This study analyzes the recognition of commercial business men and employers who operate the commercial zone along the streets in the downtown area on the planting for the roadside green space forming the important frame of greening in the downtown among the open spaces. Through the analysis, this study attempts to get the basic data to suggest the recommendable directions in planting and managing the street trees in the downtown. The results of this study are summarized as described below. The street green spaces are very important in improving the environment of the downtown and their necessities are also very critical. It was found that the street trees were recognized as the critical factor to enhance the aesthetical values of the city, provide the green shades and purify the air. This study also identified that the street trees have the positive impacts on the business environment rather than negative impacts. In maintaining the street green spaces, the most necessity is the service facility such as resting areas, toilets and garbage bins with the street trees. The commercial business men and employers who operate the businesses along the streets preferred the double layer type that the tall trees and green walls are planted together along the streets for the street planting. For securing the green shades in the city, the planting of linear green spaces such as streets and waterways is critical. Moreover, the street trees accounts for the important position in the urban open spaces. The majority of commercial business men and employers consider the participation of citizens for greening as the very essential factor.

The objective of the study is to suggest planning directions for practical use and to find the conditions of tourist attractions in rural villages founded on city-dweller's preference. Both a questionnaire and a field survey were used for the study. Selected were four villages such as Oryan-ri, gachun-ri, Junggi-ri, and Gyochon-ri. The results of the study are as follows: City-dweller's valued on natural environment resources in rural tourism and felt uncomfortable to accommodations. The scoring system reflecting functions of six resources showed that common problems encountered in rural tourism were lacks of people's organization, and human exchange mind, and tourism-related leasure places and facilities. Based upon the results, some measures to develop villages were suggested.

한인진에 대한 항산화 효과와 항균 효과를 알아보기 위하여 추출용매별 고형분 함량을 측정하여 본 결과 물 추출물에서 18. 1%로 가장 많은 고형분을 얻을 수 있었으며 메탄올, 에탄을 추출물에서는 12. 8%, 12. 6%로 별 차이가 없었다. 항산화 효과를 알아보는 방법 중 DPPH 소거효과를 이용하여 측정하여 메탄올 추출물이 36.2μg/ml로 가장 효과 좋았지만, 대두유에 대한 한한인진 추출물의 항산화 효과를 60℃로 20일간 저장하면서 과산화물가(POV)를 측정하여 대두유를 기질로 한 저장시험 에서 1,000ppm 농도의 물추출물과 메탄올 추출물이 저장 기간이 20일 되었을 때 46.8(meq/kg, 50.8(meq/kg)의 과산화물가를 나타내 대조구의 과산화물가 79.1 (meq/kg)에 비해 낮았다. 식품의 부패균이나 식중독의 원인균으로 알려진 세균 4종을 대상으로한 항균실험에서는 추출 용매에 따른 항균력은 에탄올 추출물이 가장 좋았으며 세균에 대한 항균력으로는 Vibrio parahaemolyticus에 대해 가장 좋았다. 한인진의 간보호 효과 시험에서는 한인진 추출물을 경구투여한 V, IV군의 간무게, 체중에 대한 간무게의 비율이 생리 식염수만을 투여한 III군보다는 낮았으나 시료 채취전후로 한인진 추출물을 경구투여한 V군과 IV군사이에는 별다른 차이점이 없었다. 예방효과를 알아보기 위해 10일간 실험을 실시한 결과 한인진 물추출물만을 단독 투여한 VI군의 체중은 계속 증가하였으나 한인진 물추출물을 계속 투여한 다음 시료 채취전에 사염화탄소를 투여한 VIII군의 간무게, 체중에 대한 간비율이 대조군 VII보다 다소 감소하였다. 병리학적인 소견으로 한인진추출물을 투여 한 군에서는 사염화탄소만 투여한 군보다 간세포의 괴사와 지방적의 축적이 감소하여 사염화탄소에 의한 간독성에 효과가 있는 것으로 사료된다.

An on-line digestion system based on the flow injection analysis technique was presented for the determination of total phosphorus. The system converts condensed and organic phosphoruses into orthophosphate that can be analyzed spectrophotometically. The reaction between orthophosphate and ammonium molybdate in a strong acid medium forms the yellow complex of phosphomolybdate which is next reduced to a molybdic blue complex by stannous chloride. The quantitation of orthophosphate is based on the absorbance of the molybdic blue. To determine total phosphorus, the digestion system was installed between the sample injector and the reaction coil with the added lines of digestion solution(potassium persulfate+sulfuric acid) and the H_2O carrier. The system has shown that the digestion efficiencies were greater than 95% for the typical condensed and organic phosphoruses. When tripolyphosphate standards were used, the calibration data showed that the linear dynamic range extended to a concentration of 1.5ppm with the detection limit of 25 ppb total phosphorus. The typical relative standard deviation was less than 2%. The proposed system was successfully applied to lake water, wastewater, and streamwater. The analytical variables such as digestion efficiency, analysis time, and reproducibility were evaluated and compared with the manual digestion method.