본 연구는 유아가 숲과 들판, 하천에서 자유롭게 산책활동을 하며 자연과의 만남을 통해 발현되는 생명에 대한 태도를 알아보고자 하였다. 연구에 참여한 유아는 경기도 Y군 농촌지역에 소재한 N초등학교병설유치원에 재원중인 만 4, 5세 유아 4명이었다. 연구과정은 2011년 3월 30일(수) ~ 7월 15일(금)까지 16주에 걸쳐 주 1~2회씩 총 26회로, N유치원 주변 자연 속에서 이루어졌다. 산책활동 시간은 오전이나 오후 자유선택활동시간에 60분 정도 실시하였다. 유아들은 자연 속을 거닐며 생명체와 자연물을 오감으로 탐색하고, 생각과 느낌을 이야기 나누고, 몸짓으로 표현하고, 능동적으로 생명체와 교류하며 자연과의 직접적인 만남을 가졌다. 자료수집은 질적 연구의 타당도와 신뢰도를 높이기 위하여 삼각측정법(Merriam, 1988/1994)에 의하여 녹화자료의 전사와 유아들의 활동사진, 연구일지, 유치원 일과일지, 유아들의 작품 등을 다양한 방법으로 수집하였다. 수집한 자료는 자료의 조직화, 영역분석, 자료 분류 및 분석, 분석결과의 해석 단계를 거쳤다. 연구 결과 산책활동에 참여한 유아생명에 대한 태도는‘생명에 대한 무관심’, ‘생명체와 교감하기’, ‘생명체와 즐겁게 놀이하기’, ‘생명을 새롭게 이해하기’, ‘생명을 소중히 여기며 존중하기’로 나타났다.

Security robot has gradually developed and deployed in order to protect civilian’s lives as well as fortune and subjugate the shortcomings of CCTV which lacks of mobility. We have developed a security robot for outdoor environment and the main purpose of the driving mechanism is to overcome the bumps or projections with high speed. The robot platform consists of 4 omnidirectional wheel-based driving mechanisms and suspension for each driving mechanism. In this paper, principal suspension parameters of outdoor security robot for overcoming obstacles with stability are studied and approximately optimized using Response Surface Methodology (RSM) since it is difficult to find the exact relationship between suspension parameters and the shock, which is significantly associated with stability of the robot, at the robot platform. Simulation using ADAMS is conducted for assessing the feasibility of optimized design parameters.

In this paper, a hybrid semi-3D path planning algorithm combining Virtual Tangential Vector(VTV) and fuzzy control is proposed. 3D dynamic environmental factors are reflected to the 2D path planning model, VTV. As a result, the robot can control direction from 2D path planning algorithm VTV and speed as well depending on the fuzzy inputs such as the distance between the robot and obstacle, roughness and slope. Performances and feasibilities of the suggested method are demonstrated by using Matlab simulations. Simulation results show that fuzzy rules and obstacle avoidance methods are working properly toward virtual 3D environments. The proposed hybrid semi-3D path planning is expected to be well applicable to a real life environment, considering its simplicity and realistic nature of the dynamic factors included.

Various driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot’s pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn’t contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

We investigated changes in quality during storage of cookies prepared with pine needle powder these are functional foods. We chose the quantity of pine needle powder (0%, 3%, 6%, or 9%, by weight) and storage time (1 day, 3 days, or 5 days) as independent variables and conducted sensory tests, measured chromaticity, and investigated physical properties. Differences in sweetness (p

In this paper, we provide experimental results and verification for obstacle avoidance algorithm 'ELA(Emergency Level Around)', which is applicable to rescue robots. ELA is a low level intelligence-based obstacle avoidance algorithm, so can be used in fast mobile robots requiring high speed in operation with little computational load. Constructed system for experiments consist of laptop, sensors, peripheral devices and mobile robot platform VSTR(Variable Single-tracked Robot) to realize predetermined scenarios. Finally, experiment was conducted in indoor surroundings including miscellaneous things as well as dark environment to show fitness and robustness of ELA for rescue, and it is shown that VSTR navigates endowed area well with real-time obstacle avoidance based on ELA. Therefore, it is concluded that ELA can be a candidate algorithm to increase mobility of rescue robots in real situation.

We propose a novel real-time obstacle avoidance method for rescue robots. This method, named the ELA(Emergency Level Around), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward safe position. In the ELA, we consider two sensor modules, PSD(Position Sensitive Detector) infrared sensors taking charge of obstacle detection in short distance and LMS(Laser Measurement System) in long distance respectively. Hence if a robot recognizes an obstacle ahead by PSD infrared sensors first, and judges impossibility to overcome the obstacle based on driving mode decision process, the order of priority is transferred to LMS which collects data of radial distance centered on the robot to avoid the confronted obstacle. After gathering radial information, the ELA algorithm estimates emergency level around a robot and generates a polar histogram based on the emergency level to judge where the optimal free space is. Finally, steering angle is determined to guarantee rotation to randomly direction as well as robot width for safe avoidance. Simulation results from wandering in closed local area which includes various obstacles and different conditions demonstrate the power of the ELA.

해양심층수 간장 및 일반간장을 제조하여 항돌연변이원성과 세포독성을 측정하였으며 sarcoma-180 cell을 이용하여 in vivo에서 항암효과를 살펴보았다. S. typhimurium TA98과TA100 균주를 이용한 실험에서 모든 시료에서 돌연변이원성이 없었으며, 항돌연변이원성 실험에서는 직접변이원인 MNNG(/plate)의 경우 TA100 균주에서 해양심층수간장의 시료농도 /plate에서 90.9%의 높은 억제효과를 나타내었으며 4NQO(

본 연구에서는 소금 대신 해양 심층수염과 콜레스테롤 수치와 항암에 효과가 있는 다시마를 첨가하여 개량식 방법으로 고추장을 제조하고 이에 따른 성분분석과 관능평가를 측정하였다. 일반성분 분석에서 해양심층수 고추장 및 일반 고추장을 비교하였을 때 조단백, 조지방 및 탄수화물 등은 비슷한 함량을 나타내었다. 무기질은 해양 심층수 고추장이 칼륨이 더 풍부하였으며, 나트륨 함량은 일반 고추장에 비해 현저하게 낮았다. 아미노산 분석 결과 총아미노산 함량은

마다가스카르산 석류석은 편마암 내 변성광물로 산출되며 색상과 구성성분으로 로돌라이트, 자색 알만딘, 갈색 알만딘 세 그룹으로 분류할 수 있다. 자외선-가시광선 분광분석 결과, 로돌라이트와 자색 알만딘은 400, 428, 504, 521 및 572 nm 부근에서 강한 흡수피크를 보이는데 반해 갈색 알만딘은 433과 502 nm에서 주 흡수피크를 보였다. 적외선 분광분석 결과, 620~660 cm-1 영역에서 로돌라이트는 640-1의 강한 단일 흡수피크가 관찰된 반면 갈색 알만딘은 628 cm-1와 651 cm-1 두 개의 강한 흡수피크가 관찰되었고, 자색 알만딘은 635 cm-1와 653 cm-1에서 두개의 흡수피크가 약하게 관찰되었다. 알만딘에서 발견되지 않은 3552 cm-1 특징적인 흡수피크가 로돌라이트에서는 관찰되었다. 따라서 로돌라이트와 알만딘은 비슷한 색상과 중첩된 굴절률로 인해 감별이 매우 어렵지만 자외선-가시광선 분광분석과 적외선 분광분석을 통해서는 로돌라이트와 알만딘간의 감별이 가능한 것으로 사료된다.