This paper proposes an integrated positioning system to localize a moving object in the shadow-area that exists in the water tank. The new water tank for underwater robots is constructed to evaluate the navigation performance of underwater vehicles. Several sensors are integrated in the water tank to provide the position information of the underwater vehicles. However there are some areas where the vehicle localization becomes very poor since the very limited sensors such as sonar and depth sensors are effective in underwater environment. Also there are many disturbances at sonar data. To reduce these disturbances, an extended Kalman filter has been adopted in this research. To localize the underwater vehicles under the hostile situations, a SVR (Support Vector Regression) has been systematically applied for estimating the position stochastically. To demonstrate the performance of the proposed algorithm (an extended Kalman filter + SVR analysis), a new UI (User Interface) has been developed.

In this study, we examined the suitability of ten disinfection models for predicting the inactivation of Artemia sp. via single or combined physical and chemical treatments. The effect of Hydraulic Retention Time (HRT) on the inactivation of Artemia sp. was examined experimentally. Disinfection models were fitted to the experimental data by using the GInaFiT plug-in for Microsoft Excel. The inactivation model were evaluated on the basis of RMSE (Root Mean Square Error), SSE (mean Sum Square Error) and r2. An inactivation model with the lowest RMSE, SSE and r2 close to 1 was considered the best. The Weibull+Tail model was found to be the most appropriate for predicting the inactivation of Artemia sp. via electrolytic treatment and electrolytic-ultrasonic combined treatment. The Log-linear+Tail model was the most appropriate for modeling inactivation via homogenization and combined electrolytic-homogenization treatment. The double Weibull disinfection model was the most suitable for the predicting inactivation via ultrasonic treatment.

This study was conducted to investigate the effects of intermittent plasma and electrolysis treatments on lettuce (Lactuca sativa var. oak-leaf.), nutrient solution components (NO3- -N, NH4 +-N, PO4 3--P, K+, Ca2+ and Mg2+) and environmental parameters (electrical conductivity, total dissolved solids and pH). The recirculating hydroponic cultivation system consisted of planting port, LED lamp, water reservoir and circulating pump. Nutrient solution was circulated in the following order: reservoir→ filtration-plasma or filtration-electrolysis→ planting port → reservoir. The results showed that nutrient solution components and environmental parameters were changed by plasma or electrolysis treatment. Lettuce growth was not affected by the intermittent plasma or electrolysis treatment with 30 minutes or 90 minutes, respectively. The roots of the lettuce was damaged by excessive plasma and electrolysis treatment. Electrolysis treatment had greater effect on than plasma treatment because of the accumulation of high levels of TRO (Total Residual Oxidants).

Background : Malonyl ginsenoside content of the Panax ginseng is known to account for 35% to 60% of total ginsenosides content. However, its distribution by ginseng part has not been studied. In this study, four kinds of malonyl ginsenosides were compared in Korean white ginseng part using the purified malonyl ginsenoside standards in our laboratory. Methods and Results : White ginseng was prepared by the air drying (50℃, 48h) or freeze drying (-70℃, 48h) methods form 4-year-old ginseng. Malonyl ginsenoside content in total ginsenosides were similar in air dried and freeze dried white ginseng, 58% and 62%, respectively. Therefore, malonyl ginsenoside contents in main, lateral, and fine root, and in the main root without skin and skin of main root prepared by freeze dried method were compared. Malonyl ginsenosides (m-Rb1, m-Rb2, m-Rc and m-Rd) and total ginsenosides (Rg1, Re, Rf, Rb1, Rc, Rb2, Rb3, Rd, m-Rb1, m-Rb2, m-Rc and m-Rd) were 6.75 and 14.15 mg/g in main root, 14.15 and 26.35 mg/g in lateral root, 46.95 and 84.15 mg/g in fine root. Malonyl ginsenoside contents in skin of main root was 20.08 mg/g, while its contents of the main root without skin was 2.58 mg/g. Conclusion : As a result, the parts each air drying the sample was confirmed that the ratio of the distribution of malonyl ginsenoside (main root : lateral : fine root = 18.7 : 11.1 : 16.2), and distribution ratio of main root, skin of main root, lateral, skin of lateral was found to be (12.2: 14.6 14.3: 3.7). Malonyl ginsenoside content was the highest in fine root, compared to the main or lateral root. Malonyl ginsenoside contents in skin of root was higher than those of the main root without skin. These results is expected to help establish an efficient extraction and standardization. Malonyl ginsenoside analysis of White ginseng using HPLC expects that the standardization process can be established.

'Green King', a new green tetraploid table grape cultivar with large berries, was originated from a cross between ‘Tensyu’ and ‘Beni Fuji’ grape cultivar in 2000. The cultivar was preliminarily selected among the elite breeding lines for its superior growth characteristics in 2005. After an extensive three-year evaluation of fruit and tree characteristics as 'GWG2002-02', 'Green King' was finally selected in 2008. Under Chuncheon’s ecological conditions, the average harvest date for 'Green King' is 6 September, and the number of days from flowering to harvest is 88 days. Hence, it is 12 days shorter than 'Rosario Bianco'. The average weight of a cluster in 'Green King' is 379.6 g, and its yield is 1,852 kg/10a. It has larger fruit size and higher fruit productivity than ‘Rosario Bianco’ (Registration No. 3560).

For electrolysis process using an insoluble electrode, electrochemical performance was greatly affected by the manufacturing method and procedure, such as the firing temperature, pre-treatment, type of precursor solution, coating method, electrode material, etc. Components of the electrode therein is one of the most important factors in electrochemical reaction. To achieve such characteristics, a appropriate ratio of the electrode material should be carefully chosen. The aim of this research was to apply experimental design method in the optimization of electrode component for the maximum generation of oxidants in electrochemical oxidation process. Mixture design, especially expanded simplex lattice design, in DOME (design of mixture experiments) with Design Expert - commercial software - was used to analyze the data. Analysis of variance (ANOVA) showed a high coefficient of determination (R2) value of 0.9470, thus ensuring a satisfactory adjustment of the 3rd order special cubic regression model with the experimental data. The application of response surface methodology (RSM) yielded the following regression equation, which is an empirical relationship between the TRO generation concentration and independent variables(mol ratio of 3 electrode components) in a real unit: TRO generation concentration (mg/L) = TRO conc. = 98.25×[Ir] + 49.71×[Sn] + 95.29×[Sb] 16.91×[Ir]×[Sn] - 29.47×[Ir]×[Sb] 22.65×[Sn]×[Sb] + 703.19 ×[Ir]×[Sn]×[Sb]. The optimized formulation of the 3 component electrode for an high TRO (total residual oxidants) generation was acquired at mol ratio of Ir 0.406, Sn 0.210, Sb 0.384 (desirability d value, 1).

In this study, to evaluate the performance of the sleeve structure for high strength reinforced joints and to develop more economical and practical for high-strength reinforced joints sleeve.

Based Recently, Box type Precast segment Retaining wall with the Relieving Platform has been developed. In this study, it is going th measure that the effect of reducing the earth pressure by placing the Relieving Platform on field.

‘스위트 드림’은 2009년 강원도 농업기술원의 포도육종 프 로그램에 랙’과 2배체 품종인 ‘캠벨얼리’에 교잡을 통해서 얻 어졌다. ‘스위트 드림’의 과실과 나무의 생육 특성은 2006년부 터 2008년까지 조사되었으며, 2009년 최종 선발되었다. 춘천 에서 ‘스위트 드림’의 최적 수확기는 9월 11일로 대조품종인 ‘캠벨얼리’보다 11일 가량 늦다. ‘스위트 드림’은 수세가 강하 며, 춘천에서 겨울 동안 동해 피해가 발생하지 않아 적당한 수 준의 내한성을 가지고 있다. ‘스위트 드림’의 평균 과방중은 440 g 수준이며, 평균가용성 당함량은 16.4 °Brix이다. ‘스위트 드림’은 무핵포도로서 ‘캠벨얼리’ 보다 큰 과실과 고품질을 가지고 있다. 따라서 ‘스위트 드림’의 보급은 국내 포도 품종의 다양화와 고급화에 기여할 수 있을 것으로 기대된다.

Ten empirical disinfection models for the plasma process were used to find an optimum model. The variation of model parameters in each model according to the operating conditions (first voltage, second voltage, air flow rate, pH, incubation water concentration) were investigated in order to explain the disinfection model. In this experiment, the DBD (dielectric barrier discharge) plasma reactor was used to inactivate Phytophthora capsici which cause wilt in tomato plantation. Optimum disinfection models were chosen among ten models by the application of statistical SSE (sum of squared error), RMSE (root mean sum of squared error), r2 values on the experimental data using the GInaFiT software in Microsoft Excel. The optimum models were shown as Log-linear+Tail model, Double Weibull model and Biphasic model. Three models were applied to the experimental data according to the variation of the operating conditions. In Log-linear+Tail model, Log10(No), Log10(Nres) and kmax values were examined. In Double Weibull model, Log10(No), Log10(Nres), α, δ1, δ2, p values were calculated and examined. In Biphasic model, Log10(No), f, kmax1 and kmax2 values were used. The appropriate model parameters for the calculation of optimum operating conditions were kmax, α, kmax1 at each model, respectively.

This paper proposes a robust balance and driving control for omni-directional ball robot(generally called ball-bot) with two axis mecanum wheel. Slip between ball and mecanum wheel actuator inevitably occurs along diagonal axis due to its instantaneous strong torque. In order to reduce and saturate slip, exact distance calculation scheme especially for rotational movement is essential. So this research solved Euler-Lagrange dynamics for proposed two axis ball robot based on practical mechanical modeling. Robust balance control was carried out by PID controller according to the pitch and roll angles of ball robot by using sensor fusion between AHRS and wheel encoder. Proposed PID controller enhances stability by reducing steady state error and settling time. Proposed slip control algorithm for omni-directional ball robot has been demonstrated by experiments for balance control and arbitrary driving control.

This study was conducted to select native ground cover plants for sod culture in an organic apple orchard by estimating the effect of three native ground cover plants, Glechoma hederacea, Thymus magnus, and Ixeris stolonifera, on the soil coverage, time-periodic weed occurrence, fruit characteristics, and soil chemical properties. The plant height of G. hederace, T. magnus and I. stolonifera were 15.0 ㎝, 13.4 ㎝ and 7.2 ㎝, respectively. The dry weight of G. hederace, T. magnus and I. stolonifera were 463 ㎏/10a, 247 ㎏/10a, and 255 ㎏/10a, respectively. The plant height and dry weight of G. hederacea were higher than in the other species. T. magnus and I. stolonifera having relatively lower soil cover rate during their life cycle produced a lot of weeds in the orchard as compared with the control. In contrast, G. hederacea showed 100 percentage of ground cover in the first year, and maintained high percentage of ground cover in the growing season of ‘Tsugaru’ apple for another 2 years. When the soil was covered with G. hederacea in the orchard for 3 years, the amount of weed was only 114 ㎏/10a and number of weeding was also reduced about 33% compared with control as well as the other species. There were no differences in the tree growth and fruit characteristics between the native ground cover plants and the control; however, positive effects of native ground cover plants on soil chemical properties were found. In G. hederacea, available P2O4content in soils remarkably increased and was a significant difference among native species. In addition, cation (Ca, Mg and K) content in soils increased by 39% in Ca, 6% in Mg, and 11% in K at G. hederacea compared with control. These results suggest that G. hederacea could be advantageous in terms of reducing the amount of herbicide applied and the labor required for weed control, and controlling soil chemical properties; therefore, it is a good candidate for sod culture in an organic apple orchard.

In this study, we discussed about the application of the single physical and chemical treatment processes and the physical-chemical complex treatment processes on the inactivation of Artemia sp. in order to satisfy the USCG Phase Ⅱ (United States Coast Guard). The results showed that initial disinfection rate of ultrasonic process in single batch process is higher than that of electrolysis. However, the inactivation rate showed slower than electrolysis. The inactivation rate of Artemia sp. on the single continuous treatment process ranked in the following order: homogenizer 〉 electrolysis 〉 ultrasonic process. Inactivation rate of Artemia sp. in continuous homogenizer-electrolysis complex process was reached at 100% immediately. A synergistic effect of ultrasonic–electrolytic complex process was found to be a small. The order of processes in a complex process did not affect the disinfection performance.

본 연구에서는 4배체에서 염색체가 가감된 hypo-, hypertetraploid 포도들의 수체생육과 과실의 특성을 검정함으로서, 이들의 특성을 이용한 대립계 무핵포도 품종 육성 가능성에 대해서 검토하고자 하였다. Hypo-, hyper-tetraploid 포도들은 다른 이수체식물들에서 보고되었던 엽의 기형이나 수체생육의 불균일 현상 없이 4배체 포도인 ‘거봉’과 유사한 생육상을 보여 재배적으로 활용하는데 문제가 없는 것으로 나타났다. Hypo-teraploid 포도에서 만개기에 GA3 100 ppm 1회 처리 시 완전 무핵과 과실을 형성하였고, 과립도 8.5∼10.5 g 사이로 대립성 과실을 형성하였다. 하지만, Hyper-teraploid 포도는 hypo-teraploid 포도들에 비해 큰 과립을 가진 포도를 형성하였으나 낮은 무핵율을 나타나게 되는 것으로 조사되었다. 따라서 hypo-tetraploid 포도들의 특성을 이용하는 것은 대립계 무핵포도를 육성하기 위한 유용한 방법이 될 수 있을 것으로 판단된다.

This study was conducted to investigated the changes in the nutrient components (NO3 --N, NH4 +-N, PO4 3-P, K+, Ca2+, and Mg2+) and environmental parameters (electrical conductivity, total dissolved solids and pH) on the leaf lettuce (Lactuca sativa L.) grown with hydroponics. Recirculating hydroponic cultivation system was consisted of planting port, LED lamp, water tank, and circulating pump for hydroponic. Nutrient solution was used in the standard solution for Japan vegetables experimental station and commercial hydroponic. The result showed that electrical conductivity (EC), total dissolved solids (TDS) and pH, depending on the growth of lettuce decreased continuously. With the growth of the lettuce, nitrate nitrogen, ammonia nitrogen, phosphate phosphorus were required for periodic replacement. The number of pH compensation due to the growth of lettuce are the most high. The concentration of Ca2+ and Mg2+ during the lettuce growth showed no significant change. However, K+ concentration increased due to the replacement with nitrogen and phosphorus. Electric conductivity and total dissolved solids with total nutrient concentration showed the linear relationship and the correlation coefficient R2 were 0.8601 and the 0.827, respectively.

Dielectric barrier discharge plasma is a new technique in water pollutant degradation, which that is characterized by the production of chemically active species such as hydroxyl radicals, ozone, hydrogen peroxide, etc. If dissolving of plasma gas generated in the plasma reaction has increased, it is possible to increase the contaminant removal capacity. In this study, the improvement on the dissolving performance of plasma gas was evaluated by the indirect method measuring the overall oxygen transfer coefficient. Experiments were conducted to examine the effects of nozzle type, distance from water surface, air supply rate and liquid circulation rate. The experimental results showed that the KLa value of the 3-prong nozzle is 2.67 times higher than the diffuser. The order of KLa value with nozzle type ranked in the following order: 3-prong nozzle (inner diameter, less 1 mm) > circular nozzle (inner diameter, 1.5 mm) > ellipse nozzle (short diameter 1 mm, long diameter 2.5 mm) > circular nozzle (inner diameter, 3 mm). Optimal liquid circulation rate was appeared to be 1.7 L/min, the value of KLa was 0.510 1/min. The value of KLa with increasing air supply rate was revealed in the form of an exponential such as KLa=0.3581e0.2919＊air flow rate

Plasma reactor was used for the inactivation of Phytophthora capsici which is phytophthora blight pathogen in aquiculture. Effects of first voltage, second voltage, air flow rate, pH, incubation water concentration were examined. At the low 1st voltage, under 80 V, the lag phase was noticed within 30 sec, however, it was not shown over 100 V. The variation of optimum operation condition was not shown by the variation of microorganisms. However, the inactivation rate was different by the variation of species of microorganisms. The inactivation rate and efficiency were increased by the increase of 2nd voltage. The highest initial inactivation rate was shown at pH 3 and the rate was decreased by the increase of pH. The inactivation rate increased by the increase of air flow rate, however, it was shown as similar at the rate of 4 L/min and 5 L/min. The inactivation rate was distinctly decreased at the three times concentration of incubation solution comparing at the distilled water and basic incubation solution.

In this study, we examined the effect of cathode from electrolysis reactor for treating ballast water. We are going to select a suitable cathode for seawater electrolysis after considering the effect on the generation of the oxidant of cathode and the electrode deposition materials adhering to the surface of cathode. Anode is Ru-Ti-Pd electrode and cathode are Ti, Pt, JP520 (Ni-Pt-Ce) electrodes. Using the cathode of the three types, experiments were conducted to examine the effects of TRO (total residual oxidants) generation concentration and RNO (N, N-Dimethyl-4-nitrosoaniline, indicator of the generation of OH radical) degradation concentration (in 1, 35 psu), ohmic drop, FESEM(field emission scanning electron microscope) observation of cathode surface and EDX (energy dispersive X-ray spectroscopy) measurements of attached fouling material. The results showed that TRO generation concentration and RNO degradation concentration in according to each type of cathode are not different. The attached fouling materials were observed on the surface of Ti and the JP520 electrode by the observation of SEM after electrolysis for two hours, but it was not observed on the surface of Pt electrode. When considering the surface ohmic drop of cathode and the attached fouling materials, Pt electrode was judged as the excellent cathode.

For the field application of dielectric barrier discharge plasma reactor in nutrient solution culture, a filtration-DBD (dielectric barrier discharge) plasma reactor was investigated for the Ralstonia solanacearum which causes bacterial wilt in aquiculture. The filtration-DBD plasma reactor system of this study was consisted of filter, plasma reactor, reservoir. The DBD plasma reactor consisted of a quartz dielectric tube, discharge electrode (inner) and ground electrode (outer). The experimental results showed that the inactivation of R. solanacearum with filter media type in filter reactor ranked in the following order: anthracite > fiber ball > sand > ceramic ball > quartz ceramic. In filtration + plasma process, disinfection effect with the voltage was found to small. In disinfection time of 120 minutes, residual R. solanacearum concentration was 1.17 log (15 CFU/mL). When the continuous disinfection time was 120 minute, disinfection effect was thought to keep the four days. In sporadic operation mode of 30 minutes disinfection - 24 hours break, residual R. solanacearum concentration after five days was 0.3 log (2 CFU/ mL). It is considered that most of R. solanacearum has been inactivated substantially.

For the field application of dielectric barrier discharge plasma reactor, a multi-plasma reactor was investigated for the inactivation of microorganisms in sewage. We also considered the possibility of degradation of non-biodegradable matter (UV254) and total organic carbon (TOC) in sewage. The multi-plasma reactor in this study was divided into high voltage neon transformers, gas supply unit and three plasma modules (consist of discharge, ground electrode and quartz dielectric tube). The experimental results showed that the inactivation of microorganisms with treated water type ranked in the following order: distilled water > synthetic sewage effluent >> real sewage effluent. The dissolved various components in the real sewage effluent highly influenced the performance of the inactivation of microorganisms. After continuous plasma treatment for 10 min at 180 V, residual microorganisms appeared below 2 log and UV254 absorbance (showing a non-biodegradable substance in water) and TOC removal rate were 27.5% and 8.5%, respectively. Therefore, when the sewage effluent is treated with plasma, it can be expected the inactivation of microorganisms and additional improvement of water quality. It was observed that the NH4 +-N and PO4 3--P concentrations of sewage was kept at the constant plasma discharging for 30 min. On the other hand, NO3 --N concentration was increased with proceeding of the plasma discharge.