The Expanded Guide Circle (EGC) method has been originally proposed as the guidance navigation method for improving the efficiency of the remote operation using the sensory information. The previous algorithm is, however, concerned only for the omni-directional mobile robot, so it needs to suggest a suitable one for a mobile robot with non-holonomic constraints. The ego-kinematic transform is a method to map points of R2 into the ego-kinematic space which implicitly represents non-holonomic constraints for admissible paths. Thus, robots with non-holonomic constraints in the ego-kinematic space can be considered as “free-flying object”. In this paper, we propose an effective obstacle avoidance method for mobile robots with non-holonomic constraints by applying EGC method in the ego-kinematic space using the ego-kinematic transformation. This proposed method shows that it works better for non-holonomic mobile robots such as differential-drive robot than the original one. The simulation results show its effectiveness of performance.

During the reign of King Sejong (世宗, 1418-1450) in the Joseon Dynasty, there were lots of astronomical instruments, including miniaturized ones. Those instruments utilized the technical know-how acquired through building contemporary astronomical instruments previously developed in the Song(宋), Jin(金), and Yuan(元) dynasties of China. In those days, many astronomical instruments had circles, rings, and spheres carved with a scale of 365.25, 100, and 24 parts, respectively, on their circumference. These were called the celestial-circumference degree, hundred-interval (Baekgak), and 24 direction, respectively. These scales are marked by the angular distance, not by the angle. Therefore, these circles, rings, and spheres had to be optimized in size to accomodate proper scales. Assuming that the scale system is composed of integer multiples of unit length, we studied the sizes of circles by referring to old articles and investigating existing artifacts. We discovered that the star chart of Cheonsang yeolcha bunyajido was drawn with a royal standard ruler (周尺) based on the unit length of 207 mm. Interestingly, its circumference was marked by the unit scale of 3 puns per 1 du (or degree) like Honsang (a celestial globe). We also found that Hyeonju ilgu (a equatorial sundial) has a Baekgak disk on a scale of 1 pun per 1 gak (that is an interval of time similar to a quarter). This study contributes to the analysis of specifications of numerous circular elements from old Korean astronomical instruments.

Mitochondria are essential organelles of eukaryotic cells and plant cells contain varying numbers of mitochondrial genome sequences. Sizes and shapes of mitochondria differ within a tissue or in the same cells. Previously sequenced complete mitochondrial genome (NC_016118) of Brassica oleracea size was 360,271 bp, where segmental duplication (repeat block) was 141,800 bp. In this study, we resequenced this whole mitochondrial genome by using WGS (whole genome sequencing) and assembled organelles genome method (unpublished). Newly sequenced mitochondrial genome length was 219,975 bp and circle form. A new sequence segment of approximately 4,800 bp was obtained compared to the previous genome sequence without any large repeat block. Newly obtained mitochondria genome sequence was compared with recently reported mitochondria genome sequences of various species (B. oleracea, B. juncea, B. rapa, B. napus and B. carinata) and subspecies (cabbage, cauliflower, brussels sprouts, kohlrabi, broccoli and kale) by PCR using primers specifying different region of genome sequences. PCR analysis results have also confirmed the variation between previous and newly sequenced mitochondrial genome circles form. Thus, the results suggest new B. oleracea mitotype, including evolutionary events such as inheritance, rearrangement, genome compaction, and diversity

This paper presents an improvement for calculating method of astronomical ship position based on circle of equal altitude equation. In addition, to enhance the accuracy of ship position achieved from solving equation system, the authors used singular value decomposition (SVD) in least square method instead of normal decomposition. In maths, the SVD was proved more numerically stable than normal decomposition. Therefore, the solution of equation system will be more efficient and the result would be more accurate than previous methods. By proposal algorithm, a computer program have been developed to help the navigators in calculating directly ship position when the modern equipment has failure. Finally, some of experiments are carried out to verify effectiveness of proposed algorithm, the results show that the accuracy of ship position based on new method is better than the intercept method.

정박중인 선박의 안전을 위하여 항해사, 선장 및 해상교통관제사는 항상 선박이 주묘되고 있는가를 확인하여야 한다. 정박선의 주묘판별을 위하여 VTS 관제사가 선회권과 그 중심을 인지하는 것이 중요하다. VTS에서 정박선 주묘여부 감시는 레이더 및 AIS를 이용할 수 있다. 또한 이용가능하다면, CCTV 영상이나 육안에 의한 관측도 이루어 질 수 있다. 그러나 VTS 시스템은 AIS 및 ARPA Radar로부터 수집된 데이터만으로 정박선을 모니터링하고 있으므로 정박지내에서 정박선의 선회중심을 알기가 어렵다. 본 연구에서는 VTS에서 AIS에 의해 수집된 정박 선박의 선수방위각과 위치데이터를 활용하여 선회중심을 추정하는 알고리즘을 제시하고자 한다. 알고리즘의 유효성을 확인하기 위해, 실 환경에서 정박한 선박에 대한 실험연구를 수행하였다.

In this article, I will press for some changes in the way we think about the role of women in early Christianity. Marcella(325∼410) played a much more creative role than often thought in shaping spirituality in the Roman setting during the mid-fourth century, the period of barbarian invasions. Marcella was a highborn lady from a line of consuls and prefects. She, as an aristocratic woman, was the first in Rome to accept the monastic vocation. Marcella created the Aventine Circle which provided the original impetus for the flowering of Roman female monasticism. She was an important teacher in the early church who was highly esteemed by Jerome. She was in the front lines in interacting with heretics and bringing them to a better understanding of Christian truth. At one point, when a dispute arose in Rome concerning the meaning of the Scriptures, Jerome asked Marcella to settle it. It is wrong to give Jerome the credit for inspiring or shaping Marcella’s spirituality and her Aventine Circle. It is also a mistaken notion that Marcella was at best a satellite or disciple of Jerome. By the time Jerome appeared in Rome in 382, the Aventine Circle had already assumed its basic pattern of monastic life, centering around intensive study of scripture, prayer, fasting, almsgiving and so on. Although he taught scriptures and encouraged their asceticism, he could not have shaped the Aventine Circle, which by this time had already been in existence thirty years or more. Moreover, Jerome commented that their scholarship on biblical study was far beyond normal. Jerome leaves ample evidence that he considered Marcella a biblical scholar. She was fluent in Greek as well as Latin and had an intense desire to master Hebrew. Jerome saw Marcella his equal as an interpreter of the Scripture. Looking in a new way at the evidence, I believe there are ample reasons for retelling the story of early Christianity in the West. As a founder of the Aventine Circle, as a role model of a monastic lifestyle for devout women of Roman aristocracy, and because of her highly intelligent scholarship on the Bible, Marcella was a major player in the development of Christian spirituality.

본 연구는 협동적 집단 원게임 활동이 유아의 사회적 능력에 어떠한 영향을 미치는지를 알아보는데 목적이 있다. 생활주제에 적합하고 Orlick의 협동구조 게임의 4가지 개념(협동, 수용, 참여, 흥미)이 포함되며 유아들의 발달 수준이 반영될 수 있도록 고안한 16가지의 활동을 8주간 실시하였다. 연구 결과 협동적 집단 원게임 활동은 유아의 사회적 능력 전체에 통계적으로 유의미한 차이가 없는 것으로 나타났으나 유아의 사회적 능력 구성요인 중 주도성과 협조성에 통계적으로 유의미한 차이가 있는 것으로 나타났다.

한국원자력연구소의 연구용 원자로인 하나로에 설치되어 있는 4축 단결정 회절장치에서 사용할 수 있는 고온시료환경장치의 개발이 완료되었다. 이 장치를 이용하여 구조가 알려진 시료에 대해 고온실험을 수행함으로써 장치의 성능을 시험하였다. 이번 연구를 통하여 현재 개발된 고온시료환경장치가 900 K 이상의 고온에서 장시간의 실험에 안정함을 알 수 있었다. LaTaO3단결정(상전이 온도 약 900 K)에 대해 상온과 913 K에서 중성자 회절실험을 수행하여 X-ray 회절실험으로는 정확한 위치를 측정하기 어려운 Li의 위치를 측정하였고 고온에서 Li 원자가 무질서 상태로 존재함을 확인하였다.

A navigator on bridge needs to know every kinds of motion characteristics of his vessel at sea. Generally when a vessel is completely built, the shipyard makes turning circle diagrams from the results of turing circle tests made during the sea trials for the reference of the vessel's owner. But referring only the data of a turning circle diagram, an officer on bridge can not figure out his vessel's maneuvering characteristics sufficiently, So nowadays the shipyard often adds Z test to turning circle test for more detail references. In this paper the author made Z and turning circle tests at the rudder angles of 15 and and 35 degress separately and in each of the case made a turrning circle diagram from the results of the turning circle test and the esults numerically calculated from mathematical formula made on the base of the maneuvering indices got from the Z test and compared them each other for the purpose of finding the correlations between them. Followings are concluded from the results. An actual turning circle diagram and a calculated one from the results of the Z test at same rudder angle coincides each other well when the center of the calculated circle is transferred by 1.7B toward the direction of the initial turning perpendicularly to the original course and 0.5L toward the direction in parallel with original course in case of the rudder angle of 35 degrees and 1.2B and 0.3L toward each of the above mentioned directions in case of rudder angle of 15 degrees.