Earticle

무인항공기는 2000년대 중반부터 탐색, 조사, 매핑, 수색 및 구조 등의 3D 작업에 적극적으로 사용되기 시작했다. 이러한 세계적인 추세에 따라, 무인항공기의 정밀한 제어는 엄청난 응용 산업들의 측면에 있어서 혁명을 가져올 것이다. 논문의 첫 번째 파트에서는 시스템식별 기법을 사용하여 간략화 된 무인항공기의 모델을 이전의 이산시간 선형모델과 비교분석 한다. 두 번째 파트에서는 동적 모델의 세 가지 변수가 배치추정기법과 RLS추정기 법을 사용하여 추정된다. 쿼드로터 무인항공기 호버링 기동 시의 각가속도 데이터가 항상 수렴한다고 분석되었다. 또한 실험 및 MATLAB 시뮬레이션의 쿼드로터 무인항공기 비행 데이터에 의하면, 배치추정기법이 RLS추정기법 보다 더 정확하다고 판명되었다.

UAVs began to be actively applied to so-called 3D jobs, including the autonomous exploration, investigation, mapping, search and rescue, etc. since the mid-2000s. With this global trend, having a precise controllability of the UAV will certainly revolutionize the life of the modern human in the aspect of tremendous applications of the UAV. In the first part, a simplified dynamic model of the UAV identified using system identification techniques is compared with the previously built time-discrete linear model. In the second part, the three parameters of the dynamic model are estimated using the batch and RLS methods. Angular acceleration data of the quadrotor UAV at the hovering maneuver are analyzed and shown to be converging at all time. Also, according to the quadrotor flight data from both experiments and MATLAB simulations, the batch estimation method turns out to be more accurate than the RLS estimation method based on the comparison of final parameter values.

인터넷 인프라의 고속 성장과 디지털 이미징 장치들의 빠른 보급 및 기술향상으로 인해 디지털 이미지콘텐츠 관련 산업화 또한 빠르게 성장하고 있다. 디지털 이미지 콘텐츠는 컴퓨터에서 인식 가능하도록 디지털화한 이미지를 의미하며, 본 논문은 디지털 콘텐츠 개발자 및 일반 UCC 제작자들을 위해 방대하고, 분산되어 있는 디지털 이미지콘텐츠의 효율적인 일괄자동화 관리를 위해 맞춤형 스톡 이미지콘텐츠 관리 기술을 제안한다. 이미지콘텐츠 일괄 자동화를 위해 스톡이미지 메타데이터를 원하는 메타데이터 시스템으로 자동 변환시키는 자동 메타데이터 변환기술, 원하는 형식의 이미지콘텐츠로 자동 변환시키는 자동 이미지콘텐츠 변환기술, 원하는 형식으로 업로드할 수 있는 선택적 이미지콘텐츠 업로딩 기술 등을 이용하여 시스템을 구축한다. 또한, 구축된 시스템은 라이브러리화하여 쉽고 빠르게 이식이 가능하며, 기존 시스템에 적용하여 효율적인 작업 환경을 제공하며, 일반 사용자 및 이미지콘텐츠 개발자를 위한 친근형 인터페이스 구축에 큰 기여를 할 것이다.

As a high-speed growth of internet infrastructure and a fast supply of digital imaging devices, a digital image contents industrialization is growing fast. Digital image contents are represented as digitalized images for recognition by the computer. This paper proposes the customized stock image contents management system for digital image contents developers and UCC contents producers. For automatic batch management of image contents, we design the system using the techniques of stock image meta-data conversion to want, image contents format conversion to want and selective image contents uploading to want. Furthermore, constructed system can be embedded to a system easy and fast. It provides efficient work environment as appling conventional systems and contributes for user-friendly interface construction.

Door to door service is a typical method for individual parcel deliveries. In the current delivery information system, a delivery person manually inputs the information of many delivery results, which causes inefficiency and difficulties of tracking deliveries. This study suggests an enhanced delivery information system which has the following two characteristics. Firstly, a tagged RFID(Radio Frequency Identification) transmits the delivery result information to the main server by just collecting RFID at a place of destination. Secondly, with the characteristics of rewritable method, the collected RFID is to be input new information and tagged to other parcels.

Cloud computing is becoming more and more important in research organization and IT industry. It has various advantages like scalability and availability of computing resources. Virtual cluster systems are also used in scientific computing environment. The system like vcluster, integrates computing resources from heterogeneous clouds. It maintains the information of all clouds which are involved in a federated environment. The virtual machine allocation is based on the available resources and information of utilized resources. In order to do that vcluster has to request the clouds to get the real time information of virtual machines which include huge synchronization overhead. In this paper, we propose a methodology to reduce overhead in synchronization mechanism. An analysis shows that the proposed mechanism minimizes the overhead of synchronization. It also has ability to discover, correct and report the errors.

Analysis of methanogenic communities in an anaerobic batch system is essential for the process to be better understood and managed. The diversity of methanogenic populations, along with the process data of an anaerobic batch process treating waste activated sludge, was monitored for 25 days. For the understanding of microbial diversity and dynamics, 16S rRNA gene-targeted denaturing gradient gel electrophoresis (DGGE) fingerprinting was conducted in two different taxonomic levels of domain and order. Domain Archaea and three orders Methanosarcinales, Methanomicrobiales, and Methanobacteriales DGGE profiles were comparatively analyzed by sequences identification of each DGGE band. The profiles of three orders DGGE showed new methanogens belonging to each order but they were not detected by the profiles of Archaea DGGE. The divergences could be resulted from PCR bias or different microbial abundancesof each order in anaerobic bioreactor. In conclusion, for the understanding of fully detailed methanogenic diversity and dynamics occurring in anaerobic bioreactor, it is necessary to conduct DGGE analysis by lower taxonomic 16S rRNA gene primer.

The effects of raw glycerol on 1,3-propanediol (1,3-PDO) production were investigated with various microorganisms. Klebsiella strains were generally resistant to the tested 4 types of raw glycerol while the growth of Clostridium strains was variably inhibited depending on the type of raw glycerol. Fed-batch cultures with suspended cells of Klebsiella pneumoniae DSM 4799 revealed that 1,3-PDO production was more effective when utilizing raw glycerol than pure glycerol. In addition, more than 80 g/L of 1,3-PDO was produced using raw glycerol; this is the highest 1,3-PDO concentration reported thus far for K. pneumoniae using raw glycerol. Repeated fed-batch fermentation with cell immobilization in a fixed-bed reactor (FBR) was performed to enhance 1,3-PDO production. Production of 1,3-PDO increased with the cycle number due to the successful cell immobilization. Continuous fermentation with immobilized cells was also performed to investigate the effect of dilution rate and glycerol concentration on 1,3-PDO production.

Gloshedobin is one of promising therapeutic thrombin like enzymes, potentially useful for the treatment of blood clotting disorders through their anti-coagulant function. However, it is difficult to obtain a sufficient amount of the enzymes from the nature, so we use Escherichia coli to offer a route for the rapid and economical production of recombinant proteins. However, over-expression of recombinant gloshedobin in E.coli led to intracellular accumulation as solid aggregates known as inclusion bodies (IBs). We would like to develop novel refolding cocktail based refolding strategies by harnessing in vitro realization of a molecular chaperone network for renaturation of solubilized but denatured gloshedobin in a manner to mimic cellular folding machinery.[1] In order to redesign the traditional batch dilution refolding schemes with the use of refolding cocktail containing recyclable molecular chaperones,[2] two types of beads functionalized with various molecular chaperones (e.g. DnaK, DnaJ, GrpE, ClpB, TF, GroEL, GroES) are prepared : 1) metal chelating beads loaded with in-house cloned His-tagged molecular chaperones, and 2) CNBr-activated Sepharose 4B covalently conjugated with chaperones. To address any plausible alteration on the chaperoning activity of each chaperone following the bead coupling, each chaperone is cloned to harbor the 6xHis-tag at either N- or C-terminus. Following exploration of chaperoning efficacy of individual bead attached chaperones on the refolding of gloshedobin, a recyclable refolding cocktail comprising essential chaperones at an optimal stoichiometry will be prepared to compare the efficiency of cocktail assisted refolding strategy with that of the conventional batch dilution refolding strategy.

메탄올이용균인 Methylobacillus sp. SKI의 균체생산효율을 증대시킬 목적으로 마이크로컴퓨터 제어 배양기를 이용해 고농도 유가배양을 수행하였다. 배양액의 초기 메탄올농도를 1.0%(v/v)로 하여 회분배양할 경우 배양 13시간만에 2.07g/l의 균체농도에 도달하였다. 공기 공급에 의한 유가배양에서 최대교반속도 1200rpm, 최대 공기유량 5.0ℓ/min의 조건으로 배양시 약 15시간만에 13.7ℓ/ldml 균체농도에 도달하였다. 산소공급에 의한 유가배양에서 최대교반속도 1200rpm, 공기유량 1.0ℓmin, 최대산소유량 5.0ℓ/min의 조건으로 배양시 17시간만에 45.3g/l의 균체농도에 도달하였다. 균의 대수 증식기를 공기공급에 의한 유가 배양으로 회분배양에 비해 약 3시간, 산소공급에 의한 유가배양으로 회분배야에비해 약 3시간, 산소공급에 의한 유가배양으로 회분배양에 비해 약 4시간 더 연장할 수 있었다. 즉, 유가배양로 단시간에 높은 농도의 균체를 얻은 것은 feedback제어에 의해 메탄올을 저해농도 이하로 유지시키면서 용존산소를 한계농도 이상으로 제어함으로써 균의 대수적 증식으로 연장시킨 결과이다. 산소공급에 의한 유가배양중 균체농도 27.6g/l에서 미량원소성분이 결핍되었고, 42.8g/l에서 Mg2+성분이 결핍되었으므로 배양중에 추가공급되었다

Methylobacillus sp. SK1, an obligate methylotroph, was cultivated in a fed-batch culture using DO as a methanol feeding indicator with a micro computer-aided control system. While 2.07g/l of cell density was obtained after 13 hr in the batch culture (initial methanol concentration: 1.0%(v/v)),45.3g/l of cell density was obtained after 17 hr by feeding methanol and metal ions in the fed-batch culture with oxygen supply. The high-density biomass was obtained in short cultuivation time by fed-batch culture with feedback control, and consequently the biomass productivity was significantly increased. It was mainly due to extension of logarithmic growth period by methanol feeding without methanol inhibition and intensive aeration without DO limitation with microcomputer-aided control system.

다중 교반형 생물반응기 내에서 배추 PLD에 의한 인 지방질의 염기 가수분해 반응 및 염기전이 반응에 대한 특성 실험에서 다음과 같은 결론을 얻었다. 반응 최적 조건으로서 pH 5.6, 온도 37℃였고 반응 촉진제로서Ca2+ 의 농도는 가수분해 반응시 20mM, 염기전이 반응에서는 40mM이었다. Diethylether와 butylacetate도 강력한 반응촉진제로서 반응성을 높였고 이들의 농도는 20%가 효과적이었으며, 반면에 EDTA 및 Ba2+, Mn2+, Zn2+등은 PLD의 활성을 강력하게 저해하였다, 염기 수용체로서 glycerol을 비롯한 알콜 화합물은 대부분이 반응성을 양성으로 나타내었으며 15종의 알콜 화합물 가운데 glycerol, ethyleneglycol, propyleneglycol등이 반응성이 높게 나타났으며 이들의 최적농도는 20%가 효과적이었다.

Phospholipase D catalyzes the phosphatidohydrolysis and transphosphatidylation of phospholipid in the biological systems. In this study we were partially purified phospholipase D from Chinese cabbage and the characterization of the enzyme was carried out in a multistirring batch system bioreactor. The enzyme showed optimum activity at pH ,5.6, highest activity at 37 and Ca2+ is important for the enzyme activity. Optimum concentrations of Ca2+ for phosphatidohydrolysis was 20 mM and for transphosphatidylation was 40 mM, respectively. Some organic solvents such as diethylether, isopropylether and butylacetate were activated the enzyme activity. On the other hand, EDTA, Ba2+, Mn2+ and Zn2+ showed inhibitory effect on the enzyme activity. The base acceptors in transphosphatidylation by the Chinese cabbage phospholipase D were tested. Various poly-and monohydroxy alcohols were found to be active.

An investigation was made to develop new biofilm medium which could be applied to the Sequencing Batch Biofilm Reactor(SBBR) system for enhanced nutrient removal. 21 kinds of polyurethane media were tested fro adhesion ability for nitrifying bacteria. Nitrification rates were also tested by introducing synthetic wastewater containing ammonium-nitrogen to reactors with biofilm media. It was found that Z96-06 medium had higher selective adhension ability for nitrifying bacteria than the other biofilm media. The nitrification rate was 2.21 mg {{{{ { NH}`_{4 } ^{ +} }}}}-N /Lhg MLSS when we operated the SBBR system containing Z96-06. Nitrification rate of the SBBR system increased approximately by 30% compared with that of the Sequencing Batch Reactor(SBR) system which did not contain biological carrier.

배양기와 16비트 마이크로컴퓨터를 접속하여 호기성 미생물의 고농도 유가배양시스템을 구성하였다. 기질공급을 위한 제어변수로는 용존산소(DO)를 이용하였다. 용존산소측정기의 출력신호를 컴퓨터에 입력시켜 측정한 DO값에 근거하여 교반모터의 교반속도와 산소유량을 제어함으로써 배양액의 DO를 일정하게 유지하였으며, 연동펌프의 제어에 의해 기질공급을 안정하게 수행하였다. 기질공급의 제어와 DO의 제어를 한가지의 하아드웨어 및 소프트 웨어로 수행할 수 있었다. 제어시스템을 이용하여 메탄올이용균인 Methylobacillus sp. SKI을 유가배양한 결과 배양액의 DO제어와 메탄올 공급의 제어가 무리없이 수행되었으며, 배양 10시간만에 16.53g/l의 균체농도에 도달하였다

A microcomputer-aided fermentation system was constructed for high density fed-batch culture using dissolved oxygen(DO) as a substrate feeding indicator. DO signal was processed prior to aquisition to computer. Agitation speed and oxygen flow rate was changed stepwisely to maintain DO value at a constant level. Agitation speed was controlled by the output signal of D/A converter. Oxygen flow rate was controlled by a flow rate control valve connected to a stepping motor. Substrate was fed with a feeding pump operated by the abrupt increase of DO signal. Methylobacillus sp. SK1 was cultivated to test the system and 16.53g/l of cell density was obtained after 10 hr.

The performance of an autothermal thermophilic aerobic digestion (ATAD) system was studied to determine if nitrogen loss, as ammonia, was affected by an exhaust gas condenser. The system was run with and without a condenser while treating $8m^3$ of piggery slurry for 8 days. The system with a condenser (SWC) maintained the reactor temperatures above $40^{\circ}C$ for 2 days during the 8 days run, while the system without a condenser (SWOC) remained above $40^{\circ}C$ for 6 days. The SWC maintained the reactor temperatures mostly at mesophilic conditions while the SWOC at thermophilc conditions. Differences in operation conditions for the two runs were mainly caused by differences in atmospheric temperatures. Soluble chemical oxygen demand (SCOD) and volatile solids (VS) removal efficiencies of the SWC (SCOD: 62%, VS: 41%) were higher than those of the SWOC (SCOD: 40%, VS: 20%). The total Kjeldal nitrogen (TKN) removal efficiency of the SWC (7%) was less than that of the SWOC (25%). The concentration of total volatile fatty acids (VFA) in the SWC was observed to be lower than the threshold value of 0.23 g total VFA/L after 6 days, while the SWOC progressed below the threshold value after 3 days. No offensive odor emissions were observed in either run, which suggest that the use of the ATAD system may be a good odor removal strategy.

We derive the arbitrary time point system size distribution of M/ $G^{B}$1 queue in which late arrivals are not allowed to join the on-going service. The distribution is given by P(z) = $P_{4}$(z) $S^{*}$ (.lambda.-.lambda.z) where $P_{4}$ (z) is the probability generating function of the queue size and $S^{*}$(.theta.) is the Laplace-Stieltjes transform of the service time distribution function. We also derive the distribution of the service siez at arbitrary point of time. time.

In this study the optimal control of fed-batch glycerol fermentation is investigated based on an impulsive dynamical system. Considering the sudden increase of the glycerol and alkali in fed-batch culture of biodissimilation of glycerol to 1,3-propanediol, this paper proposes a non-linear impulsive system of fed-batch culture. The existence, uniqueness and regularity properties of piecewise solution for the system are proved. In view of the controllability of volumes of glycerol added to the reactor instantaneously, the paper constructs an optimal control model based on the nonlinear impulsive system and the existence of the optimal control is obtained. The control variables here are the moments and the sizes of jumps in the states at the discrete instants and the objective is to maximize the productivity of 1,3-propanediol over one cycle.

This paper analyses the best batch formations for order picking throughput in narrow-aisle order picking systems. Our analytical comparison finds that a high pick density variation leads to a heavy picker blocking. Simulation experiments show that a distance-based batching algorithm reduces picker blocking by decreasing the number of aisles visited and stabilizing the variation in number of picks per aisle by packing orders tightly, and that the solution quality and mechanism for determining the batch size dictated by the sorting strategy causes varying amounts of blocking. We conclude that combining a distance-based batching method with an appropriate batch sizing strategy will reduce picker blocking and shorten travel in narrow-aisle picking systems.

It is desired to estimate the reliability of a system that has two subsystems connected in series where each subsystem has two components connected in parallel. A batch sequential sampling scheme is introduced. It is shown that the batch sequential sampling scheme is asymptotically optimal as the total number of units goes to infinity. Numerical comparisons indicate that the batch sequential sampling scheme performs better than the balanced sampling scheme and is nearly optimal.

비가열 살균 기술의 하나인 광펄스 기술을 이용하여 마른 김에 존재하는 미생물에 대한 살균 효과와 품질 변화에 대하여 알아보았다. 마른 김에 1,000 V, 5 pps의 조건하에서 7.9 cm의 거리에서 광펄스 조사를 하였을 때 처리 1분 후에는 0.6 log CFU/g, 처리 10분 후에는 1.6 log CFU/g의 사멸 효과를 보였다. 같은 조건에서 광펄스 조사 후 마른 김의 표면 온도는 약 $1.9^{\circ}C$의 상승을 나타냈으며, 색도에 있어서는 명도가 증가하고, 적색도 및 황색도는 감소하는 경향을 보였으며, 처리 시간이 길어질수록 전체적인 색도의 차이가 크게 나타나는 결과를 보였으나 육안으로는 차이 정도를 확인할 수 없었다. 이러한 결과로 미루어 볼 때 광펄스 살균 기술은 품질 변화없이 마른 김에 존재하는 위해 미생물을 효과적으로 감소시킬 수 있을 것으로 판단된다.

Intense pulsed light (IPL) is a nonthermal technology emerging as an alternative to conventional thermal treatment. The purpose of this study was to investigate the effect of IPL treatment on the microbial inactivation, color alteration, and temperature change of dried laver to evaluate the commercial feasibility of IPL as a sterilization method. IPL treatment (10 min at 1,000 V and 5 pps) resulted in approximately 1.6 log CFU/g decrease in microbial cell viability. After IPL treatment, the surface temperature of dried laver increased by $1.9^{\circ}C$. The color lightness of dried laver increased with increased treatment time, while redness and yellowness decreased. However, these color differences were not significant.

광펄스 기술의 주요 공정 변수인 빛의 세기, 펄스 수, 광원과 시료사이의 거리에 따른 병원성 대장균의 사멸효과, 형태학적 변화와 세포의 손상 및 회복 여부를 알아보았다. 1,000 V, 5 pps, 7.9 cm에서 병원성 대장균을 광펄스 처리하였을 경우 처리시간이 증가함에 따라 사멸정도가 증가하였으며, 120초 처리하였을 때 약 7.1 log CFU/mL 감소하였고, 사멸속도는 $0.07s^{-1}$이었다. 같은 빛의 세기에서는 펄스수가 증가할수록 사멸정도가 증가하였으며, 램프와 시료의 거리가 가까울수록 사멸효과가 높았다. 광펄스 처리에 의한 미생물의 사멸은 세포막의 파괴에 의한 것으로 처리 시간이 증가함에 따라 세포내 물질의 외부 유출이 증가하며, 사멸되지 않은 세포라도 손상을 입어 정상적인 생육을 하지 못하는 것으로 보아 사멸이 물리적 손상 이외에의 생물학적 손상이 있는 것으로 판단된다. 세포의 물리적 손상 여부를 전자 현미경으로 살펴본 결과 광펄스 처리를 받은 세포는 세포막에 손상을 입어 세포내 물질의 유출이 일어난 것을 알 수 있었다.

Intense pulsed light (IPL), a nonthermal technology, has attracted increasing interest as a food processing technology. However, its efficacy in inactivating microorganisms has not been evaluated thoroughly. In this study, we investigated the influence of IPL treatment on the inactivation of Escherichia coli O157:H7 depending on light intensity, treatment time, and pulse number. Increased light intensity from 500 V to 1,000 V, raised the inactivation rate at room temperature. At 1000 V, the cell numbers were reduced by 7.1 log cycles within 120 s. In addition, increased pulse number or decreased distance between the light source and sample surface also led to an increase in the inactivation rate. IPL exposure caused a significant increase in the absorption at 260 nm of the suspending agent used in our experiments. This indicates that IPL-treated cells were damaged, consequently releasing intracellular materials. The growth of IPL-irradiated cells were delayed by about 5 h. The degree of damage to the cells after IPL treatment was confimed by transmission electron microscopy.

시중에서 판매되고 있는 후추 29종을 수거하여 오염도를 조사한 결과, 전통시장에서 구입한 후추는 일반세균 $10^6-10^7$, Bacillus $10^4-10^5$, 효모와 곰팡이 $10^2$ 이하의 오염도를 보였고, 유기농 제품으로 판매되는 후추의 경우에는 일반세균 $10^4$, Bacillus $10^2-10^3$, 효모는 $10^1$ 이하의 오염도를 나타내었다. 대형마트에서 판매되고 있는 후추는 낮은 오염도를 나타내었으나 일부에서는 일반세균이 $10^3$ 정도의 오염도를 보였다. 전압 1,000 V, 펄스수 5 pps, 시료와 램프사이의 거리 4 cm의 조건에서 10분간 광펄스 처리하였을 경우 통후추는 1.45-1.55 log, 흑후추분말과 백후추분말은 0.8-0.85 log의 사멸율을 나타내었다. 살균 용기의 차이에 따른 살균율에는 유의적인 차이를 나타내지 않았다. 광펄스에 의한 후추의 살균율은 오존처리나 감압방전프라즈마 살균 등 다른 비가열 살균방법에 비해서는 높은 사멸율을 보여 산업적 적용 가능성을 보였으나, 추가적인 연구를 통해 살균 효과를 높일 수 있는 방법이 제시되어야 할 것으로 판단된다.

Twenty-nine pepper products commercially available in the market were collected and investigate for contamination levels. Pepper products purchased from traditional markets had a degree of contamination of $10^6-10^7CFU/g$ aerobic bacteria, $10^4-10^5CFU/g$ Bacillus sp., and less than $10^2CFU/g$ yeast and molds. Organic pepper showed a degree of contamination of $10^4$ aerobic bacteria, $10^2-10^3$ Bacillus sp., and less than $10^1$ yeast and molds. Intense pulsed light (IPL) treatment of 10 min (1,000 V, 5 pps and 4 cm sample-to-lamp distance) showed a bacterial death rate of 1.45-1.55 log for whole peppers, and of 0.8-0.85 log for black and white pepper powder. The sterilization rate using IPL was higher than that using other non-thermal sterilization methods, such as ozone treatment or low-pressure discharge plasma sterilization, indicating that the IPL sterilization method may find potential application in the industry. However, further studies may need to be conducted to enhance the effect of sterilization.