This paper presents a robust trajectory-tracking control framework for underwater vehicles operating in a relative coordinate system. Unlike conventional methods that define trajectories in the world frame, the proposed approach formulates the control problem directly in a moving reference frame, enabling accurate motion control with respect to dynamic and drifting objects affected by environmental disturbances such as ocean c...

The genus Monoraphidium is a green microalgae distributed globally in freshwater ecosystems, and it is difficult to classify morphologically. Molecular genetic markers have been used for their taxonomy, although they have not been thoroughly evaluated. Here, we investigated three nuclear rRNA molecules (18S, internal transcribed spacer [ITS] + 5.8S, and 28S) and four chloroplast genes (psbB, psbC, rbcL, and tufA) using 16 Mono...

HemoHIM is a functional food ingredient comprising a triple herbal combination of extracts from Angelica gigas Nakai, Cnidium officinale Makino, and Paeonia lactiflora Pallas. It was developed to aid the recovery of impaired immune function. Although it is widely used to treat various immune disorders in Korea, its potential toxicity has not been extensively investigated. Therefore, a comprehensive study was conducted to asses...