• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.717-722
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• 2001

This paper presents a methodology on the backward path tracking control of a trailer type robot which consists of two parts: a tractor and a trailer. It is difficult to control the motion of a trailer vehicle since its dynamics is non-holonomic. Therefore, in this paper, the modeling and parameter estimation of the system using a real-coded genetic algorithm(RCGA) is proposed and a backward path tracking control algorithm is then obtained based on the linearized model. Experimental results verify the effectiveness of the proposed method.

• Journal of the Korea Concrete Institute
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• v.19 no.5
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• pp.613-621
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• 2007

Due to the increasing significance of durability, much researches on carbonation, one of the major deterioration phenomena are carried out. However, conventional researches based on fully hardened concrete are focused on prediction of carbonation depth and they sometimes cause errors. In contrast with steel members, behaviors in early-aged concrete such as porosity and hydrates (calcium hydroxide) are very important and may be changed under carbonation process. Because transportation of deteriorating factors is mainly dependent on porosity and saturation, it is desirable to consider these changes in behaviors in early-aged concrete under carbonation for reasonable analysis of durability in long term exposure or combined deterioration. As for porosity, unless the decrease in $CO_2$ diffusion due to change in porosity is considered, the results from the prediction is overestimated. The carbonation depth and characteristics of pore water are mainly determined by amount of calcium hydroxide, and bound chloride content in carbonated concrete is also affected. So Analysis based on test for hydration and porosity is recently carried out for evaluation of carbonation characteristics. In this study, changes in porosity and hydrate $(Ca(OH)_2)$ under carbonation process are performed through the tests. Mercury Intrusion Porosimetry (MIP) for changed porosity, Thermogravimetric Analysis (TGA) for amount of $(Ca(OH)_2)$ are carried out respectively and analysis technique for porosity and hydrates under carbonation is developed utilizing modeling for behavior in early-aged concrete such as multi component hydration heat model (MCHHM) and micro pore structure formation model (MPSFM). The results from developed technique is in reasonable agreement with experimental data, respectively and they are evaluated to be used for analysis of chloride behavior in carbonated concrete.

• Korean Journal of Soil Science and Fertilizer
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• v.45 no.6
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• pp.1203-1210
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• 2012

As the area of upland crops increase, it is become more important for farmers to understand status of soil water at their own fields due to key role of proper irrigation. In order to estimate daily water balance and soil water content with simple weather data and irrigation records, we have developed the model for estimating water balance and soil water content, called AFKAE0.5, and verified its simulated results comparing with daily change of soil water content observed by soil profile moisture sensors. AFKAE0.5 has two hypothesis before establishing its system. The first is the soil in the model has 300 mm in depth with soil texture. And the second is to simplify water movement between the subjected soil and beneath soil dividing 3 categories which is defined by soil water potential. AFKAE0.5 characterized with determining the amount of upward and downward water between the subjected soil and beneath soil. As a result of simulation of AFKAE0.5 at Gongju region with red pepper cultivation in 2005, the water balance with input minus output is recorded as - 88 mm. the amount of input water as precipitation, irrigation, and upward water is annually 1,043, 0, and 207 mm, on the other, output as evapotranspiration, run-off, and percolation is 831, 309, and 161 mm, respectively.

• Journal of Korean Society of Environmental Engineers
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• v.29 no.7
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• pp.820-825
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• 2007

Earthworm casting was the natural fertilizer that contained high concentrations of nutrients such as nitrogen, phosphate and potassium and of over $10^8$ CFU/ml of microorganisms. Greater than 80% of feed was excreted through the fermentation by the intestinal enzyme, after worm had eaten feeds such as fallen leaves and rotten roots under the ground. Also, the soil structure of casting was known to be very efficient in the aspects of the porosity, the water permeability, and deodorizing activities. In this research, the biofilter packed with a biomedia made of casting and waste polyurethane foam, a binder, which helped to improve the durability and perpetuity of casting, was investigated to degrade malodorous hydrogen sulfide gas. The biomedia had no need of extra supply of nutrients and of microbial inoculations. On the beginning of the operations, it showed 100% removal of hydrogen sulfide gas without lag phase. At SV of 50 $h^{-1}$, hydrogen sulfide gas from the outlet of the biofilter was not detected, when inlet concentration increased to 450 ppmv. After that, removal efficiency decreased as increasing inlet hydrogen sulfide concentration. Hydrogen sulfide removal was maintained at almost 93% until inlet concentration was increased up to 950 ppmv, at which the elimination capacity of $H_2S$ was 61.2 g $S{\cdot}m^{-3}{\cdot}h^{-1}$. Maximum elimination capacity guaranteing 90% removal was 61.2, 65.9, 84.7, 89.4 g $S{\cdot}m^{-3}{\cdot}h^{-1}$ at SV ranging from 50 $h^{-1}$ to 300 $h^{-1}$, but was 59.3 g $S{\cdot}m^{-3}{\cdot}h^{-1}$ at SV of 400 $h^{-1}$. The results calculated from Michaelis-Menten equation revealed that $V_m$ increased from 66.04, 88.96, 117.35, 224.15, to 227.54 g $S{\cdot}m^{-3}{\cdot}h^{-1}$ with increasing space velocity in the range of 50 $h^{-1}$ to 400 $h^{-1}$. However, saturation constant$(K_s)$ decreased from 79.97 ppmv to 64.95 and 65.37 ppmv, and then increased to 127.72 and 157.43 ppmv.

• The Korean Journal of Pesticide Science
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• v.18 no.4
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• pp.350-357
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• 2014

We studied on pesticide residue and pest control effect when using various types of sprayers on paprika cultivation. Additionally, a test was conducted to optimize chemical content per unit area in condition of optimum pest control. Two types of sprayer were tested (three times) on paprika cultivation which was divided into seven sections. Blind spots were also examined using a water sensitive paper when spraying chemical pesticide, remote controlled sprayer were confirmed to be not effective in terms of its spraying capacity. However, a U-shaped sprayer was confirmed that it sprayed enough on all the parts of a plant in green house including the blind spots. Additionally, it does not exceed the minimum residue limits on the all parts of pesticides residue conditions. When using remote controlled sprayer, water sensitive paper were changed to blue color (82.5% and 81.2%) in terms of controlling Bemisia tabaci and Aphis gossypii based on the two spraying manners. 53.0% and 42.6% of control effect were shown on the fair parts of the plants. However, on the poor parts on which pesticides were not well-sprayed, thus, not-remained, more number of pests increased. Meanwhile, on farming that only one type of pesticide has been used, resistance pests present with very low control effect, even though sufficient amount of pesticide was well-sprayed. On the test of the optimum amount of spraying per a unit area, which shows no differences in the two cases of using 5L and 2.5L of chemical pesticides on 9 plants of paprika that has 81.8% and 84.5% control effect, respectively.

• Journal of The Korean Society of Grassland and Forage Science
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• v.4 no.1
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• pp.51-61
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• 1983

This experiment was carried out to determine the effects of different seeding rates of Italian ryegrass (Lolium multiflorum) and cutting frequency on the dry matter yield botanical composition of pasture mixtures in first harvest year. The experimental design was a split-plot design with three replication. The main plots were two seeding rates of Italian ryegrass at 0.3 and 1.0kg per 10a and the sub-plots were 3, 4, and 5 cutting frequency. The experiment was undertaken over a period 12 months from September 1981 to August 1982. The results obtained are summarized as follows: 1. The different seeding rates of Italian ryegrass had no effect on total day matter yield. 2. Over the experimental period, the total dry matter yield of pasture mixtures was increased with increasing the cutting frequency, but there was no significant. 3. It was found that dry matter yield of weeds clearly decreased with the high seeding rate of Italian ryegrass over the experimental period. 4. The high seeding rate of Italian ryegrass showed the trend toward the high yield of Italian ryegrass, and the low yield of orchardgrass and ladino clover. 5. At the early stage of the experiment, the botanical compositions of orchardgrass and ladino clover were decreased with the high seeding rate of Italian ryegrass. But at the final stage they were not influenced by the seeding rates of Italian ryegrass. From the above results it is suggested that the high seeding rate of Italian ryegrass give a good effect on the early forage yield and weed control, and the high cutting frequency maintain desirable botancial composition of orchardgrass and ladino clover in the pasture mixtures with Italian ryegrass.

• Ocean and Polar Research
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• v.24 no.4
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• pp.429-442
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• 2002

The faunal assembalges of macrobenthos and their habitat conditions on the soft-bottoms around Dokdo(Dok Island) was investigated using a box corer and a van Veen grab in Sept. 1999 and May 2000. The sediments in the slope sites were composed of sand particles and those in Ullneung Basin were mud. The sediments in the shelf sites were in the range of fine to medium sand. The organic content of the slope sediments was in the range of 1 to 2%. The macrobenthos occurred at the slope sites represented by 15faunal groups belonging to 8 phyla, and the major faunal group was polychaetous annelids. They comprised ca. 80.6% in slope sites, and 84.8% in shelf sites. Dominant species in the slope were Exogone verugera(40.9%), Cossura longocirrata (8.4%), Tharyx sp. (6.6%), Scalibregma inflatum (4.9%), Aedicira sp. (4.7%), Aricidea ramosa (3.8%), and Sigambra tentaculata (3.7%). Dominant species in the shelf were Chone sp. (49.3%), Tharyx sp. (18.4%), Ophelina acuminata (6.7%), Chaetozone setosa (3.8%), Glycera sp. (2.6%), and Aedicira sp. (2.4%). The mean densities of macrobenthos in the slope and shelf area were $2,028\;ind./m^2$ and $456\;ind./m^2$, respectively. The trophic composition of benthic polychaete worms in the slope area was different from that in shallow shelf area: surface deposit feeding worms were most abundant in slope area whereas filter feeding worms in shelf area. According to the cluster analysis and MDS plots, the spatial distribution of macrobenthos in Dokdo slope region was related with the sediment properties such as particle size and organic content. In the case of vertical distribution of macrobenthos in slope sites, most faunas concentrated in the upper sediment layer within 2cm depth.

• Journal of the Korea Organic Resources Recycling Association
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• v.11 no.3
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• pp.75-86
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• 2003

In the near future, the capacity of conventional anaerobic digester is thought to be insufficient because of the increase of the total solids from expansion of intercepting sewer, sewage quantity and direct input of night soil from near apartment districts. The objectives of this study was to investigate the improvement of digestion efficiency using microbial agent(Bio-dh). The system was a pilot-scale, two-staged, anaerobic sludge digestion system. The first-stage digester was heated and mixed. The agitation velocity of the first-stage digester was 120rpm. The second-stage digester was neither heated nor mixed. The Digestion temperature was kept at $35{\pm}1^{\circ}C$ The detention time of digester was 19 days. The dosage of sewage sludge and microbial agent were $0.65m^3/day$ and $0.5{\ell}/day$, respectively. The experiments was run for 25days. Three times a week, $COD_{Mn}$ and SS of effluent, TS, VS, and biogas production rate were measured. Temperature, pH, and alkalinity were measured daily. The results were as follows ; Without microbial agent, digestion efficiencies ranged 46.0%~50.9%(mean=48.6%), with microbial agent(Bio-dh), digestion efficiencies ranged 52.8%~57.3%(mean=54.2%). Consequently, microbial agent(Bio-dh) increased the sludge digestion efficiency about 12%. Also, Without microbial agent, the mean concentration of $COD_{Mn}$ and SS of second-stage digester effluent were 1,639mg/L, 4,888mg/L respectively. With microbial agent, the mean concentration of $COD_{Mn}$ and SS of second-stage digester effluent were 859mg/L, 2,405mg/L respectively. Consequently, microbial agent(Bio-dh) increased the removal efficiency of $COD_{Mn}$ and SS about 47.6% and 50.8%, respectively.

• Journal of Korean Society of Environmental Engineers
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• v.28 no.6
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• pp.687-692
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• 2006

This experiment was performed to evaluate the characteristics of BNR system performance, behavior of pollutants as organic and nitrogen at each basin and the effects of C/N ratio on biological nitrogen removal with methanol as an external carbon source for a low C/N ratio municipal wastewater. A lab-scale $A_2O$ system by employing the aerobic basin with the fluidized polyurethane media, which was $10{\sim}20$ mm rube type like a sponge, was used. The aerobic basin was hybrid type to be suspended and fixed biomass. The obtained results from this study were as follows; When no methanol was added, suspended biomass was 3 times more than that of the fluidized media in this system(total biomass 80 g). Biomass growed by an external carbon was firstly attached on media, and then suspended. $COD_{Cr}$ concentration for the effluent was a range of 13 to 29 mg/L regardless of pouring an external carbon. For nitrogen, the effluent concentration was $20.0{\sim}35.9mg/L$(removal efficiency; 18%) in case of no addition of an external carbon, but was $2.5{\sim}9.0mg/L$(removal efficiency ; $71{\sim}83%$) with addition of methanol. For the characteristics of pollutants removal, most of $COD_{Cr}$ were removed at the anaerobic basin when no external organic carbon was added, and were removed at the anoxic basin in case of adding external organic carbon but at the aerobic basin in case of adding excess external organic carbon. On the other hand, most TIN(total inorganic nitrogen) were removed at the anaerobic basin when no external organic carbon was added, but when an external organic carbon was added, they were removed at the anaerobic basin under unstable condition and at the anoxic basin under stable condition.

• Asian Journal of Turfgrass Science
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• v.15 no.2
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• pp.51-64
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• 2001

Summer stress is one of the serious problems on cool-season grass at the soccer fields in Korea during heavy rainy season. This study was conducted to intestigate the effect of shade net with regard to its percent (0, 50, 75), color (black, green), height (0 cm, 30 cm) and time (7 hr, 24 hr) on turf canopy temperature, light intensity, leaf color, turf performance, clipping yield and root dry weight of cool-season turfgrass. Turf canopy temperature was 6~13$^{\circ}C$ under black and green shade net when temperature was over 4$0^{\circ}C$. Light intensity was also decreased from 40 to 94% under black and green shade net compared to control. Black shade net was more effective than green net in reduction of temperature and light intensity. Green shade net was found to be better for photosynthesis of cool-season grass. Leaf color, turf performance, clipping yield, and root dry weight were better and increased under 50% and 75% shade net. 50% black shade net with 30cm height and 7 hr treatment showed the best turf performance. It can be concluded that 50% and 75% green shade net can be used fur reducing summer stress on cool-season grass after soccer marches during heavy rain season. The shade net decreased the turf canopy temperature and reduced heating damage of cool-season turfgrass.