• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.12
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• pp.6034-6039
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• 2012

In this paper, this may appear to exacerbate it met slopes of the mobile robot moves to overcome this by driving can occur if the mobile robot system has its own sleep problems driving progress in until you hit the target and solvedriving straight driving safer model for adaptive fuzzy control method of mobile robot based control algorithm is proposed. First, we propose a model based adaptive fuzzy controller, if possible, the dynamics model of the mobile robot, including model-based controller is designed to determine if you can check the condition of the mobile robot climbing and driving the mobile robot to overcome the slope and the to overcome driving control. Enough considering the ground friction forces and ensure the stability of the mobile robot system and the disturbance compensation, etc. In this case, the controller design will be possible. In addition, the nonlinear model, the dynamic characteristics of the mobile robot control method of adaptive fuzzy control techniques in the design that you want to fully reflect Non-holonomic system of mobile robots and solve sleep problems, and will be useful enough, it was verified through computer simulations.

• Journal of the Korean Institute of Traditional Landscape Architecture
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• v.33 no.1
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• pp.12-20
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• 2015

After the great King Munmu constructed Donggung-palace and Wolji-pond in 674, original landscape could not be estimated due to lack of related materials for some 1,250 years until it was surveyed in 1922. Accordingly, the study, to estimate changes of Wolji-pond landscape more accurately, analyzed the study of Hara(1932) and pictures in the Japanese ruling period etc. - these had not been studied so far. The study results are as follows. As a result of comparing survey maps of 1922 and one of 1975, it was found that during 53 years, whole area excluding island showed eroded part by 2~4m, severely, there was mounding area which was lowered by 10m. And it was identified through survey map of 1922 and pictures of the 1950's that inside southern shore protection of the No. 1 construction site were many landscape-stones(景石) which can make imagine a hill; here was water path. Trace of such path etc. remained just before excavation. 2) The construction site No. 3 and 5 in peak shape were higher than construction site No. 1, 2, and 4. Accordingly, there is high possibility that construction stood on high stylobate. So it is wrong that construction site No. 3 and 5 are restored in same height as other construction sites. Comprehensive restoration basic plan made in 2012 was also wrong. As a result of estimating changes of landscape through pictures before excavation of Wolji-pond, the author could identify changes of landscape in mound area and pumice stones which showed much changes in drawing. The study has limit due to lack of space. But if more pictures can be analyzed, it could further help for estimating original landscape of Wolji-pond.

• Journal of The Korean Association For Science Education
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• v.32 no.5
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• pp.928-937
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• 2012

The purpose of this study was to analyze inquiry activities in high school chemistry II textbooks on the revised 2009 curriculum. It also compared them to the textbooks based on the 7th curriculum, which were published by the same companies. The results in this study turned out to be as follows: First, the number of the activities and rate of inquiry activities per total pages were quite different from each publisher, and all of them decreased. Second, there were too many activities for specific inquiry process elements. Third, the types of inquiry activities differ slightly between each publisher. Experimenting and thinking were the most used while practicing was the least. Fourth, in the inquiry context, activities in scientific context were prevalent and activities in usual context were the second most common. Comparing to the text book on the 7th curriculum, the use of technical-social context increased, however, the technical-social context as well as the natural-environmental context were not used enough, as they constitute less than 10% of the activities. From these results, chemistry teachers should introduce a variety inquiry activities in chemistry curriculum for resolving those problems. Also, textbook developer should accommodate the results of research about science textbooks.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.16 no.5
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• pp.144-151
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• 2017

In this paper, the antenna for parking management using wireless communication in outdoor parking environment was proposed. The proposed antenna was miniaturized by using parasitic element to reduce the size of the radiating element of the basic ${\lambda}/2$ microstrip antenna. The dimensions of the proposed antenna are $35mm{\times}35mm{\times}20.1mm$ that is 98.7% smaller than $309.1mm(0.46{\lambda}){\times}296.1mm(0.441{\lambda}){\times}20.1mm(0.029{\lambda})$ of the basic ${\lambda}/2$ microstrip antenna. The electrical characteristics of the antenna are 1.1 dBi at the center frequency of 447 MHz, an omni-directional radiation pattern on the E-plane, and $87.5^{\circ}$ of HPBW on the H-plane. The miniaturized ${\lambda}/4$ folded microstrip antenna using parasitic element has proved to be easy to mount on the wireless repeater, the sensor node installed on the ground, and the strop bar in the outdoor parking environment.

• Spatial Information Research
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• v.22 no.1
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• pp.75-84
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• 2014

Power lines are one of the main obstacles causing an aircraft crash and thus their realtime detection is significantly important during flight. To avoid such flight obstacles, the use of LIDAR has been recently increasing thanks to its advantages that it is less sensitive to weather conditions and can operate in day and night. In this study, we suggest a fast method to detect power lines from LIDAR data for flight obstacle avoidance. The proposed method first extracts non-ground points by eliminating the points reflected from ground surfaces using a filtering process. Second, we calculate the eigenvalues for the covariance matrix from the coordinates of the generated non-ground points and obtain the ratio of eigenvalues. Based on the ratio of eigenvalues, we can classify the points on a linear structure. Finally, among them, we select the points forming horizontally long straight as power-line points. To verify the algorithm, we used both real and simulated data as the input data. From the experimental results, it is shown that the average detection rate and time are 80% and 0.2 second, respectively. If we would improve the method based on the experiment results from the various flight scenario, it will be effectively utilized for a flight obstacle avoidance system.

• Journal of Korean Society of Steel Construction
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• v.18 no.5
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• pp.525-534
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• 2006

Column-to-beam pinned connections can cause local moment to the web of a steel tube due to the distance of eccentricity between the row of bolts and the column flange, which possibility deteriorates the load capacity of column. In this study, a square hollow section tubular used finite element analysis of a square hollow section tubular column was carried out, and the column width and thickness, existence and non-existence of internal reinforcement, and existence and non-existence of compressive force were taken as variables to examine the load capacity deterioration of a square column caused by moment. To guarantee the reliability of the finite element results, some specimens were fabricated and tested. The yield line method was applied to suggest the strength formulas of the square tubular column to the beam pinned connections. Based on the study results, the column strength the moment of the square hollow section tubular column to the beam pined connections improved with the increase in the w to strength limitations, a no-reinforcement type of square hollow section tubular column was proposed, and if the limitation values were not satisfied, the reinforcement of the internal column was made mandatory. Therefore, the horizontal -reinforcement type considered the strength increase, and the fabrication of the square hollow section tubular column was ar column that considered its load capacity with the moment for the no-reinforcement and the horizontal-reinforcement types.

• Journal of Korean Society of Forest Science
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• v.97 no.1
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• pp.83-87
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• 2008

This study was conducted to clarify the use of artificial nest boxes of tits in coniferous and deciduous forests from March to June 2006 and 2007. Tree species richness, tree species diversity and total basal area were higher in deciduous forest than in coniferous forest. Except the bush-ground layer (<1 m), the other vertical layers were more developed in deciduous forest. Varied tit Parus varius, marsh tit P. palustris, coal tit P. ater and major tit P. major used the artificial nest boxes in this study. Number of breeding pairs of tits were higher in deciduous than in coniferous forest. Clutch size, brood size and breeding success of coal tits were higher in coniferous forest. Brood size and breeding success of major tits were higher in deciduous forest. Characteristics of habitat and niche partition would be influenced on tits' use of artificial nest boxes. The more detailed researches on artificial nest boxes would be needed for management and conservation of birds.

• Ecology and Resilient Infrastructure
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• v.3 no.4
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• pp.302-306
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• 2016

There are various methods to evaluate tree vigor. Cambial electrical resistance represents tree vigor using the method of electrophysiological diagnosis. This study investigated the vigor of several tree species using Shigometer, and compared the differences among the species. The factors, such as foliation, trunk orientation and bark temperature, which affect electrical resistance were also investigated. The needle penetration into cambium was controlled to keep the depth consistent in order to minimize measurement error. Each of three trees were selected from Zelkova serrata, Ginkgo biloba, Metasequoia glyptostroboides, Pinus koraiensis, and Liriodendron tulipifera. The electrical resistances were measured at 60 and 120 cm height of the stem in 4 directions from March until May 2011. The soil conditions in surrounding areas and tree stress responses were also measured. The results were analyzed for the relationship between electrical resistance and the affecting factors. The electrical resistance showed a relatively higher level before foliation until mid-March. The values started to decline from April and recorded a minimal level on May 11. The changes of soil moisture, soil electric conductivity, and tree stress responses during the measurement period showed a similar trend to that of electrical resistance. The Pinus koraiensis, an evergreen conifer, showed few changes on the electrical resistance values during the measurement period. Zelkova serrata, Ginkgo biloba, and Metasequoia glyptostroboides showed the highest bark temperatures and lowest electrical resistances at their south-facing stem. Shigometer can provide measures simple to assess tree vigor in the fields, and to the management of trees.

• Proceedings of the Korea Water Resources Association Conference
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• 2007.05a
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• pp.1614-1618
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• 2007

분포형 수문모형은 유역을 격자단위로 세분화하여 매개변수를 부여하고, 증발산, 침투, 지표면유출, 중간유출, 지하수유출, 하도흐름 등 여러 가지 수문요소를 해석하는 종합적인 수문모형이다. 지표면에 내린 강우의 증발 및 침투, 유출은 토양수분의 함량에 크게 의존하게 된다. 따라서 토양수분에 대한 적절한 모의가 분포형 수문모형의 정확도를 좌우하는 핵심이라 할 수 있다. 토양수분은 식물의 생장 및 가용수자원 산정 등에 있어서 중요한 요소로서 토양층 상부의 수 미터 내에 존재하는 수분의 양을 일컫는다. 토양수분의 공간적 시간적 특성들은 증발, 침투, 지하수 재충전, 토양침식, 식생분포 등을 지배하는 매우 중요한 요소라 할 수 있다. 강우로 인한 지면과 지표하에서의 순간적인 포화공간의 형성 및 유출의 생성을 포함하는 과정과 증발산 등은 모두 비포화대(vadose zone) 혹은 토양층에서의 토양수분의 함량에 크게 의존하게 된다(이가영 등, 2005) 본 연구에서는 토양수분에 대한 정밀측정 자료가 있는 설마천 유역 범륜사 사면에 대하여 분포형 수문모형의 토양수분 해석 능력을 평가하고자 하였다. 토양수분 모의에 사용된 격자기반의 분포형 수문모형은 미공병단에서 개발한 GSSHA(USACE, 2006) 모형이다. 모형의 입력자료는 정밀토양도와 현장측정에 의한 토양매개변수를 반영하여 구축하였고, 강우 및 기상자료는 2003년 1월 1일 ${\sim}$ 2004년 12월 31일의 1시간 자료를 이용하였다. 모의기간 중 2003년은 초기 토양수분값 등 초기조건의 영향을 줄이기 위한 웜업 (Warm-up)기간으로 설정하였고, 2004년의 모의결과를 토양수분 관측값과 비교하였다.업지역, 상업지역 등과 같이 지형적 특성에 따른 유량측정망을 구축하는 것이다.의 의사결정 지원 도구가 될 것이다. 따라서, 본 연구에서는 도시유역의 물순환 해석을 위한 일련의 과정, 즉 자료의 조사 및 취득에서부터 물순환 해석 모형을 이용한 정량적 현황파악, 물순환 개선 기법 및 평가를 수행함에 있어 주요 착안점 및 실무에서의 기술적 가이드를 제공하고자 하였으며, 보다 세밀한 도시유역의 물순환 해석을 위하여 우리나라와 일본에서 적용이 활발한 물리적 기반의 분포형 모형(WEP, SHER, SWMM)의 적용사례를 통하여 국내 도시하천의 물순환 해석에 활용함에 있어서의 실질적인 적용절차 등을 제시하고자 하였다. 한다.호강유역의 급격한 수질개선을 알 수 있다.世宗實錄) $\ulcorner$지리지$\lrcorner$(地理志)와 동년대에 동일한 목적으로 찬술되었음을 알 수 있다. $\ulcorner$경상도실록지리지$\lrcorner$(慶尙道實錄地理志)에는 $\ulcorner$세종실록$\lrcorner$(世宗實錄) $\ulcorner$지리지$\lrcorner$(地理志)와의 비교를 해보면 상 중 하품의 통합 9개소가 삭제되어 있고, $\ulcorner$동국여지승람$\lrcorner$(東國與地勝覽) 에서는 자기소와 도기소의 위치가 완전히 삭제되어 있다. 이러한 현상은 첫째, 15세기 중엽 경제적 태평과 함께 백자의 수요 생산이 증가하자 군신의 변별(辨別)과 사치를 이유로 강력하게 규제하여 백자의 확대와 발전에

• Journal of Korea Water Resources Association
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• v.40 no.7
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• pp.555-570
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• 2007

The effects of climatic changes owing to urbanization on annual water balance have been studied. In this study, 56 meteorological stations including Seoul metropolis in South Korea have been selected, and the area of study site is $314\;km^2$. The meteorological station is centrally located in the study area with a 10 km radius. Land use status of study area was examined to estimate the urbanization extent, so that annual actual evapotranspiration could be estimated. Annual runoff was estimated by annual water balance approach using the estimated annual actual evapotranspiration and measured annual precipitation. Annual actual evapotranspiration was estimated by applying experimental equation suggested by Zhang et al, (2001) which was evaluated from 250 watersheds all over the world. Study results show that reference evapotranspiration is tending upwards due to urbanization; therefore, it seems that climatic change due to urbanization may increase the amount of annual actual evapotranspiration. However, the increase of residential area due to urbanization in study area may decrease the amount of annual actual evapotranspiration. The study results indicate that urbanization effect on annual trend of precipitation was not significant. In urban area, annual runoff is directly affected by annual precipitation, and compared with annual precipitation, annual variation of actual evapotranspiration was not significant even though it was estimated by using annual precipitation. It seems that the effect of urbanization on annual actual evapotranspiration does not influence on annual runoff significantly, and that urbanization effect on annual runoff Is not significant.