• Title/Summary/Keyword: 지상 이동

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Development of System for Real-Time Object Recognition and Matching using Deep Learning at Simulated Lunar Surface Environment (딥러닝 기반 달 표면 모사 환경 실시간 객체 인식 및 매칭 시스템 개발)

  • Jong-Ho Na;Jun-Ho Gong;Su-Deuk Lee;Hyu-Soung Shin
    • Tunnel and Underground Space
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    • v.33 no.4
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    • pp.281-298
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    • 2023
  • Continuous research efforts are being devoted to unmanned mobile platforms for lunar exploration. There is an ongoing demand for real-time information processing to accurately determine the positioning and mapping of areas of interest on the lunar surface. To apply deep learning processing and analysis techniques to practical rovers, research on software integration and optimization is imperative. In this study, a foundational investigation has been conducted on real-time analysis of virtual lunar base construction site images, aimed at automatically quantifying spatial information of key objects. This study involved transitioning from an existing region-based object recognition algorithm to a boundary box-based algorithm, thus enhancing object recognition accuracy and inference speed. To facilitate extensive data-based object matching training, the Batch Hard Triplet Mining technique was introduced, and research was conducted to optimize both training and inference processes. Furthermore, an improved software system for object recognition and identical object matching was integrated, accompanied by the development of visualization software for the automatic matching of identical objects within input images. Leveraging satellite simulative captured video data for training objects and moving object-captured video data for inference, training and inference for identical object matching were successfully executed. The outcomes of this research suggest the feasibility of implementing 3D spatial information based on continuous-capture video data of mobile platforms and utilizing it for positioning objects within regions of interest. As a result, these findings are expected to contribute to the integration of an automated on-site system for video-based construction monitoring and control of significant target objects within future lunar base construction sites.

The Influence of Traffic Time and Fertilizer Type on the Quality of Golf Course Putting Greens (답압시간과 비료종류가 골프코스 그린 잔디의 품질에 미치는 영향)

  • Lee, Sung-Woo;Lee, Jae-Pil;Kim, Doo-Hwan
    • Asian Journal of Turfgrass Science
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    • v.22 no.1
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    • pp.65-74
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    • 2008
  • Traffic management is becoming an important issue in turfgrass practise on golf course. The objective of this study was to investigate the combined impact of different traffic times and types of fertilization. Traffic treatment was applied in morning (AM), noon, and afternoon (PM). Fertilizers used include faster-release fertilizer (21-17-17) and slow-release fertilizers (12-6-18, 11-3-22, 20-3-20, 10-3-10). Experiment was conducted from Oct. 1 to Nov. 30, 2005 on a nursery putting green of Incheon Grand Golf Club. The growth and quality of creeping bentgrass (Agrostis polustris cv. 'Seaside II') were evaluated on visual leaf color, leaf texture, shoot density, and root length. The measurement at 20 days after treatment, turfgrass color and leaf texture showed the best result on 10-15-10 + Noon-traffic plot. Turf quality and traffic tolerance were not different at Am and Pm traffic treatment. However, traffic stress in early morning and late evening caused the most severe damage to the turfgrass. Shoot density was the highest in 10-15-10 + Noon-traffic treatment but root length was not different among treatments after 30 day measurement. Among the fertilizers, slow release fertilizer resulted in higher turf quality and traffic tolerance than fast release fertilizer, however, shoot density did not showed a significantly different. For the fast recuperation of turfgrass from traffic injury in the early winter, it is recommended to avoid early morning and late evening traffic such as cup replacement and other maintenance practise. It is also recommended to delay the first tee-up time and ending early for last tee time during cold weather season.

Monitoring of Atmospheric Aerosol using GMS-5 Satellite Remote Sensing Data (GMS-5 인공위성 원격탐사 자료를 이용한 대기 에어러솔 모니터링)

  • Lee, Kwon Ho;Kim, Jeong Eun;Kim, Young Jun;Suh, Aesuk;Ahn, Myung Hwan
    • Journal of the Korean Association of Geographic Information Studies
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    • v.5 no.2
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    • pp.1-15
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    • 2002
  • Atmospheric aerosols interact with sunlight and affect the global radiation balance that can cause climate change through direct and indirect radiative forcing. Because of the spatial and temporal uncertainty of aerosols in atmosphere, aerosol characteristics are not considered through GCMs (General Circulation Model). Therefor it is important physical and optical characteristics should be evaluated to assess climate change and radiative effect by atmospheric aerosols. In this study GMS-5 satellite data and surface measurement data were analyzed using a radiative transfer model for the Yellow Sand event of April 7~8, 2000 in order to investigate the atmospheric radiative effects of Yellow Sand aerosols, MODTRAN3 simulation results enable to inform the relation between satellite channel albedo and aerosol optical thickness(AOT). From this relation AOT was retreived from GMS-5 visible channel. The variance observations of satellite images enable remote sensing of the Yellow Sand particles. Back trajectory analysis was performed to track the air mass from the Gobi desert passing through Korean peninsular with high AOT value measured by ground based measurement. The comparison GMS-5 AOT to ground measured RSR aerosol optical depth(AOD) show that for Yellow Sand aerosols, the albedo measured over ocean surfaces can be used to obtain the aerosol optical thickness using appropriate aerosol model within an error of about 10%. In addition, LIDAR network measurements and backward trajectory model showed characteristics and appearance of Yellow Sand during Yellow Sand events. These data will be good supporting for monitoring of Yellow Sand aerosols.

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The Distribution of Aerosol Concentration during the Asian Dust Period over Busan Area, Korea in Spring 2009 (2009년 봄철 부산지역 황사 기간 중 에어로솔 농도 분포)

  • Jung, Woon-Seon;Park, Sung-Hwa;Lee, Dong-In;Kang, Deok-Du;Kim, Dong-Chul
    • Journal of the Korean earth science society
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    • v.34 no.7
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    • pp.693-710
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    • 2013
  • This study investigates the distribution of suspended particulates during the Asian dust period in Busan, Korea in the spring of 2009. Weather map and automatic weather system (AWS) data were used to analyze the synoptic weather conditions during the period. Particulate matter 10, laser particle counter data, satellite images and a backward trajectories model were used to analyze the aerosol particles distribution and their origins. In Case 1 (20 February 2009), when the $PM_{10}$ concentration increased, the aerosol volume distribution of small ($0.3-1.0{\mu}m$) particles decreased, while the concentration of large ($1.0-10.0{\mu}m$) particles increased. When the $PM_{10}$ concentration decreased, the aerosol volume distribution was observed to decrease as well. The prevailing winds changed from weak northerly winds to strong southwesterly winds when the concentration of the large particles increased. The correlation coefficient between the $PM_{10}$ concentration and aerosol volume distribution of large particles showed a high positive value of over 0.9. The results from the trajectory model show that the Asian dust originated in the Gobi desert and the Nei Mongol plateau. In Case 2 (25 April 2009), when the $PM_{10}$ concentration increased, the aerosol volume concentration of small ($0.3-0.5{\mu}m$) particles decreased, but the concentration of large ($0.5-10.0{\mu}m$) particles increased. The opposite was observed when the $PM_{10}$ concentration decreased. The prevailing winds changed from northeasterly winds to southwesterly and northeasterly winds. The correlation coefficient between the $PM_{10}$ concentration and aerosol volume distribution of large particles ($1.0-10.0{\mu}m$) showed a high positive value of about 0.9. The results from the trajectory model show that the Asian dust originated in Manchuria and the eastern coast of China.

Comparison of the Plant Characteristics and Nutritional Components between GM and Non-GM Chinese Cabbages Grown in the Central and Northern Parts of Korea (중·북부지역에서 재배된 GM 배추와 Non-GM 배추간의 식물체 특성 및 영양 성분 비교 분석)

  • Cho, Dong-Wook;Oh, Jin-Pyo;Park, Kuen-Woo;Lee, Dong-Jin;Chung, Kyu-Hwan
    • Horticultural Science & Technology
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    • v.28 no.5
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    • pp.836-844
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    • 2010
  • This study was carried out to investigate plant characteristics and nutritional components of the genetically modified (GM) Chinese cabbage and its control line grown in the central and northern parts of Korea in order to establish the evaluating protocol and standard assessment. The GM and non-GM Chinese cabbage was planted with normal and concentrated density at two locations in spring and fall of 2008 and 2009. From the statistic analysis on plant characteristics and nutritional components, there were not many significant differences between GM and non-GM Chinese cabbage. Only few differences in the plant characteristics were found between the dense and normal planting. In the dense planting, there was no significant difference between GM and non-GM Chinese cabbages except for three out of 18 plant traits, such as leaf shape, hairiness and midrib length. On the other hand, nine plant traits including leaf length, leaf width, leaf color, leaf shape, fresh weigh of ground part, number of leaf, midrib length, midrib width and root diameter were slightly different between GM and non-GM Chinese cabbage in the normal planting. In case of leaf length, midrib length, midrib width and fresh weigh of ground part, there were significantly differences not only between two lines, but also between two locations. From nutritional component analysis, only five fatty acids were identified in the Chinese cabbage: palmitic acid, oleic acid, stearic acid, linoleic acid and linolenic acid. Except linoleic acid, four fatty acids in one gram of dried sample from GM line were little higher than those from non-GM line. However, there were no significant differences in total contents of fatty acids not only between GM and non-GM Chinese cabbage line, but also between northern and central cultivating areas in the normal and dense planting. According to the composition of inorganic elements identified in the samples from both lines, there were six macro-elements, such as N, P, Ca, K, Mg and Na, and four micro-elements, Cu, Fe, Mn and Zn. Based on the result from PCA analysis, specific clusters were not found between GM Chinese cabbage and the control line, but found between two regions.

Registration of Three-Dimensional Point Clouds Based on Quaternions Using Linear Features (선형을 이용한 쿼터니언 기반의 3차원 점군 데이터 등록)

  • Kim, Eui Myoung;Seo, Hong Deok
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.38 no.3
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    • pp.175-185
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    • 2020
  • Three-dimensional registration is a process of matching data with or without a coordinate system to a reference coordinate system, which is used in various fields such as the absolute orientation of photogrammetry and data combining for producing precise road maps. Three-dimensional registration is divided into a method using points and a method using linear features. In the case of using points, it is difficult to find the same conjugate point when having different spatial resolutions. On the other hand, the use of linear feature has the advantage that the three-dimensional registration is possible by using not only the case where the spatial resolution is different but also the conjugate linear feature that is not the same starting point and ending point in point cloud type data. In this study, we proposed a method to determine the scale and the three-dimensional translation after determining the three-dimensional rotation angle between two data using quaternion to perform three-dimensional registration using linear features. For the verification of the proposed method, three-dimensional registration was performed using the linear features constructed an indoor and the linear features acquired through the terrestrial mobile mapping system in an outdoor environment. The experimental results showed that the mean square root error was 0.001054m and 0.000936m, respectively, when the scale was fixed and if not fixed, using indoor data. The results of the three-dimensional transformation in the 500m section using outdoor data showed that the mean square root error was 0.09412m when the six linear features were used, and the accuracy for producing precision maps was satisfied. In addition, in the experiment where the number of linear features was changed, it was found that nine linear features were sufficient for high-precision 3D transformation through almost no change in the root mean square error even when nine linear features or more linear features were used.

Analyzing the Influence of Biomass and Vegetation Type to Soil Organic Carbon - Study on Seoseoul Lake Park and Yangjae Citizen's Forest - (바이오매스량과 식생구조가 토양 탄소함유량에 미치는 영향 분석 - 서서울호수공원과 양재 시민의 숲을 대상으로 -)

  • Tanaka, Riwako;Kim, Yoon-Jung;Ryoo, Hee-Kyung;Lee, Dong-Kun
    • Journal of the Korean Society of Environmental Restoration Technology
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    • v.17 no.1
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    • pp.123-134
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    • 2014
  • Identification of methods to optimize the growth of a plant community, including the capacity of the soil to further sequester carbon, is important in urban design and planning. In this study, to construct and manage an urban park to mitigate carbon emissions, soil organic carbon of varying biomass, different park construction times, and a range of vegetation types were analyzed by measuring aboveground and belowground carbon in Seoseoul Lake Park and Yangjae Citizen's Forest. The urban parks were constructed during different periods; Seoseoul Lake Park was constructed in 2009, whereas Yangjae Citizen's Forest was constructed in 1986. To identify the differences in soil organic carbon in various plant communities and soil types, above and belowground carbon were measured based on biomass, as well as the physical and chemical features of the soil. Allometric equations were used to measure biomass. Soil total organic carbon (TOC) and chemical properties such as pH, cation exchange capacity (CEC), total nitrogen (TN), and soil microbes were analyzed. The analysis results show that the biomass of the Yangjae Citizen's Forest was higher than that of the Seoseoul Lake Park, indicating that older park has higher biomass. On the other hand, TOC was lower in the Yangjae Citizen's Forest than in the Seoseoul Lake Park; air pollution and acid rain probably changed the acidity of the soil in the Yangjae Citizen's Forest. Furthermore, TOC was higher in mono-layered plantation area compared to that in multi-layered plantation area. Improving the soil texture would, in the long term, result in better vegetation growth. To improve the soil texture of an urban park, park management, including pH control by using lime fertilization, soil compaction control, and leaving litter for soil nutrition is necessary.

Variationsin Air and Ground Temperatures During a Frozen Season in the Subalpine Zone of Mt. Halla (한라산 아고산대의 동결기 기온 및 지온변화)

  • Kim, Taeho
    • Journal of The Geomorphological Association of Korea
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    • v.20 no.3
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    • pp.95-107
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    • 2013
  • In order to examine the temperature regime responsible for periglacial processes, air and ground temperatures were monitored from October 2010 to May 2011 at a subalpine bare patch (1,710m asl) of Mt. Halla. Four thermistor sensor probes were installed at 55 cm above a ground surface and depths of 2 cm, 10 cm, and 20 cm, respectively. A mean air temperature is $-0.1^{\circ}C$, while mean ground temperatures are $1.8^{\circ}C$ at 2 cm, $2.6^{\circ}C$ at 10 cm and $3.2^{\circ}C$ at 20 cm deep. A mean monthly ground temperature at 2 cm deep demonstrates below $0^{\circ}C$ successively from January to March, while those at 10 cm and 20 cm deep show no sub-zero temperature. A total of 72 freeze-thaw cycle was observed in air temperature. However, the numbers in ground temperature reduced into 17 at 2 cm, 8 at 10 cm, and 3 at 20 cm deep. The cycles of air temperature and ground temperature at 2 cm deep mostly fluctuated diurnally, while those of ground temperature at 10 cm and 20 cm deep exhibited a several-daily oscillation. Snow cover over 55 cm high remained from January to early April, and it seemed to disappear completely on April 16. A seasonal frost of at least 2 cm thick was formed on late December and the isotherm of $0^{\circ}C$ descended slowly into 10 cm deep on late March to early April due to the insulating snow cover. It showed the maximum freezing depth of 20 cm on April 7 to 14 and then thawed rapidly so that the frozen ground did not longer after April 17. Periglacial processes are predominant during a freezing period than a thawing period when the ground surface is still covered with snow. The periglacial mass movement in the subalpine zone of Mt. Halla is mainly generated by frost creep in terms of the occurrence depth of diurnal freeze-thaw cycle and the maximum freezing depth of ground.

The Behaviors of Phosphorus-32 and Ptoassium-42 under the Control of Thermoperiod and Potassium Level (가리(加里)와 온도주기성(溫度週期性)이 고구마 생육(生育) 및 인(燐)-32, 가리(加里)-42 동태(動態)에 미치는 영향(影響))

  • Kim, Y.C.
    • Korean Journal of Soil Science and Fertilizer
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    • v.1 no.1
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    • pp.89-115
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    • 1968
  • 1. The experiment was carried out for investigating the interaction between potassium nutrition and thermoperiod (as an environment regulating factor) in relation to behaviors of several nutrients including phosphorus-32 and Potassium-42 in IPOMOEA BATAS. 2. To obtain same condition to trace the behaviors of phosphorus and potassum-42 they were simultaneously incorporated to roots. The determination of each CPM by counting twice with adequate interval and calculating true CPM of each isotope according to different half-life, was carried out with satisfactory. 3. Some specific symptoms i.e, chlorosis and withering of growing point under the condition of lower potassium level were found and was accelerated by the low night temperature. 4. A manganese shortage in growing point of the lower potassium level was found by activiation analysis and very low distribution ratio of phosphorus-32 and potassium-42 in the growing point of the lower potassium level was manifested, though the contents of nitrogen, phosphorus, potassium, sodium and magnesium were not in great difference. 5. In addition to the low water content with appearence of "hard", shorterning internode and lower ratio of roots to shoot as well as the symptoms of potassium deficiency such as brown spot in leaf blade and necrosis of leaf margin were appeared at later stage of experiment at the lower potassium level. 6. Very stimulating vegetative growth, e.g, large plant length, leaf expansion, increasing node number and fresh weight as well as high ratio of roots to shoot, high water content was resulted in the condition of higher potassium level. 7. A specific interaction between higher potassium level and thermoperiod was found, that is, the largest tuber production and the largest ratio of roots to shoot were resulted in the combined condition of higher potassium level and constant temperature while the largest plant length, fresh weight etc. i.e. the most stimulative vegetative growth was resulted in the combined condition of higher potassium level and low night temperature. 8. Comparatively low water content in the former condition of stimulative tuber production was resulted(especially at the tuber thickening stage), while high water content in the latter condition of stimulative vegetation was resulted though the higher potassium level made generally high water contents. 9. The nitrogen contents of soluble and insoluble did not make distinct difference between the lower and higher potassium level. 10. Though the phosphorus contents were not distinctly different by the potassium level, the lower potassium level made the percentage of phosphorus increased at tuber forming stage accumulating more phosphorus in roots, while the higher potassium level decreased percentage of phosphorus at that stage. 11. The higher potassium level made distinctly high potassium contents than the lower potassium level and increased contents at the tuber forming stage through both conditions. 12. The sodium contents were low in the condition of higher potassium level than the lower potassium level and decreased at tuber forming stage in both conditions, on the contary of potassium. 13. Except the noticeable deficeney of manganese in the growing point of the lower potassium level, mangense and magnesium contents in other organs did not make distinct difference according to the potassium level. 14. Generally more uptake and large absorption rate of phosphorus-32 and potassium-42 were resulted at the higher potassium level, and the most uptake, and the largest absorption rate of phosphorus and potassium-42 (especially potassium-42 at tuber forming stage) were resulted in the condition of higher potassium level and constant temperature which made the highest tuber production. 15. The higher potassium level stimulated the translocation of phoshorus-32 and potassium-42 from roots to shoots while the lower potassium level suppressed or blocked the translocation. 16. Therefore, very large distribution rate of $p^{32}$, $K^{42}$ in shoot, especially, in growing point, compared with roots was resulted in the higher potassium level. 17. The lower potassium level suppressed the translocation of phosporus-32 from roots to shoot more than that of potassium-42. 18. The uptake of potassium-42 and translocation in IPOMOEA BATATAS were more vivid than phosphorus-32. 19. A specific interaction between potassium nutrition and thermoperiod which resulted the largest tuber production etc. was discussed in relation to behaviors of minerals and potasium-42 etc. 20. Also, the specific effect of the lower and higher potassium level on the growth pattern of IPOMOEA BATATAS were discussed in relation to behaviors of minerals and isotopes. 21. An emphasize on the significance of the higher potassium level as well as the interaction with the regulating factor and problem of potassium level (gradient) for crops product ion were discussed from the point of dynamical and variable function of potassium.

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Redefinition of the Original Benchmark Height using Long-term Tide Observations Analysis and GPS Levelling Methods (장기간 조위관측자료 분석과 GPS 수준측량 수준원점 성과 재정의)

  • Jung, Tae-Jun;Yoon, Hong-Sic;Hwang, Jin-Sang;Lee, Dong-Ha
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.29 no.4
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    • pp.393-403
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    • 2011
  • In this study, we suggested the period of tide observations is proper to calculate the mean sea level(MSL) precisely on Incheon tide station using wavelet analysis, and newly determined then the vertical reference surface of Korea using the calculated MSL. In order to calculate the height difference between the calculated MSL and specific ground station (ICGP) near the Incheon tide stations, we performed the laser measurements directly to the sea surface where located below ICGP. The orthometric-height of ICGP was determined that corrected the height difference to the calculated MSL using linear interpolation method. Finally, we connected the orthometric-height of ICGP with the original benchmark (ORBM) using GPS leveling methods for determining the new orthometric-height of ORBM. As the results, there is a variation amount of 0.026m between the new MSL was calculated in this study and old MSL was calculated in 1910's. Also, there is a difference of 0.035m between the new and old orthometric-heights of ORBM. The connection (or leveling) error of 0.009m was revealed in new orthometric height of ORBM with consideration of MSL variation which may caused by the error of GPS ellipsoid height and/or geoid model. In this study, we could be determined precisely the orthometric-height of ORBM based on the new MSL of Incheon Bay using only GPS leveling method, not a spirit leveling method. Therefore, it is necessary to determine the vertical datum strictly using long-term and continuously tide observations more than 19 years and to use the GPS leveling method widely in the height leveling work for the effective changeover from the orthonormal to the orthometric in national height system.