• 한국정보기술학회논문지
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• 제16권12호
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• pp.49-56
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• 2018

4차 산업혁명 시대가 도래하면서 무인항공기의 활용에 대한 관심이 급증하고 있다. 드론을 활용한 다양한 기술개발이 이루어지고 있는 가운데 드론의 비행 제어는 가장 기본이 된다. 드론의 비행제어 중 특히 자율비행을 가능하게하기 위해서는 호버링 제어가 필수적이다. 본 논문에서는 드론의 호버링 제어를 위해 ATmega2560과 소나, Optical Flow, 가속도/자이로 6축 센서를 바탕으로 드론을 설계하고 PID 제어를 기반으로 한 수평제어, 고도제어, 위치 추적 및 고정 알고리즘을 개발하였다. 본 연구에서는 드론의 객관적인 결과를 측정하기 위하여 시간에 따라 드론이 이륙하는 직후부터 고도를 유지하고 위치를 고정하고 안정적인 호버링을 유지할 때까지의 이동 값을 측정하여 비교 분석 하였다. 실험결과 드론은 기준좌표의 50cm 상공에서 수평 4cm, 수직 2cm 이내에서 안정적으로 호버링 할 수 있는 것으로 나타났다.

• 한국농림기상학회지
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• 제12권1호
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• pp.23-35
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• 2010

울릉도의 성인봉을 중심으로 나리분지와 주변 산림에 대한 지속가능한 보전을 위한 생태적 기초 자료를 제공하고자 나리분지 내 산림과 외륜의 동, 서, 북사면의 산림에 대하여 군락생태학적 방법으로 임분 구조 및 종 조성 특성을 조사 분석 하였다. 조사 대상 산림 내 임분의 층위 별 중요치를 산출하여 비교 분석한 결과, 나리분지 외륜산림 방위 및 고저 별 대부분의 임분에서는 너도밤나무와 고로쇠나무가 대체로 우점하는 경향이었으며, 임분간 식물 종의 조성에서도 큰 차이를 보이지 않았다. 그러나 나리분지내의 산림에서는 너도밤나무림, 두메오리나무림, 소나무림, 낙엽활엽수림의 다양한 임분이 형성되어 있었고, 임분에 따라 종 조성도 큰 차이를 보였다. 그리고 임분의 성숙도와 안정도 등 간접적인 군락의 속성을 파악하기 위하여 종 다양도를 비교 분석한 결과 임분의 각 층위에서 모두 나리분지 내 산림이 외륜의 산림에 비해 높은 종 다양도를 보였으며, 나리분지 내 산림에서는 소나무림과 낙엽활엽수림이 너도밤나무와 두메오리나무림에 비해 각 층위에서 대체로 높은 종 다양도를 보였다. 또한 산림의 방위 및 고저 별 임분에 대한 유사성을 추정하기 위해서 S$\O$rensen의 유사도계수(Cs)를 비교 분석한 결과 동, 서 북사면과 나리분지 내 산림간 유사도 지수는 0.68~0.69의 범위로서 차이가 거의 없었고, 능선부와 산복부, 산록부, 평탄지간 유사도 지수는 0.85~0.95의 범위로서 거의 동일한 임분형을 보였으며, 나리분지 내 네 임분 간 유사도 지수도 0.66~0.88의 범위로 높은 유사도를 보였다. 나리분지 외륜의 능선부와 산복부, 산록부, 평탄지에 대한 산림의 천이의 진행에 따라 임분구조 및 개체군의 동태를 예측하기 위하여 주요 구성종의 직경급 분포도를 작성한 결과 다소의 형태적 차이는 있었지만 대체로 정규분포형에 가까운 종형(Bell-shape)을 이루고 있었으며, 이들 산림 내 임분은 대체로 안정적으로 유지될 것으로 판단되었다. 따라서 성인봉을 포함한 나리분지와 외륜 산림의 임분들은 지형적 특성에도 불구하고 대체로 구조와 종조성에 있어서 높은 유사도를 보였으며, 기후변화에 의한 임분의 단순화가 지속될 것으로 판단되어, 산림 내 생물 종 및 생태계 다양성에 대한 보전과 관리 대책이 필요하다.

• The Korean Journal of Ecology
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• 제17권2호
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• pp.185-201
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• 1994

The Quercus mongolica forest vegetation of Mt. Myongji was classified into two communities including four subunit communities and one typical subunit community by the Z-M method as follows: Acer pseudo-sieboldianum-Quercus mongolica community group Quercus mongolica - Isodon excisus community Quercus mongolica - Styrax obassia community Quercus mongolica - Lespedeza bicolor subunit coummunity Quercus mongolica - Aconitum longecassidatum subunit community Quercus mongolica - Rhododendrom schlippenbachii subunit community Quercus mongolica - Cornus controversa subunit community Quercus mongolica - Styrax obassia typical subunit community Acer pseudo-sieboldianum - Quercus mongolica community group was distributed over the upper region of the altitude 400m, and the differential species in the community were Carex siderosticata, Sephanandra incisa, Tripterygium regelii, and Fraxinus rhynchophylla. The vegetation patterns for the slope and azimuth showed that the highest importance value for Quercus mongolica forest was observed on the broad subxeric area, and for Carpinus cordata and Acer pseudo-sieboldianum on the wet site, for Acer mono, Styrax obassia, Fraxinus rhynchophylla and Symplocos chinensis for. pilosa on the xeric site. The best habitat condition for Quercus mongolica was found at a subxeric site at the altitude of 700-900m on southern slope and that for Acer pseudo-sieboldianum at the 700-1100m on northern slope.

• International Journal of Contents
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• 제13권3호
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• pp.1-8
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• 2017

Rice plant numbers and density are key factors for yield and quality of rice grains. Precise and properly estimated rice plant numbers and density can assure high yield from rice fields. The main objective of this study was to automatically detect and count rice plants using images of usual field condition from an unmanned aerial vehicle (UAV). We proposed an automatic image processing method based on morphological operation and boundaries of the connected component to count rice plant numbers after transplanting. We converted RGB images to binary images and applied adaptive median filter to remove distortion and noises. Then we applied a morphological operation to the binary image and draw boundaries to the connected component to count rice plants using those images. The result reveals the algorithm can conduct a performance of 89% by the F-measure, corresponding to a Precision of 87% and a Recall of 91%. The best fit image gives a performance of 93% by the F-measure, corresponding to a Precision of 91% and a Recall of 96%. Comparison between the numbers of rice plants detected and counted by the naked eye and the numbers of rice plants found by the proposed method provided viable and acceptable results. The $R^2$ value was approximately 0.893.

• 통합자연과학논문집
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• 제8권3호
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• pp.221-232
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• 2015

In this study, the vertical characteristics of wind were analyzed using the horizontal wind, vertical wind, and vertical wind shear, which are generated from a wind profiler during concentrated heavy rain, and the quantitative characteristics of concentrated heavy rain were analyzed using CAPE, SWEAT, and SRH, among the stability indexes. The analysis of the horizontal wind showed that 9 cases out of 10 had a low level jet of 25 kts at altitudes lower than 1.5 km, and that the precipitation varied according to the altitude and distribution of the low-level jet. The analysis of the vertical wind showed that it ascended up to about 3 km before precipitation. The analysis of the vertical wind shear showed that it increased up to a 1 km altitude before precipitation and had a strong value near 3 km during heavy rains. In the stability index analysis, CAPE, which represents thermal buoyancy, and SRH, which represents dynamic vorticity, were used for the interpretation of the period of heavy rain. As SWEAT contains dynamic upper level wind and thermal energy, it had a high correlation coefficient with concentrated-heavy-rain analysis. Through the case studies conducted on August 12-13, 2012, it was confirmed that the interpretation of the prediction of the period of heavy rain was possible when using the intensive observation data from a wind profiler and the stability index.

• 한국통신학회논문지
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• 제31권1A호
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• pp.16-22
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• 2006

이 논문은 최근 대두되고 있는 DMB 서비스와 차세대 이동통신의 새로운 해결 후보 기술로 다시 부각된 HAPS를 이용한 성층권 고공 항등체 탑재용 DMB 트랜스폰더의 지표면 수신전계 강도를 지상 수평 전파 모델과 비교한 것이다. 기존 지상 수평전파를 이용한 DMB 서비스의 요구되는 최저 수신 전계강도 $42.56\;dB{\mu}V/m$로 이를 충족하기 위해 1KW의 출력이 필요한데 비해 고공전파통신은 약 1천분의 1에 해당한 1W로 10Km와 20Km 상공에서 각각 거리별 서비스가 가능함을 시뮬레이션을 통해서 확인할 수 있다. 이러한 양질의 회절과 간섭이 없는 청정 전파는 향후 신기통신의 매체로서 지상 수평전파를 대치할 수 있는 새로운 제 3의 전파자원으로 활용이 가능함을 확인할 수 있다.

• Journal of Forest and Environmental Science
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• 제31권3호
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• pp.149-163
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• 2015

The aim of the present study was to assess the variation in species composition and diversity of woody species at different altitudes (900 to 2600 m asl) in Kedarnath Wildlife Sanctuary (KWLS) and its adjoining areas in Garhwal Himalaya, India. A total of 94 woody plant species (including 44 tree and 50 shrub species) belonging to 72 genera and 44 families were reported. Density varied from $235{\pm}9$ to $505{\pm}21trees\;ha^{-1}$ and $4,730{\pm}474$ to $9,530{\pm}700shrubs\;ha^{-1}$. Total basal cover varied from $10.49{\pm}0.66$ to $42.92{\pm}2.57m^2ha^{-1}$ (trees) and $0.36{\pm}0.024$ to $0.62{\pm}0.047m^2ha^{-1}$ (shrubs). Shannon-Wiener Index fluctuated between 2.30 to 3.53 (trees) and 2.74 to 3.78 (shrubs). Analysis of variance (ANOVA) indicated that altitude and aspect had significant effect on the distribution of woody species. Taxonomically, Rosaceae with 15 species emerged as the dominant family. Low value of maturity index and contiguous distribution of species denoted the early successional status of the studied forests. The conservation assessment based on altitudinal regimes and the information on species structure and function can provide baseline information for monitoring and sustaining the biodiversity.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회B
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• pp.2642-2647
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• 2008

Starting characteristics of the axi-symmetric supersonic exhaust diffuser(SED) with a second throat are numerically investigated. Main purpose of this study is to predict theoretical starting pressure of STED using 1-D normal shock theory and to present the range of optimum starting pressure through parametric study with essential design parameters of STED influencing on starting performance. Renolds-Average Navier-Stokes equations with a standard ${\kappa}-{\varepsilon}$ turbulence model incorporated with standard wall function are solved to simulate the diffusing evolutions of the nozzle plume. Minimum(optimum) starting pressure difference of $20{\sim}25%$ between 1-D theory and experimental evidences validated from previous results[5] is also applied to predict those in this system. The analysis results indicate that dominant parameters for diffuser starting in this system is diffuser expansion ratio($A_d/A_t$), which has optimum value 120 and second throat area ratio($A_d/A_{st}$), which has optimum range $3.3{\sim}3.5$.

• 한국환경과학회지
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• 제27권11호
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• pp.1155-1167
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• 2018

We developed a small sensor observation system (SSOS) at a relatively low cost to observe the atmospheric boundary layer. The accuracy of the SSOS sensor was compared with that of the automatic weather system (AWS) and meteorological tower at the Korea Meteorological Administration (KMA). Comparisons between SSOS sensors and KMA sensors were carried out by dividing into ground and lower atmosphere. As a result of comparing the raw data of the SSOS sensor with the raw data of AWS and the observation tower by applying the root-mean-square-error to the error, the corresponding values were within the error tolerance range (KMA meteorological reference point: humidity ${\pm}5%$, atmospheric pressure ${\pm}0.5hPa$, temperature ${\pm}0.5^{\circ}C$. In the case of humidity, even if the altitude changed, it tends to be underestimated. In the case of temperature, when the altitude rose to 40 m above the ground, the value changed from underestimation to overestimation. However, it can be confirmed that the errors are within the KMA's permissible range after correction.

• 대한임베디드공학회논문지
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• 제18권4호
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• pp.185-194
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• 2023

Currently, drones are used in various fields such as transportation, agriculture and military. Especially, drones for military use are developed and utilized in many ways such as reconnaissance and bombing to minimize one's own damages. Nevertheless, they are developed as new weapons of modern types, so it is difficult to use them together with existing weapons. In this study, a drone program for effective bombing of mortar, which is often used in modern warfare, is developed. In mortar, a forward soldier comprehends the location of enemy for its distance and altitude, input them in data computer of launching angle, and applies the result value to cannon to launch. However, the existing method has low accuracy of bombing because observing shall be done within 1km from the target, and measuring accurate direction and velocity of the wind is difficult. Whereas, in the program of this study, the location of target, GPS, direction and velocity of the wind, and altitude are measured through drone. Each digit is used to calculate bombing specification for optimal bombing through the calculating formula of launching angle. In addition, when specifications are input in the program, the calculation is done automatically, so that it can be used in various mortars and shells. With the use of the program in this study, the location of enemy can be comprehended, and bombing specifications can be calculated quickly. It also enables the intensity of the wind to be applied for accurate bombing.