• Journal of Korean Society for Atmospheric Environment
• /
• v.22 no.5
• /
• pp.604-613
• /
• 2006

The chemical composition of $PM_{2.5}$ such as ${SO_4}^{2-},\;{NO_3}^-,\;Cl^-,\;{NH_4}^+,\;Ca^{2+},\;K^+,\;Na^+,\;Mg^{2+}$, OC, and EC and the concentrations of reactive trace gases including $O_3,\;CO,\;NOx,\;SO_2,\;and\;H_2O_2$ were measured at Gosan in Jeju Island during March $13{\sim}30$, as a part of the Atmospheric Brown Clouds-East Asian Regional Experiment 2005(ABC-EAREX2005). The average mass concentrations of $PM_{2.5}$ was 27.3 ${\mu}g/m^3$, of which OC showed the highest concentration as 4.22 ${\mu}g/m^3$ and nss ${SO_4}^{2-}$ was the second highest as 3.34 ${\mu}g/m^3$. During that period, average concentrations of CO and $O_3$ was about 300 ppbv and 56 ppbv, respectively. For the whole experiment, the correlations of CO with ${SO_4}^{2-}$ and EC were very good, which suggests that CO can be used as tracer for the formation of fine aerosols. Several pollution and dust episodes were identified by the enhancement of CO, OC, EC, nss ${SO_4}^{2-},\;or\;Ca^{2+}$ concentrations or their ratios. In conjunction with factor analysis, air trajectory analysis, and comparison with emission inventories, these results indicate the spring aerosols collected at Gosan was strongly influenced by Asian outflows.

• The Journal of Korea Robotics Society
• /
• v.17 no.3
• /
• pp.339-346
• /
• 2022

To operate in real environment, humanoid robots should be able to react to unknown disturbances. To deal with disturbances, various robust control algorithms have been developed for decades. But for collaborative works such as teleoperation system, a compliance control can be the better solution for disturbance reactions. In this paper, a center of mass (CoM) compliance control algorithm for humanoid robots is proposed. The proposed algorithm is based on the state observer and positive feedback of disturbance. With the state observer based on humanoid CoM control performance model, disturbance in each direction can be observed. The positive feedback of disturbances to the reference CoM trajectory enables compliant motion. The main contributions of this algorithm are achieving compliance independently in each axis and maintaining balance against external force. Through dynamic simulations, the performance of the proposed method was demonstrated. Under two types of disturbance conditions, humanoid robot DYROS-JET reacted with compliant motion via the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.5
• /
• pp.529-539
• /
• 1999

This paper suggests a new image analysis method and indoor navigation control algorithm of mobile robots using a mono vision system. In order to reduce the positional uncertainty which is generated as the robot travels around the workspace, we propose a new visual landmark recognition algorithm with 2-D graph world model which describes the workspace as only a rough plane figure. The suggested algorithm is implemented to our mobile robot and experimented in a real corridor using extended Kalman filter. The validity and performance of the proposed algorithm was verified by showing that the trajectory deviation error was maintained under 0.075m and the position estimation error was sustained under 0.05m in the resultant trajectory of the navigation.

• Journal of Positioning, Navigation, and Timing
• /
• v.7 no.2
• /
• pp.73-90
• /
• 2018

Various navigation systems are integrated with the Global Navigation Satellite System (GNSS) to improve navigation performance so that continuous navigation information can be obtained even when navigation performance is degraded or navigation is not available due to the outage of GNSS. Time and cost can be reduced by evaluating performance of the integrated navigation system through Modeling and Simulation (M&S) software prior to the deployment of the integrated navigation system. The measurements of the navigation system should be generated to evaluate performance through of the navigation system M&S software. This paper proposes a method of designing a navigation environment generation module in M&S software of the integrated navigation system. To show applicability of the proposed method to M&S software design of the integrated navigation system, functions are verified through MATLAB. And then visual C++ based M&S software for the integrated navigation system is implemented to check the operation of the navigation environment generation module. The reference trajectory is generated and true measurements of Global Positioning System (GPS), Korea Positioning System (KPS), and enhanced Long range navigation (eLoran) are generated from the reference trajectory. The navigation results obtained from the true measurements are compared with the reference trajectories. The results show that the measurements generated using the design generation module by the proposed method are valid and the navigation environment generation module can be applied to M&S software of the integrated navigation system.

• Journal of Korean Society for Atmospheric Environment
• /
• v.34 no.2
• /
• pp.321-330
• /
• 2018

Concentrations of the atmospheric radon and gaseous pollutants were measured at the Gosan site on Jeju Island from 2010 to 2015, in order to observe their time-series variation characteristics and examine the concentration change related to the airflow transport pathways. Based on the realtime monitoring of the atmospheric radon and gaseous pollutants, the daily mean concentrations of radon ($^{222}Rn$) and gaseous pollutants($SO_2$, CO, $O_3$, $NO_x$) were $2,400mBq\;m^{-3}$ and 1.3, 377.6, 41.1, 3.9 ppb, respectively. On monthly variations of radon, the mean concentration in October was the highest as $3,033mBq\;m^{-3}$, almost twice as that in July ($1,452mBq\;m^{-3}$). The diurnal variation of radon concentration shows bimodal curves at early morning (around 7 a.m.) and near midnight, whereas its lowest concentration was recorded at around 3 p.m. Several gaseous pollutants($SO_2$, CO, $NO_x$) showed a similar seasonal variation with radon concentration as high in winter and low in summer, whereas the $O_3$ concentrations had a bit different seasonal trend. According to the cluster back trajectory analysis, the frequencies of airflow pathways moving from continental North China, East China, Japan and the East Sea, the Korean Peninsula, and North Pacific Ocean routes were 36, 37, 10, 13, and 4%, respectively. When the airflow were moved to Jeju Island from continental China, the concentrations of radon and gaseous pollutants were relatively high. On the other hand, when the airflows were moved from North Pacific Ocean and East Sea, their concentrations were much lower than those from continental China.

• Asian Journal of Atmospheric Environment
• /
• v.11 no.2
• /
• pp.114-121
• /
• 2017

Real-time monitoring of hourly concentrations of atmospheric Radon-222 ($^{222}Rn$, radon) and some gaseous pollutants ($SO_2$, CO, $O_3$) was performed throughout 2013-2014 at Gosan station of Jeju Island, one of the cleanest regions in Korea, in order to characterize their background levels and temporal variation trend. The hourly mean concentrations of radon and three gaseous pollutants ($SO_2$, CO, $O_3$) over the study period were $2216{\pm}1100mBq/m^3$, $0.6{\pm}0.7ppb$, $211.6{\pm}102.0ppb$, and $43.0{\pm}17.0ppb$, respectively. The seasonal order of radon concentrations was as fall ($2644mBq/m^3$)$${\sim_\sim}$$winter ($2612mBq/m^3$)>spring ($2022mBq/m^3$)>summer ($1666mBq/m^3$). The concentrations of $SO_2$ and CO showed similar patterns with those of radon as high in winter and low in summer, whereas the $O_3$ concentrations had a bit different trend. Based on cluster analyses of air mass back trajectories, the air mass frequencies originating from Chinese continent, North Pacific Ocean, and the Korean Peninsula routes were 30, 18, and 52%, respectively. When the air masses were moved from Chinese continent to Jeju Island, the concentrations of radon and gaseous pollutants ($SO_2$, CO, $O_3$) were relatively high: $2584mBq/m^3$, 0.76 ppb, 225.8 ppb, and 46.4 ppb. On the other hand, when the air masses were moved from North Pacific Ocean, their concentrations were much low as $1282mBq/m^3$, 0.24 ppb, 166.1 ppb, and 32.5 ppb, respectively.

• Journal of Environmental Science International
• /
• v.11 no.5
• /
• pp.419-436
• /
• 2002

The current paper reports on the enhancement of O$_3$, CO, NO$_2$, and aerosols during the Asian dust event that occurred over Korea on 1 May 1999. To confirm the origin and net flux of the O$_3$, CO, NO$_2$, and aerosols, the meteorological parameters of the weather conditions were investigated using Mesoscale Meteorological Model 5(MM5) and the TOMS total ozone and aerosol index, the back trajectory was identified using the Hybrid Single-Particle Lagrangian Integrated Trajectory Model(HYSPLIT), and the ozone and ozone precursor concentrations were determined using the Urban Ashed Model(UAM). In the presence of sufficiently large concentrations of NO$\sub$x/, the oxidation of CO led to O$_3$ formation with OH, HO$_2$, NO, and NO$_2$ acting as catalysts. The sudden enhancement of O$_3$, CO, NO$_2$ and aerosols was also found to be associated with a deepening cut-off low connected with a surface cyclone and surface anticyclone located to the south of Korea during the Asian dust event. The wave pattern of the upper trough/cut-off low and total ozone level remained stationary when they came into contact with a surface cyclone during the Asian dust event. A typical example of a stratosphere-troposphere exchange(STE) of ozone was demonstrated by tropopause folding due to the jet stream. As such, the secondary maxima of ozone above 80 ppbv that occurred at night in Busan, Korea on 1 May 2001 were considered to result from vertical mixing and advection from a free troposphere-boundary layer exchange in connection with an STE in the upper troposphere. Whereas the sudden enhancement of ozone above 100 ppbv during the day was explained by the catalytic reaction of ozone precursors and transport of ozone from a slow-moving anticyclone area that included a high level of ozone and its precursors coming from China to the south of Korea. The aerosols identified in the free troposphere over Busan, Korea on 1 May 1999 originated from the Taklamakan and Gobi deserts across the Yellow River. In particular, the 1000m profile indicated that the source of the air parcels was from an anticyclone located to the south of Korea. The net flux due to the first invasion of ozone between 0000 LST and 0600 LST on 1 May 1999 agreed with the observed ground-based background concentration of ozone. From 0600 LST to 1200 LST, the net flux of the second invasion of ozone was twice as much as the day before. In this case, a change in the horizontal wind direction may have been responsible for the ozone increase.

• Journal of Mechanical Science and Technology
• /
• v.15 no.12
• /
• pp.1768-1774
• /
• 2001

Drifting Cups on a Meandering Stream (Kyokusui-no-En) is a Poetry Party that had its origin In ancient China, and was introduced to Japan passing through Korea. The flow of the meandering stream was made clear using the flow visualization techniques, surface floating method, PTV and the numerical simulation. At the same time, the motions of floating cup, the floating speed, relating speed and the trajectory of the cup were also analysed by using an originally developed image processing technique. Based on these researches, the model channel was considered. To make this party interesting the channel must has the characteristic that the drifting cups take the random pass and stagnant at the unexpected place. This model channel is satisfied with these conditions and the fluid mechanics consideration is performed on the both points of the experimental visualization and numerical simulation.

• Journal of Biosystems Engineering
• /
• v.43 no.4
• /
• pp.273-284
• /
• 2018

Purpose: Conventional headland turning typically requires repeated forward and backward movements to move the farming equipment to the next row. This research focuses on developing an upland agricultural robot with an optimized headland turning mechanism that enables a $180^{\circ}$ turning positioning to the next row in one steering motion designed for a two-wheel steering, four-wheel drive agricultural robot named the HADA-bot. The proposed steering mechanism allows for faster turnings at each headland compared to those of the conventional steering system. Methods: The HADA-bot was designed with 1.7-m wide wheel tracks to travel along the furrows of a garlic bed, and a look-ahead path following algorithm was applied using a real-time kinematic global positioning system signal. Pivot turning tests focused primarily on accuracy regarding the turning radius for the next path matching, saving headland turning time, area, and effort. Results: Several test cases were performed by evaluating right and left turns on two different surfaces: concrete and soil, at three speeds: 1, 2, and 3 km/h. From the left and right side pivot turning results, the percentage of lateral deviation is within the acceptable range of 10% even on the soil surface. This U-turn scheme reduces 67% and 54% of the headland turning time, and 36% and 32% of the required headland area compared to a 50 hp tractor (ISEKI, TA5240, Ehime, Japan) and a riding-type cultivator (CFM-1200, Asia Technology, Deagu, Rep. Korea), respectively. Conclusion: The pivot turning trajectory on both soil and concrete surfaces achieved similar results within the typical operating speed range. Overall, these results prove that the pivot turning mechanism is suitable for improving conventional headland turning by reducing both turning radius and turning time.

• Journal of Intelligence and Information Systems
• /
• v.25 no.3
• /
• pp.179-200
• /
• 2019

Word-of-mouth (WoM) is defined by consumer activities that share information concerning consumption. WoM activities have long been recognized as important in corporate marketing processes and have received much attention, especially in the marketing field. Recently, according to the development of the Internet, the way in which people exchange information in online news and online communities has been expanded, and WoM is diversified in terms of word of mouth, score, rating, and liking. Social media makes online users easy access to information and online WoM is considered a key source of information. Although various studies on WoM have been preceded by this phenomenon, there is no meta-analysis study that comprehensively analyzes them. This study proposed a method to extract major researches by applying text mining techniques and to grasp the main issues of researches in order to find the trend of WoM research using scholarly big data. To this end, a total of 4389 documents were collected by the keyword 'Word-of-mouth' from 1941 to 2018 in Scopus (www.scopus.com), a citation database, and the data were refined through preprocessing such as English morphological analysis, stopwords removal, and noun extraction. To carry out this study, we adopted main path analysis (MPA) and word co-occurrence network analysis. MPA detects key researches and is used to track the development trajectory of academic field, and presents the research trend from a macro perspective. For this, we constructed a citation network based on the collected data. The node means a document and the link means a citation relation in citation network. We then detected the key-route main path by applying SPC (Search Path Count) weights. As a result, the main path composed of 30 documents extracted from a citation network. The main path was able to confirm the change of the academic area which was developing along with the change of the times reflecting the industrial change such as various industrial groups. The results of MPA revealed that WoM research was distinguished by five periods: (1) establishment of aspects and critical elements of WoM, (2) relationship analysis between WoM variables, (3) beginning of researches of online WoM, (4) relationship analysis between WoM and purchase, and (5) broadening of topics. It was found that changes within the industry was reflected in the results such as online development and social media. Very recent studies showed that the topics and approaches related WoM were being diversified to circumstantial changes. However, the results showed that even though WoM was used in diverse fields, the main stream of the researches of WoM from the start to the end, was related to marketing and figuring out the influential factors that proliferate WoM. By applying word co-occurrence network analysis, the research trend is presented from a microscopic point of view. Word co-occurrence network was constructed to analyze the relationship between keywords and social network analysis (SNA) was utilized. We divided the data into three periods to investigate the periodic changes and trends in discussion of WoM. SNA showed that Period 1 (1941~2008) consisted of clusters regarding relationship, source, and consumers. Period 2 (2009~2013) contained clusters of satisfaction, community, social networks, review, and internet. Clusters of period 3 (2014~2018) involved satisfaction, medium, review, and interview. The periodic changes of clusters showed transition from offline to online WoM. Media of WoM have become an important factor in spreading the words. This study conducted a quantitative meta-analysis based on scholarly big data regarding WoM. The main contribution of this study is that it provides a micro perspective on the research trend of WoM as well as the macro perspective. The limitation of this study is that the citation network constructed in this study is a network based on the direct citation relation of the collected documents for MPA.