• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.23-30
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• 2024

This paper studies a GPS error filtering method that takes into account the continuity of the ongoing path to enhance the safety of autonomous agricultural mobile robots. Real-Time Kinematic Global Positioning System (RTK-GPS) is increasingly utilized for robot position evaluation in outdoor environments due to its significantly higher reliability compared to conventional GPS systems. However, in orchard environments, the robot's current position obtained from RTK-GPS information can become unstable due to unknown disturbances like orchard canopies. This problem can potentially lead to navigation errors and path deviations during the robot's movement. These issues can be resolved by filtering out GPS information that deviates from the continuity of the waypoints traversed, based on the robot's assessment of its current path. The contributions of this paper is as follows. 1) The method based on the previous waypoints of the traveled path to determine the current position and trajectory. 2) GPS filtering method based on deviations from the determined path. 3) Finally, verification of the navigation errors between the method applying the error filter and the method not applying the error filter.

• The Journal of the Petrological Society of Korea
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• v.10 no.2
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• pp.82-94
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• 2001

The main geological structure of the Ogcheon belt in the Buunnyeong area, Mungyeong, which consists of three stratigraphic sequences, Joseon and Pyeongan Supergroups and Daedong Group, is characterized by the development of ESE-vergence structural unit (Dangok unit) and WNW-vergence structural units (Samsil and Bugongni units) onto an autochthonous unit (Buunnyeong unit). Three phases of deformation are recognized in this area. The lent phase of deformation coourred under the WNW-ESE compression, forming an upright-open fold (Buunnyeong-I fold) with NNE axial trend in the Buunnyeong unit. The second phase of deformation also under the WNW-ESE compression formed the Dangok, Samsil and Bugongni units, resulting in the further closing of the Buunnyeong-I open fold, the elongation of pebbles in the conglomerate rocks of a basal sequence of the Daedong Group, recumbent folds (Buunnyeong-II fold) and drag folds (Dangok fold) with NNE axial trend in the Buunnyeong and Dangok units, respectively. The third phase of deformation formed kink folds with its axis p1unging subvertically. The first and second phases of deformation took place before and after the deposition of the Daedong Group of the Upper Triassic -Lower Jurassic, respectively. These first two deformation events, which occurred under the same WNW-ESE compressional field, produced the regional NNE trend of geological structure in the Joseon and Pyeongan Supergroups of this area.

• Journal of the Korean association of regional geographers
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• v.8 no.3
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• pp.326-346
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• 2002

This study examined how the tradition and culture based on the historical experience of the region are regenerated on the making regional identity and symbolic representation in Kurim-ri, Youngam. Kurim has represented the most typical community of the aristocratic class through Daedong-gae of 400 years. But, since 1970's Kurim has undergone a rapid change in regional identity in Kurim ; from the beginning of the spot of Wangin festival to the village of earthenware, the village of pottery culture heritage most recently. The process of history-making around Wangin in Kurim was connected with the strategy of the pottery culture village-making centering around the Youngam Pottery Culture Center. These projects ultimately were resulted in expression the regional identity, 'Kurim of Wang-in'. The regional tradition of Daedong-gae and Wangin in Kurim was linked together solidly through the Wangin festival procedures. And the excavation of a kiln site in Kurim which was going on with the process of history-making at the same time around Wangin in Kurim provided the cultural episode on related 'earthenware' with an archeological foundation. As a consequence of these, the cultural space, the Young-am Pottery Culture Center has came to establish in Kurim finally. However, recently the Kurim of Wangin and Daedong-gae which was representative of regional identity in Kurim is bringing Dosun who was distorted and estranged during the history-making focused on Wangin in Kurim. Now, there are some cultural issues in Kurim ; an authentical settlement of the Youngam Pottery Culture Center in Kurim and how Wangin and Dosun is linked together into the cultural strategy of 'the traditional village, Kurim'.

• Proceedings of the KIPE Conference
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• 2013.07a
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• pp.443-444
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• 2013

This paper deals with development of 35hp Electric Tractor. First, Motor and inverter are designed and manufactured suitable for the 35hp diesel tractor. Then these are apply to electric tractor. Also, We confirm performance of electric tractor as driving and field operating test.

• Proceedings of the KIPE Conference
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• 2012.07a
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• pp.478-479
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• 2012

This paper deals with 22kW IPMSM drive inverter for E-Tractor. First it introduces about hardware structure of inverter using developed MOSFET Module. Then it explains motor control algorithm. Also performance of IPMSM drive system is confirmed through experiments.

• Economic and Environmental Geology
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• v.4 no.1
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• pp.1-9
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• 1971

The "Younger Granites" in Korea were being believed to be late Cretaceous in age and named "Bulkuksa granites" by all previous works until the writer had discovered Jurassic granite in 1963. The present paper is to prove its validity by age dating on these granites which was carried out by Professor Y. Ueda, Tohoku University, Japan. The age of 37 granites samples from various localities ranges from 68 my to 181 my. Of these 10 samples belonged to early Jurassic, 6 samples to mid-Jurassic, 4 samples to late Jurassic, 5 samples to early Cretaceous, and 12 samples to late Cretaceous in age. It is of the writer's opinion that the granites intruded in from early Jurassic to early Cretaceous age belong to Daebo granites and are syntectonic plutons associated with Daebo orogeny, and only those of late Cretaceous age belong to Bulkuksa granites that were associated with Bulkuksa disturbance. Daebo granites are aligned along NE-SW Sinian direction in the middle parts of Korea and crop out in the cores of folded mountains which were formed by Daebo Orogeny, such as Charyong, Noryong, Sobaek, and Dukyu Ranges. On the contrary Bulkuksa granites are restricted in Kyongsang basin and adjacent few localities in distribution and show no alignment. Granites supposedly associated with other disturbances of post-precambrian Have not been found so far in S. Korea. Age dating of granites has revealed that Daebo orogeny might be continuous from Songrim distur bance of late Triassic age. From this viewpoint, it could be assumed that Daedong system of Jurassic age were deposited in separate intermontain basins while Daebo orogeny was active, so that Daedong system in separate localities in Korea could not been correlated in their lithology as well as stratig raphy.

• Journal of Sericultural and Entomological Science
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• v.7
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• pp.49-52
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• 1967

In the F$_1$ hybrids and parents of silkworms, the silkworms of 47 blocks in summer and 68 blocks in fall in 1965 were reared in order to know the effect of mortality on the difference of sex ratio. The results analyzed are as follows; 1. In Moran of Japanese strain-parent and Morean x Daedong of F$_1$ hybrid, there is of no effect of an increase and decrease of mortality on the sex ratio. So male is not always stronger than female. 2. In Daedong of Chinese strain-parent, the more the mortality in the blocks is, the higher the survival ratio of male pupa becomes. (Y=0.233x-41.67). 3. As the results mentioned above, the present investigation method of cocoon quality of Chinese strains with the same number of cocoons of both sexes will have to be considered again, according to the cocoon crops, as far as concerned with the reasonable sampling from the population.

• Journal of Biosystems Engineering
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• v.35 no.1
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• pp.15-20
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• 2010

Tractor PTO output and fuel consumption rate under the korean paddy and various paddy operations were measured and analyzed, in which all the measurements were accomplished by the OECD tractor test codes and the collected information will be utilized for defining tractor energy efficiency class and its test methods. Tractor PTO performance tests were conducted under full-load, part-load and various engine RPMs with part-load at the engine laboratory, while the paddy operations were dry land plowing, wet and dry land rotary tilling and wet land preparation under various soils. As a whole, the rated tractor outputs were ranged from 17% to 100% in the various tillage and land preparation operations, however, the loads for the paddy operations of 1,700 to 2,000 rpm were very close to the OECD tractor load distribution thus it would be appropriate to adopt OECD tractor test codes to measure energy consumption efficiency of tractor.

• Journal of the Korean earth science society
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• v.36 no.1
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• pp.51-58
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• 2015

In order to understand the broad outline and palaeobotanical significances, the fossil woods from the Korean Peninsula were integrated through the literature surveys. Types and diversity of them are gradually increasing from Mesozoic to Cenozoic, especially increased sharply in Cenozoic. During the Early Mesozoic, six conifer taxa belonging to four genera were described, which corresponds to about 6% of the Daedong flora. Those of the Late Mesozoic are all conifers, consisting of fifteen taxa belonging to seven genera, which corresponds to about 29% of the Nakdong flora. During the Neogene, thirty four taxa belong to sixteen families were described. Those woods mostly consist of dicotyledon and have the greatest diversity compared to other geologic eras, which corresponds to about 83% of the Janggi flora. It is inferred that such a rapid increase of the silicified wood fossils in Neogene are due to the abundant presence of dicotyledon in floral composition and of pyroclastic rocks in strata, which are appropriate for preserving wood as fossils.

• Journal of Biosystems Engineering
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• v.35 no.2
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• pp.77-84
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• 2010

In this study, we tried to predict tractor power output, fuel consumption rate and work performance indirectly in order to develop an eco driving system. Firstly, we developed equations which could predict tractor power output and fuel consumption rate using characteristic curves of tractor power output. Secondly, with actual engine rpm determined by initial engine rpm and work load, tractor power output and fuel consumption rate were forecasted. Thirdly, with speed signals of GPS sensor system, it was possible to foresee tractor work performance and fuel consumption rate. Lastly, precision of the eco driving system was evaluated through tractor PTO test, and effects of the eco driving system were investigated in the plowing and rotary tilling operations. Engine rpm, power output, fuel consumption rate, work performance and fuel consumption rate per plot area were displayed in the eco driving system. Predicted tractor power outputs in the full load curve were well coincided with the actual power output of prototype, but small differences, 1 to 6 ㎾, were found in the part load curve. Error of the fuel consumption rate was 0.5 L/h, 4.5%, the greatest, and 1 to 3 L/h at the part load curve. It was shown that 69% and 53% of fuel consumption rates could be reduced in plowing and rotary tilling operations, respectively, when the eco driving system was installed in tractor.