• Journal of Biosystems Engineering
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• v.25 no.6
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• pp.457-462
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• 2000

Boom sprayers have been known by their excellency in field efficiency worker’s safety and pest control efficacy. The boom sprayer in Korea that was developed for paddy field is not suitable for upland field of which shape is irregular and inclination is steep, due to heavy chemical tank long boom width and manual on-off control of spraying. The goal of the study was to develope a boom control system that could control boom angles of left and right boom automatically and independently corresponding to local field slope. The prime mover was selected as a cultivating tractor. Main results of this study were as follows. 1. Ultrasonic sensor whose response time was 0.1s and response angle was within $\pm$20$^{\circ}$was selected to measure distance. Voltage output of the sensor(X, Volt) had a highly significant linear relationship with the vertical distance between the sensor and ground surface(Y, mm) as follows; Y=0.0036X-0.437 2. Left and right section of the boom could be folded up by a position control device(on-off control) which could control the left and right boom independently corresponding to local slope by equalizing distances between the sensor and boom at the center and left/right boom. Most reliable DB(dead band) was experimentally selected to be 75$\Omega$(6cm). 3. At traveling velocity of 0.3~0.5m/s RMS of error between desired and achieved height was less than 4.5cm The developed boom angle controller and boom linkage system were evaluated to be successful in achieving the height control accuracy target of $\pm$10cm.

• Journal of Forest and Environmental Science
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• v.38 no.4
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• pp.239-248
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• 2022

Forestry crane work in a forest harvester or forwarder is regarded as one of most hard work requiring a very high level of operation skill. The operator must handle two or more multi-axes joysticks simultaneously to control the multiple manipulators for maneuvering the crane-tip to its intended location. This study has been carried out to develop a crane-tip controller which can intuitively maneuver the crane-tip, resulting in improving the productivity by decreasing the technical difficulty of control as well as reducing the workload. The crane-tip controller consists of a single 2-axis joystick and a control algorithm run on microcontroller. Lab-scale forestry crane was constructed using electric cylinders. The crane-tip control algorithm has the crane-tip follow the waypoints generated on the given path considering the dead band region using LBO (Lateral Boundary Offset). A speed control gain to change the speed of relevant cylinders relatively is applied as well. By the P (Proportional) control within the control interval of 20 msec, the average error of crane-tip control on the predefined straight path turned out to be 14.5 mm in all directions. When the joystick is used the waypoints are generated in real time by the direction signal from the joystick. In this case, the average error of path control was 12.4 mm for straight up, straight forward and straight down movements successively at a certain constant speed setting. In the slant movement of crane-tip by controlling two axes of joystick simultaneously, the movement of crane-tip was controlled in the average error of 15.9 mm when the crane-tip is moved up and down while moving toward forward direction. It concluded that the crane-tip control was possible using the control algorithm developed in this study.

• The Korean Journal of Pesticide Science
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• v.15 no.2
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• pp.166-176
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• 2011

Bacillus thuringiensis CAB530 was isolated from dead Anomata albopilosa (Rutelidae: Coleoptera) and soil of green tea field, and confirmed its insecticidal activities. CAB530 isolate showed a high insecticidal activity against the beet armyworm among the many lepidopteran insects that are difficult to control. $LC_{50}$ value of CAB530 isolate against the second larva of Spodoptera exigua was $1.49{times}10^4$ spore concentration (cfu/$m{\ell}$). SDS-PAGE result of insecticidal toxin protein of CAB530 isolate showed a band at 130 kDa that is similar pattern with B. thuringiensis subsp. kurstaki that took insecticidal activity against S. exigua. Otherwise, the crystal protein of the CAB530 isolate was conformed at 65 kDa level after 30 minute of incubation in S. exigua midgut juice. Six crystal genes (cry1Aa, cry1Ab, cry1C, cry1D, cry1F and cry1I) were identified by PCR. It different from genes of B. thuringiensis subsp. kurstaki. Crystal shape and pattern of toxin protein was similar with B. thuringiensis subsp. kurstaki, however, insecticidal activity and PCR result of CAB530 isolate was similar with B. thuringiensis subsp. aizawai.

• Journal of Korean Society of Forest Science
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• v.111 no.2
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• pp.287-301
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• 2022

This study aims to propose a crane-tip control method to intuitively control the end-effector vertically or horizontally for improving the crane work efficiency and to confirm the control performance. To verify the control performance based on experimental variables, a laboratory-scale crane was manufactured using an electric cylinder. Through a forward and reverse kinematics analysis, the crane was configured to output the position coordinates of the current crane-tip and the joint angle at each target point. Furthermore, a method of generating waypoints was used, and a dead band using lateral boundary offset (LBO) was set. Appropriate parameters were selected using bang-bang control, which confirmed that the number of waypoints and LBO radius were associated with positioning error, and the cylinder speed was related to the lead time. With increased number of waypoints and decreased LBO radius, the positioning error and the lead time also decreased as the cylinder speed decreased. Using the proportional control, when the cylinder velocity was changed at every control cycle, the lead time was greatly reduced; however, the actual control pattern was controlled by repeating over and undershoot in a large range. Therefore, proportional control was performed by additionally applying velocity gain that can relatively change the speed of each cylinder. Since the control performed with in a range of 10 mm, it was verified th at th e crane-tip control can be ach ieved with only th e proportional control to which the velocity gain was applied in a control cycle of 20 ms.

• Geophysics and Geophysical Exploration
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• v.8 no.2
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• pp.145-155
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• 2005

A two-dimensional (2-D) interpretation of MT data has been performed for the purpose of fracture detection for geothermal development. Remote stations have been operated in Kyushu, Japan (480 km apart) as well as in Korea (60 km and 165 km apart in 2002 and 2003 data set, respectively). Apparent resistivity and phase curves calculated by remote processing with the Japan remote data showed enough quality for 2-D inversion for the whole frequency range. Remote reference processing with Korea remote reference data also showed quite good continuity in apparent resistivity and phase curves except some noisy frequency bands; around the power frequency, 60 Hz, and around the dead band $10^{-1}Hz\;Hz\;\~1\;Hz$, where the natural EM signal is known to be very weak. Even though the subsurface showed severe three-dimensional (3-D) characteristics in the survey area so that 2-D inversion by itself could not give enough information for deep geological structures, the 2-D inversion for the 5 survey lines showed several common features. The conductive semi-consolidate mudstone layer is dipping from north to south (about 500 m depth on the south and 200 m on the north most part of the survey area). The boundary between the low (L-2) and high (H-2) resistivity anomalies can be thought as a major fault with strike $N15^{\circ}E$, passing through the sites 206, 112 and 414. The shallow (< 1 km) conductive anomalies (L-4) seem to be fracture zones having strike E-W (at site 105) and $N60^{\circ}W$ (at site 434). And there exists a conductive layer in the western and west-southern part of the survey area in the depth below $2\~3\;km$, for which further investigation is to be needed.

• Journal of the Korean Society of Costume
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• v.5
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• pp.41-63
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• 1981

The mural portraits of the ancient Dukheungri tombs are very important for the study of our traditional costume because the tomb contains a stone. with the in-scription of the date of its erection, 408 A.D. and the name, and official status of the buried. The costumes shown in the mural paintings will be the basis on which historical research can be made concerning costumes before and after 400 A. D. The costume in the mural paintings is classified into five different categories; You (jacket), Po (overcoat), Go (trousers), Sang (skirt), and Gwan (hat). Comparing these categories with those of other mural paintings lead us to the following conclusions. 1. The length of the You (jacket) reaches below the buttocks and the sleeves are narrow. The edges of the sleeves are decorated with stripes. The You (jacket) over-laps on the right, center, and left sides, and there are many Jikryong (V-collar) and Danryong (rounded collar) styles, but it has a similar tendency to others of the Pyongyang area which exhibit many foreign influences. In a departure from tradition. the belts on the men's You (jackets) have only 3 knots in the front, with the back having more knots than the front. The belts of the women's You (jacket) seem to have had a band or button for fastening. We must re-evaluate the assumption that the You (jacket) and Go (trousers) of the northern peoples had the common characters of a belted You (jacket) and Po (over-coat) and that the Gorum originated from the Goryo or Unified Silla dynasty. The outside of the sleeves are longer and more to the side than the inner garment (underwear) so that the sleeves of the inner garment frequently overlapped the outer dress. The above mentioned facts have lead to the discovery of the "Hansam," "Tosi" and "Geodoolgi." 2. The Po (overcoat) was used only by the upperclasses and differs from those found in other mural tombs. The Po (overcoat) of the noble on the tomb mural is centered with an overlapping Jikryong (V-collar) while the other Po (overcoats) of the upperclasses are characterized by an overlap on the left, a Danryong (rounded collar) with two types of sleeves (wide and narrow). Foreign influences and traditional influences coexist in Po (overcoat). Belts have frontal knots without exceptions. The facts that the belts on the You (jackets) are on the front and the belts on the Po (overcoats) are on the back must be reexamined. 3. Go (trousers) is usually narrow, being wider in the rear and narrower below the knees. They were used by hunters on the back of horses with similar Go (trousers) from the Noinwoowha tombs being typical of the northern peoples. 4. Sang (skirts) are pleated as commonly seen in the Goguryo murals. The size of the pleat is varied, each pleat being characteristically wider and having different colors. Same types of pleat are discovered in Central Asia and China. It is uncertain whether the pleat of Goguryo was originated in Central Asia and China or only interrelated with those of the areas. 5. There are three kinds of Gwan (hats); Nagwan, Chuck, and Heukgun. Nag-wan was worn by the dead lords and their close relations. Chuck has three cone shaped horns. Heukgun was worn by military bandmen and horsemen. There are two kinds of hair styles. The up-style was used by the upperclass people closely related to lords, and other people used the Pungimoung hair style. The hair styles of the men and women are characterized by the Pungimoung style. which is a Chinese influence, but still retain their originality. The costume has a similar tendency from those from Yaksuri mural tombs, Anak No. 2 and Anak No. 3. We need to reexamine the costumes from $4{\sim}5$ century murals according to the Dukheungri murals. The costumes of Goguryo share many common factors with those of Western Asia, Central Asia and Ancient China (Han). It seems due to the cultural exchanges among the Northern peoples, the Western and Central Asians, and the Ancient Chinese. It may have resulted from the structural identity or morphological identity of the peoples, or their common social and natural environments and life styles. It will be very valuable to study the costumes of Japan, China, and Korea to find out the common factors. It is only regretful that the study is not based on direct observations but reported information made by 77 persons, because Dukheungri is an off-limits area to us.