• 대한전기학회논문지:시스템및제어부문D
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• 제51권6호
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• pp.258-266
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• 2002

This paper proposes the methodology of the image processing algorithm that estimates the pose of the inner-pipe crawling robot. The inner-pipe crawling robot is usually equipped with a lighting device and a camera on its head for monitoring and inspection purpose of defects on the pipe wall and/or the maintenance operation. The proposed methodology is using these devices without introducing the extra sensors and is based on the fact that the position and the intensity of the reflected light from the inner wall of the pipe vary with the robot posture and the camera. The proposed algorithm is divided into two parts, estimating the translation and rotation angle of the camera, followed by the actual pose estimation of the robot . Based on the fact that the vanishing point of the reflected light moves into the opposite direction from the camera rotation, the camera rotation angle can be estimated. And, based on the fact that the most bright parts of the reflected light moves into the same direction with the camera translation, the camera position most bright parts of the reflected light moves into the same direction with the camera translation, the camera position can be obtained. To investigate the performance of the algorithm, the algorithm is applied to a sewage maintenance robot.

• 건축역사연구
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• 제13권4호
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• pp.35-54
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• 2004

Perception of architectural experience is different in different culture. This paper aims to identify how the experience of architecture is understood to be different in Eastern and Western culture. The discussion is based on the idea that the Western architecture placed more emphasis on visual perception, while the Eastern, on mutual responsiveness between man and built environment. The fact that the Western culture is more visually oriented than other culture, and therefore visual aspect of architecture, too, is considered to be very important, is already widely agreed among scholars. But, then, what had been considered to be important in the architectural experience in the East? It is the degree and quality of mutual responsiveness between man and architectural environment. This fact influenced much on the making of architecture of course, and the same fact played the key role in making the Eastern architecture different from that of the West. We are so used to the way of architecture of the West, that the quality of responsiveness is unknown if not forgotten. However, it is not the quality that was useful only in traditional society of the East, but necessary in our modem period as well. The quality for responsiveness, therefore, should be rediscovered and restored as the prime value and quality of architecture in the future architecture.

• 환경영향평가
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• 제21권1호
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• pp.53-61
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• 2012

This study makes an attempt to appraise how much successful both (Ham-Pyung) Butterfly Festival and (Mu-Ju) Firefly Festival are in the view point of ecology-friendly effects, and based on this appraisal, searches for desirable and developmental directions of other eco-festivals. The empirical analysis of the study shows that even if the Butterfly Festival turns out to be more famous than the Firefly Festival, the latter is confirmed to be more eco-friendly than the former. The fact that the latter is more eco-friendly seems to be due to the fact that the subject matter, that is the theme, of the festival is the fireflies which are not only natural monuments but also peculiar in-site-resources specific to Mu-Ju. This fact suggests that the other eco-festivals, newly emerging ones in particular, need to find and designate in-site-resources inherent in their regions as the theme, as far as possible.

• International Journal of Industrial Entomology and Biomaterials
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• 제41권2호
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• pp.56-62
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• 2020

Mulberry (Morus spp. family: Moraceae) has prime importance in the sericulture industry, and its foliage is the only natural feed of the silkworm Bombyx mori L. Traditional classification methods using morphological traits were largely unsuccessful in assessing the diversity and relationships among different mulberry species because of environmental influences on the traits of interest. For these reasons, it is difficult to differentiate between the varieties and cultivars of Morus spp. In the present study, inter-simple sequence repeat (ISSR) markers were used to investigate the genetic diversity of 48 mulberry samples genotyped using nine ISSR primers. The ISSR markers exhibited polymorphisms (53.2%) among mulberry genotypes. Furthermore, similarity coefficient estimated for these ISSR markers was found to vary between 0.67 and 0.99 for the combined pooled data. The phenogram drawn using the UPGMA cluster method based on combined pooled data of the ISSR markers divided the 48 mulberry genotypes into seven major groups. No genetic association was found in the collection area, and there was a mixed pattern between the mulberry lines. The hybridization between different mulberry species is highly likely to be homogenized due to natural hybridization.

• 한국콘텐츠학회논문지
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• 제13권1호
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• pp.175-185
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• 2013

연구대상판결은, (1) 상속재산분할은 그 성질상 협의의 성립과 동시에 종료하고 그 후에는 그 협의에서 그 채무를 부담한 상속인과 그 채권을 취득한 상속인 간의 채권채무관계가 남을 뿐이라는 점, (2) 협의분할의 법정해제를 인정할 경우 소급효를 갖는 상속재산의 재분할이 불가피하게 되어 법적 안정성이 크게 저해된다는 점을 근거로 하여, 협의분할의 법정해제를 부정하였다. 그러나 (1) 상속재산협의분할은 실질적으로 공동상속인 상호 간의 지분교환 양도 포기에 상당한 처분의 성질을 가진다는 점, (2) 공동상속인 전원에 의한 협의분할의 합의해제에 있어서도 소급효를 갖는 상속재산의 재분할이 불가피함에도 불구하고 합의해제의 유효성을 인정하는 데 아무런 이론(異論)이 없다는 점에서, 협의분할이 실질적으로 공동상속인 간의 부담부증여와 같은 성질을 가지는 경우에는 협의분할에 대한 법정해제도 인정하는 것이 온당하다. 다만, 상속재산분할협의는 공동상속인 전원이 참여해야만 성립되는 계약이므로, 협의분할시 상속인 일방이 부담한 채무의 불이행을 이유로 하는 협의분할의 법정해제도 그 일방을 제외한 다른 공동상속인 전원의 의사표시에 의해서만 가능하다고 보아야 한다.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 1996년도 봄 학술발표회 논문집
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• pp.205-220
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• 1996

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 1996년도 봄 학술발표회 논문집
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• pp.221-234
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• 1996

• 대한견주관절학회:학술대회논문집
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• 대한견주관절학회 2002년도 아시아견관절학술대회
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• pp.257-258
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• 2002

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 1995년도 가을 학술발표회 논문집
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• pp.1.4-8
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• 1995

• 건축사
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• 통권660호
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• pp.122-123
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• 2024