• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.401-407
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• 2012

This paper analyzes performance of major obstacle avoidance methods. For the analysis, numerical performance indexes are proposed: motion distance to goal point, motion time, distance to obstacles, and smoothness of the motion. Especially, the index of smoothness measures efficiency of the motion using the angular acceleration and jerk of the robot heading. Four major obstacle avoidance methods are compared in terms of the performance indexes. The four methods are artificial potential field(APF) method, elastic force(EF) method, APF with virtual distance, and EF with virtual distance. Through simulation, the four methods are compared and features of the methods are explored.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.2
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• pp.135-141
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• 2004

This paper proposes a new heuristic search technique for obstacle avoidance of autonomous underwater vehicles equipped with a looking ahead obstacle avoidance sonar. We suggest the fuzzy relation between the sonar sections and the properties of real world environment. Bandler and Kohout's fuzzy relational method are used as the mathematical implementation for the analysis and synthesis of relations between the partitioned sections of sonar over the real-world environmental properties. The direction of the section with optimal characteristics would be selected as the successive heading of AUVs for obstacle avoidance. For the technique using in this paper, sonar range must be partitioned into multi equal sections; membership functions of the properties and the corresponding fuzzy rule bases are estimated heuristically. With the two properties Safety, Remoteness and sonar range partitioned in seven sections, this study gives the good result that enables AUVs to navigate through obstacles in the optimal way to goal.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.6
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• pp.33-42
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• 2010

This research propose a practical guidance system considering ocean currents in real sea operation. Optimality of generated path is not an issue in this paper. Way-points from start point to possible goal positions are selected by experienced human supervisors considering major ocean current axis. This paper also describes the implementation of a precise underwater navigation solution using multi-sensor fusion technique based on USBL, GPS, DVL and AHRS measurements in detail. To implement the precise, accurate and frequent underwater navigation solution, three strategies are chosen. The first one is the heading alignment angle identification to enhance the performance of standalone dead-reckoning algorithm. The second one is that absolute position is fused timely to prevent accumulation of integration error, where the absolute position can be selected between USBL and GPS considering sensor status. The third one is introduction of effective outlier rejection algorithm. The performance of the developed algorithm is verified with experimental data of mine disposal vehicle and deep-sea ROV.

• Proceedings of the Korean Society of Crop Science Conference
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• 2017.06a
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• pp.339-339
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• 2017

The long grain rice varieties adaptable to South-east Asia tropical regions were tried to develop in Cambodian Agriculture Research and Development Institute (CARDI), Cambodia. The final goal is to develop rice varieties which can culture in diverse environmental conditions of tropical regions of South-east Asia under climate change. We collected and evaluated for agronomic traits of 131 rice germplasm from Cambodia, China, India, Indonesia, Myanmar, Philippines and Vietnam in CARDI. We selected core germplasm including leading varieties of target countries and made 813 F1 cross combinations between leading varieties of each country and promising germplasm of high yield potential, resistance to biotic/abiotic stresses, aromatic rice, and so on. Out of 607 F1s evaluated to heading date, plant type, agronomic traits, and grain type, 106 F1s selected and advanced to F2 populations. 106 F2 populations were evaluated to major agronomic traits, grain type and yield-component traits, and selected 2,560 plants in 62 F2 populations. During six seasons in 2014~2016, the lines of F3 subsequent-generation were cultured a total of 6,256 lines. In yield trial for promising lines in F5 generation, the growth duration from sowing to harvesting was 97~114 days. These lines were 88~129 in number of grain per panicle, an average of 84.6% in the range of 79.3~91.9% in the percentage of ripened grain and 17.5~22.8g in 1000-brown rice weight. The rough rice yields were in the range of 4.33~6.06 ton/ha with an average of 5.23 ton/ha. The yield was increased to 5~47% than Chulsa and 12~41% than IR66. Five lines, KR54-28-1, KR55-14-2, KR57-5-2, KR67-57-2 and KR128-19-1 were 5.33~6.06 ton/ha in rough rice yield. These high yield potential lines would be evaluated to adaptability in Cambodia, Laos, Myanmar and Vietnam during 2017.

• Proceedings of the Korean Society of Crop Science Conference
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• 2017.06a
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• pp.155-155
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• 2017

The long grain rice varieties adaptable to South-east Asia tropical regions were tried to develop in Cambodian Agriculture Research and Development Institute (CARDI), Cambodia. The final goal is to develop rice varieties which can culture in diverse environmental conditions of tropical regions of South-east Asia under climate change. We collected and evaluated for agronomic traits of 131 rice germplasm from Cambodia, China, India, Indonesia, Myanmar, Philippines and Vietnam in CARDI. We selected core germplasm including leading varieties of target countries and made 813 F1 cross combinations between leading varieties of each country and promising germplasm of high yield potential, resistance to biotic/abiotic stresses, aromatic rice, and so on. Out of 607 F1s evaluated to heading date, plant type, agronomic traits, and grain type, 106 F1s selected and advanced to F2 populations. 106 F2 populations were evaluated to major agronomic traits, grain type and yield-component traits, and selected 2,560 plants in 62 F2 populations. During six seasons in 2014~2016, the lines of F3 subsequent-generation were cultured a total of 6,256 lines. In yield trial for promising lines in F5 generation, the growth duration from sowing to harvesting was 97~114 days. These lines were 88~129 in number of grain per panicle, an average of 84.6% in the range of 79.3~91.9% in the percentage of ripened grain and 17.5~22.8g in 1000-brown rice weight. The rough rice yields were in the range of 4.33~6.06 ton/ha with an average of 5.23 ton/ha. The yield was increased to 5~47% than Chulsa and 12~41% than IR66. Five lines, KR54-28-1, KR55-14-2, KR57-5-2, KR67-57-2 and KR128-19-1 were 5.33~6.06 ton/ha in rough rice yield. These high yield potential lines would be evaluated to adaptability in Cambodia, Laos, Myanmar and Vietnam during 2017.

• Animal Bioscience
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• v.35 no.12
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• pp.1871-1880
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• 2022

Objective: The primary goal was to identify the effectiveness of chemical or biological additives in delaying the deterioration of early-harvested wilted rye silage after exposure to air. Methods: Rye harvested as a whole plant at the early heading stage was wilted for 24 h. The wilted forage was divided into treatments including sodium diacetate (SDA) at 3 (SDA3) and 6 g/kg (SDA6), Lactobacillus plantarum (LP), L. buchneri (LB), or their equal mixture (LP+LB) at 1×10⁶ colony-forming unit/g fresh matter. Results: After 60 d of conservation in 20-L silos, lactic acid was greater in LP and LP+LB silages than other treatments (102 vs 90.2 g/kg dry matter [DM]). Acetic acid was greatest in SDA6 (32.0 g/kg DM) followed by LB (26.1 g/kg DM) and was lowest in LP treatment (4.73 g/kg DM). Silage pH was lower with microbial inoculation and the lowest and highest values were observed in LP and untreated silages, respectively. After 60 d, neutral detergent fiber concentration was lowest in SDA6 silages, resulting in the greatest in vitro DM digestibility (846 g/kg DM). Aerobic stability was longest in SDA6 (176 h) followed by LB treatment (134 h). Instability after aerobiosis was greatest in LP silages (68 h), about 8 h less than untreated silages. After aerobic exposure, yeast and mold numbers were lowest in SDA6 silages, resulting in DM loss minimization. Exhaustion of acetic acid and lactic acid after aerobic exposure was lowest with SDA6 but greatest with untreated and LP silages. Conclusion: Treatment of early-cut wilted rye forage with SDA at 6 g/kg resulted in silages with higher feeding value and fermentation quality, and substantially delayed deterioration after aerobic exposure, potentially qualifying SDA at this load for promotion of silage quality and delaying aerobic spoilage of early-harvested (low DM) rye forage.

• Journal of Intelligence and Information Systems
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• v.24 no.2
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• pp.171-193
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• 2018

LOD(Linked Open Data) cloud is a practical implementation of semantic web. We suggested a new method that provides identity links conveniently in LOD cloud. It also allows changes in LOD to be reflected to searching results without any omissions. LOD provides detail descriptions of entities to public in RDF triple form. RDF triple is composed of subject, predicates, and objects and presents detail description for an entity. Links in LOD cloud, named identity links, are realized by asserting entities of different RDF triples to be identical. Currently, the identity link is provided with creating a link triple explicitly in which associates its subject and object with source and target entities. Link triples are appended to LOD. With identity links, a knowledge achieves from an LOD can be expanded with different knowledge from different LODs. The goal of LOD cloud is providing opportunity of knowledge expansion to users. Appending link triples to LOD, however, has serious difficulties in discovering identity links between entities one by one notwithstanding the enormous scale of LOD. Newly added entities cannot be reflected to searching results until identity links heading for them are serialized and published to LOD cloud. Instead of creating enormous identity links, we propose LOD to prepare its own link policy. The link policy specifies a set of target LODs to link and constraints necessary to discover identity links to entities on target LODs. On searching, it becomes possible to access newly added entities and reflect them to searching results without any omissions by referencing the link policies. Link policy specifies a set of predicate pairs for discovering identity between associated entities in source and target LODs. For the link policy specification, we have suggested a set of vocabularies that conform to RDFS and OWL. Identity between entities is evaluated in accordance with a similarity of the source and the target entities' objects which have been associated with the predicates' pair in the link policy. We implemented a system "Change Acceptable In-Depth Searching System(CAIDS)". With CAIDS, user's searching request starts from depth_0 LOD, i.e. surface searching. Referencing the link policies of LODs, CAIDS proceeds in-depth searching, next LODs of next depths. To supplement identity links derived from the link policies, CAIDS uses explicit link triples as well. Following the identity links, CAIDS's in-depth searching progresses. Content of an entity obtained from depth_0 LOD expands with the contents of entities of other LODs which have been discovered to be identical to depth_0 LOD entity. Expanding content of depth_0 LOD entity without user's cognition of such other LODs is the implementation of knowledge expansion. It is the goal of LOD cloud. The more identity links in LOD cloud, the wider content expansions in LOD cloud. We have suggested a new way to create identity links abundantly and supply them to LOD cloud. Experiments on CAIDS performed against DBpedia LODs of Korea, France, Italy, Spain, and Portugal. They present that CAIDS provides appropriate expansion ratio and inclusion ratio as long as degree of similarity between source and target objects is 0.8 ~ 0.9. Expansion ratio, for each depth, depicts the ratio of the entities discovered at the depth to the entities of depth_0 LOD. For each depth, inclusion ratio illustrates the ratio of the entities discovered only with explicit links to the entities discovered only with link policies. In cases of similarity degrees with under 0.8, expansion becomes excessive and thus contents become distorted. Similarity degree of 0.8 ~ 0.9 provides appropriate amount of RDF triples searched as well. Experiments have evaluated confidence degree of contents which have been expanded in accordance with in-depth searching. Confidence degree of content is directly coupled with identity ratio of an entity, which means the degree of identity to the entity of depth_0 LOD. Identity ratio of an entity is obtained by multiplying source LOD's confidence and source entity's identity ratio. By tracing the identity links in advance, LOD's confidence is evaluated in accordance with the amount of identity links incoming to the entities in the LOD. While evaluating the identity ratio, concept of identity agreement, which means that multiple identity links head to a common entity, has been considered. With the identity agreement concept, experimental results present that identity ratio decreases as depth deepens, but rebounds as the depth deepens more. For each entity, as the number of identity links increases, identity ratio rebounds early and reaches at 1 finally. We found out that more than 8 identity links for each entity would lead users to give their confidence to the contents expanded. Link policy based in-depth searching method, we proposed, is expected to contribute to abundant identity links provisions to LOD cloud.

• Journal of Intelligence and Information Systems
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• v.18 no.3
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• pp.137-152
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• 2012

In the generation of Web 2.0, as many users start to make lots of web contents called user created contents by themselves, the World Wide Web is overflowing by countless information. Therefore, it becomes the key to find out meaningful information among lots of resources. Nowadays, the information retrieval is the most important thing throughout the whole field and several types of search services are developed and widely used in various fields to retrieve information that user really wants. Especially, the legal information search is one of the indispensable services in order to provide people with their convenience through searching the law necessary to their present situation as a channel getting knowledge about it. The Office of Legislation in Korea provides the Korean Law Information portal service to search the law information such as legislation, administrative rule, and judicial precedent from 2009, so people can conveniently find information related to the law. However, this service has limitation because the recent technology for search engine basically returns documents depending on whether the query is included in it or not as a search result. Therefore, it is really difficult to retrieve information related the law for general users who are not familiar with legal terms in the search engine using simple matching of keywords in spite of those kinds of efforts of the Office of Legislation in Korea, because there is a huge divergence between everyday words and legal terms which are especially from Chinese words. Generally, people try to access the law information using everyday words, so they have a difficulty to get the result that they exactly want. In this paper, we propose a term mapping methodology between everyday words and legal terms for general users who don't have sufficient background about legal terms, and we develop a search service that can provide the search results of law information from everyday words. This will be able to search the law information accurately without the knowledge of legal terminology. In other words, our research goal is to make a law information search system that general users are able to retrieval the law information with everyday words. First, this paper takes advantage of tags of internet blogs using the concept for collective intelligence to find out the term mapping relationship between everyday words and legal terms. In order to achieve our goal, we collect tags related to an everyday word from web blog posts. Generally, people add a non-hierarchical keyword or term like a synonym, especially called tag, in order to describe, classify, and manage their posts when they make any post in the internet blog. Second, the collected tags are clustered through the cluster analysis method, K-means. Then, we find a mapping relationship between an everyday word and a legal term using our estimation measure to select the fittest one that can match with an everyday word. Selected legal terms are given the definite relationship, and the relations between everyday words and legal terms are described using SKOS that is an ontology to describe the knowledge related to thesauri, classification schemes, taxonomies, and subject-heading. Thus, based on proposed mapping and searching methodologies, our legal information search system finds out a legal term mapped with user query and retrieves law information using a matched legal term, if users try to retrieve law information using an everyday word. Therefore, from our research, users can get exact results even if they do not have the knowledge related to legal terms. As a result of our research, we expect that general users who don't have professional legal background can conveniently and efficiently retrieve the legal information using everyday words.

• Journal of The Korean Society of Grassland and Forage Science
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• v.35 no.4
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• pp.321-326
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• 2015

This study was performed to analyze the resident microbial flora and the effects of probiotic inoculation on the fermentation characteristics of whole grain naked barley (Hordeum Vulgare L.) with the goal of evaluating the possibility of utilization as fermented feedstuff. Naked barley grains were harvested 35 days after heading, and the microbial flora was analyzed using MALDI-TOF mass spectrometer. After inoculation of commercial microbes to the naked barley grain (BT), the pH and number of bacteria, such as aerobic bacteria, lactic acid bacteria, yeast and E. coli, were measured and compared with the non-inoculated control (BC). A total of 122 colonies was isolated from the naked barley grain and the most popular bacteria species was Staphylococcus xylosus (n = 30, 24.59%). The pH value decreased more rapidly in BT than in BC, and was significantly lower after 7 days of fermentation at $4.33{\pm}0.02$ and $4.83{\pm}0.01$, respectively. The number of aerobic bacteria, lactic acid bacteria and yeast showed an increasing trend within the first 7 days of fermentation, however, their numbers decreased at 28 and 42 days of fermentation. The population of lactic acid bacteria in BT was higher than in BC, but there was no significant different at 7 days of fermentation, with respective levels of $9.24{\pm}0.20$ and $9.01{\pm}0.10logCFU/g$ (p>0.05). The initial number of E. coli was very high in the naked barley grain but subsequently decreased significantly. After 7 days of fermentation, E. coli was not detected in either BT or BC samples. From these results, it appears that the fermentation of naked barley grain proceeded adequately after 7 days, and that fermentation contributes to the safety of naked barley grain during storage.