• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.4
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• pp.601-608
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• 2023

Mobile robots are widely used in industries because mobile robots perform tasks in various environments. In order to carry out tasks, determining the precise location of the robot in real-time is important due to the need for path generation and obstacle detection. In particular, when mobile robots autonomously navigate in indoor environments and carry out assigned tasks within pre-determined areas, highly precise positioning performance is required. However, mobile robots frequently experience data missing in wireless communication environments. The robots need to rely on predictive techniques to autonomously determine the mobile robot positions and continue performing mobile robot tasks. In this paper, we propose an extended Kalman filter-based algorithm to enhance the accuracy of mobile robot localization and address the issue of data missing. Trilateration algorithm relies on measurements taken at that moment, resulting in inaccurate localization performance. In contrast, the proposed algorithm uses residual values of predicted measurements in data missing environments, making precise mobile robot position estimation. We conducted simulations in terms of data missing to verify the superior performance of the proposed algorithm.

• Journal of the Korean Geotechnical Society
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• v.24 no.9
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• pp.33-40
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• 2008

This paper describes the performance of ground improvement project using prefabricated vertical drains of condition, in which approximately 10m dredged fill overlies original soft foundation layer in the coastal area composed of soft marine clay with high water content and high compressibility. From field monitoring results, excessive ground settlement compared with predicted settlement in design stage developed during the following one year. In order to predict the final consolidation behavior, recalculation of consolidation settlements and back analysis using observed settlements were conducted. Field monitoring results of surface settlements were evaluated, and then corrected because large shear deformation occurred by construction events in the early stages of consolidation. To predict the consolidation behavior, material functions and in-situ conditions from laboratory consolidation test were re-analyzed. Using these results, height of additional embankment is estimated to satisfy residual settlement limit and maintain an adequate ground elevation. The recalculated time-settlement curve has been compared with field monitoring results after additional surcharge was applied. It might be used for verification of recalculated results.

• Tuberculosis and Respiratory Diseases
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• v.61 no.3
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• pp.218-226
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• 2006

Background: The lung volume and diffusing capacity are influenced by ethnicity. However, there are no equations for predicting the normal lung volume in the adult Korean population, and there is only one equation for diffusing capacity. The aim of this study is to select the most suitable reference equation for the Korean population. Method: 30 men and 33 women at Hanyang University Guri Hospital, and 27 men and 34 women at Asan Medical Center in healthy nonsmoking adults were enrolled in this study. The subject's age, gender, height, weight, lung volume by plethysmography, and diffusing capacity by a single breathing method were obtained. The most suitable equation with the lowest sum of residuals between the observed and predicted values for lung volume and diffusing capacity was selected. Result: At Hanyang University Guri Hospital, the equations with the lowest sum of residuals in the total lung capacity were ECSC's equation in males (sum of residual: 0.04 L) and Crapo/Morris's equation (-1.04) in women. At the Asan Medical Center, the equations with the lowest sum of residuals in the total lung capacity were Goldman/Becklake's equation in males (sum of residual: -2.35) and the ECSC's equation -4.49) in women. The equations with the lowest sum of residuals in the Diffusing capacity were Roca's equation in males (sum of residual: -13.66 ml/min/mmHg) and Park's in women (25.08) in Hanyang University Guri hospital and Park's equation in all cases in the Asan Medical Center (male: -1.65, female: -6.46). Conclusions: Until a reference equstion can be made for healthy Koreans by sampling, ECSC's equation can be used for estimating the lung volume and Park's can be used for estimating the diffusing capacity.

• Journal of the Korea Concrete Institute
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• v.20 no.1
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• pp.13-22
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• 2008

The initiation and growth processes of cyclic ice body in porous systems are affected by the thermo-physical and mass transport properties, as well as gradients of temperature and chemical potentials. Furthermore, the diffusivity of deicing chemicals shows significantly higher value under cyclic freeze-thaw conditions. Consequently, the disintegration of concrete structures is aggravated at marine environments, higher altitudes, and northern areas. However, the properties of cyclic freeze-thaw with crack growth and the deterioration by the accumulated damages are hard to identify in tests. In order to predict the accumulated damages by cyclic freeze-thaw, a regression analysis by the response surface method (RSM) is used. The important parameters for cyclic freeze-thawdeterioration of concrete structures, such as water to cement ratio, entrained air pores, and the number of cycles of freezing and thawing, are used to compose the limit state function. The regression equation fitted to the important deterioration criteria, such as accumulated plastic deformation, relative dynamic modulus, or equivalent plastic deformations, were used as the probabilistic evaluations of performance for the degraded structural resistance. The predicted results of relative dynamic modulus and residual strains after 300 cycles of freeze-thaw show very good agreements with the experimental results. The RSM result can be used to predict the probability of occurrence for designer specified critical values. Therefore, it is possible to evaluate the life cycle management of concrete structures considering the accumulated damages due to the cyclic freeze-thaw using the proposed prediction method.

• Journal of the Korean GEO-environmental Society
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• v.7 no.3
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• pp.5-19
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• 2006

The secondary consolidation settlement of soft clay is generally very little compared to the total settlement and occurs very slowly during long-term period. However the secondary consolidation settlement is comparatively large amount in organic and heavily compressed clay and is a very important engineering factor. In order to reduce residual settlements in reclaimed soft ground, the preloading method is often used. In this study, in order to determine reasonable long-term settlements of large reclaimed site, laboratory incremental loading consolidation tests and surcharging consolidation tests are performed. Sampling was done at Incheon area of west coast and Gwangyang area of south coast in Korea. The characteristics of secondary consolidation have obtained through laboratory tests and analyzed systematically to predict long-term settlements. Additionally, the location data and laboratory test results are correlated by using GIS(geographic information system). The secondary consolidation settlement of the site was predicted based on D/B and the operation technique and estimation technique of space of GIS.

• Journal of Environmental Health Sciences
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• v.46 no.1
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• pp.45-64
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• 2020

Objectives: Limited information is available on the presence and associated ecological risks of pharmaceutical residues in aquatic environments near pharmaceutical manufacturing areas in Korea. In this study, we investigated the current state of pharmaceutical contamination and its associated ecological risks in streams near a pharmaceutical manufacturing complex. Methods: Seven pharmaceuticals (acetaminophen, clarithromycin, diclofenac, diphenhydramine, ibuprofen, mefenamic acid and roxithromycin) were measured in water samples collected from the streams near a pharmaceutical manufacturing complex. A predicted no-effect concentration (PNEC) was derived using either the assessment factor method or species sensitivity distribution method. In addition, a hazard quotient for each pharmaceutical was calculated by dividing its measured environmental concentration by its PNEC. Results: Samples collected downstream from the wastewater treatment plant (WWTP) had higher concentrations of pharmaceuticals than those collected from the reference site (upstream). Moreover, pharmaceutical concentrations were greater in ambient water than in the final effluent from the WWTP, which suggested that non-point sources were contributing to the contamination of the ambient water environment. Some of the target pharmaceuticals exhibited a hazard quotient >1, indicating that their potential ecological effects on the aquatic environment near the pharmaceutical industrial area should not be ignored. Conclusion: This study demonstrated that the pharmaceutical manufacturing area was contaminated with residual drugs, and that there was a possible non-point source near the WWTP effluent discharge area. The results of this study will aid in the development of management plans for pharmaceuticals, particularly in hotspots such as pharmaceutical industrial sites and their vicinities.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.14 no.2
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• pp.127-139
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• 1996

This paper presents a procedure to recover sea surface heights (SSH) and free-air (FA) gravity anomalies from dense satellite altimeter SSH data with enhanced accuracies over the full spectrum of the gravity field. A wavenumber correlation filtering (WCF) of co-linear SSH tracks is developed for the coherent signals of sub-surface geological masses. Orbital cross-over adjustments with bias parameters are applied to the filtered SSH data, which are then separated into two groups of ascending and descending tracks and gridded with tensioned splines. A directional sensitive filter (DSF) is developed to reduce residual errors in the orbital adjustments that appear as track patterned SSH. Finally, FA gravity anomalies can be obtained by the application of a gradient filter on a high resolution estimate of geoid undulations after subtracting dynamic sea surface topography (DSST) from the SSH. These procedures are applied to the Geosat Geodetic Mission (GM) data of the southern oceans in a test area of ca. $900km\;\times{1,200}\;km$ to resolve geoid undulations and FA gravity anomalies to wavelengths of-10 km and larger. Comparisons with gravity data from ship surveys, predictions by least squares collocation (LSC), and 2 versions of NOAA's predictions using vertical deflections illustrate the performance of this procedure for recovering all elements of the gravity spectrum. Statistics on differences between precise ship data and predicted FA gravity anomalies show a mean of 0.1 mgal, an RMS of 3.5 mgal, maximum differences of 10. 2 mgal and -18.6 mgal, and a correlation coefficient of 0.993 over four straight ship tracks of ca. 1,600 km where gravity changes over 150 mgals.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.31 no.4
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• pp.330-333
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• 2009

Alveolar bone resorption after extraction impairs the necessary bone volume and complicates the case for implant surgery and aesthetic implant prosthesis. Immediate implant surgery after extraction decreases the number of surgical procedures and the duration of treatment, while allowing minimum alveolar bone resorption and preserving the residual bone volume. Although immediate implant holds many advantages such as preservation of hard and soft tissue around the extraction socket, greater implant survival rate and higher patient satisfaction, various complications and high failure rate are discouraging factors for the clinicians. In this case report, severe alveolar bone resorption with soft tissue changes were predicted after the extraction of prolonged retained deciduous incisors and impacted maxillary canines and thus decided on immediate implant procedure. Immediate implant surgery after extraction was carried out with minimal bone reduction and tapered wide-neck implant to establish initial stability. Simultaneous bone graft was done by filling the defect area with iliac cancellous bone with additional onlay-type bone graft and absorbable membrane on the labial bone for upper lip support. A stable and esthetic result was obtained with shortened treatment period.

• Journal of the Korean Geotechnical Society
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• v.28 no.2
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• pp.33-42
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• 2012

The purpose of this study is to determine the effect of soil grain size and its distribution on soil-water characteristic. To do this, soil-water characteristic tests were conducted on Saemangeum silt using the axis translation technique. For comparison, the test was also conducted on Jumunjin sand. Using the test results, the soil-water characteristic curves (SWCCs) of Saemangeum silt and Jumunjin sand were predicted by Van Genuchten model. By comparison and analysis between two SWCCs, the silt shows higher values of matric suction, water content, and air entry value than the sand. On the other hand, the sand has higher values of Van Genuchten model parameters of ${\alpha}$, $n$, $m$ than the silt. It indicates that the SWCC is significantly dependent on the structure of soils. In other words, if a soil has relatively high grain size and poor grain size distribution curve, the values of saturated volumetric water content, residual volumetric water content, and air entry value are small, and the variation of volumetric water content is high in accordance with the matric suction variation, and consequently it shows a narrow range of funicular region.

• Asian-Australasian Journal of Animal Sciences
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• v.23 no.5
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• pp.543-555
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• 2010

The objectives of this research were the estimation of genetic parameters and trends for weaning-to-first service interval (WSI), and litter traits in a commercial swine population composed of Landrace (L), Large White (T), LT, and TL animals in Chiang Mai, Northern Thailand. The dataset contained 4,399 records of WSI, number of piglets born alive (NBA), litter weight of live piglets at birth (LBW), number of piglets at weaning (NPW), and litter weight at weaning (LWW). Variance and covariance components were estimated with REML using 2-trait analyses. An animal model was used for WSI and a sire-dam model for litter traits. Fixed effects were farrowing year-season, breed group of sow, breed group of boar (litter traits), parity, heterosis (litter traits), sow age, and lactation length (NPW and LWW). Random effects were boar (litter traits), sow, permanent environment, and residual. Heritabilities for direct genetic effects were low for WSI (0.04${\pm}$0.02) and litter traits (0.05${\pm}$0.02 to 0.06${\pm}$0.02). Most heritabilities for maternal litter trait effects were 20% to 50% lower than their direct counterparts. Repeatability for WSI was similar to its heritability. Repeatabilities for litter traits ranged from 0.15${\pm}$0.02 to 0.18${\pm}$F0.02. Direct genetic, permanent environment, and phenotypic correlations between WSI and litter traits were near zero. Direct genetic correlations among litter traits ranged from 0.56${\pm}$0.20 to 0.95${\pm}$0.05, except for near zero estimates between NBA and LWW, and LBW and LWW. Maternal, permanent environment, and phenotypic correlations among litter traits had similar patterns of values to direct genetic correlations. Boar genetic trends were small and significant only for NBA (-0.015${\pm}$0.005 piglets/yr, p<0.004). Sow genetic trends were small, negative, and significant (-0.036${\pm}$0.013 d/yr, p<0.01 for WSI; -0.017${\pm}$0.005 piglets/yr, p<0.007, for NBA; -0.015${\pm}$0.005 kg/yr, p<0.01, for LBW; -0.019${\pm}$0.008 piglets/yr, p<0.02, for NPW; and -0.022${\pm}$0.006 kg/yr, p<0.003, for LWW). Permanent environmental correlations were small, negative, and significant only for WSI (-0.028${\pm}$0.011 d/yr, p<0.02). Environmental trends were positive and significant only for litter traits (p<0.01 to p<0.0003). Selection based on predicted genetic values rather than phenotypes could be advantageous in this population. A single trait analysis could be used for WSI and a multiple trait analysis could be implemented for litter traits.