• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1259-1263
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• 2004

This paper describes position estimation algorithm using neural network for the navigation of the vision-based wheeled mobile robot (WMR) in a corridor with taking ceiling lamps as landmark. From images of a corridor the lamp's line on the ceiling in corridor has a specific slope to the lateral position of the WMR. The vanishing point produced by the lamp's line also has a specific position to the orientation of WMR. The ceiling lamps have a limited size and shape like a circle in image. Simple image processing algorithms are used to extract lamps from the corridor image. Then the lamp's line and vanishing point's position are defined and calculated at known position of WMR in a corridor. To estimate the lateral position and orientation of WMR from an image, the relationship between the position of WMR and the features of ceiling lamps have to be defined. But it is hard because of nonlinearity. Therefore, data set between position of WMR and features of lamps are configured. Neural network are composed and learned with data set. Back propagation algorithm(BPN) is used for learning. And it is applied in navigation of WMR in a corridor.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.215-224
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• 2013

This paper proposes a robust lane detection algorithm for bumpy or slope changing roads by estimating extrinsic camera parameters, which represent the pose of the camera mounted on the car. The proposed algorithm assumes that two lanes are parallel with the predefined width. The lane detection and the extrinsic camera parameter estimation are performed simultaneously by utilizing B-snake in motion compensated and merged feature map with consecutive sequences. The experimental results show the robustness of the proposed algorithm in various road environments. Furthermore, the accuracy of extrinsic camera parameter estimation is evaluated by calculating the distance to a preceding car with the estimated parameters and comparing to the radar-measured distance.

• Journal of Korea Water Resources Association
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• v.30 no.5
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• pp.495-501
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• 1997

Pumping power being given, traditional method requires an iteration process for the solution of discharge and pipe diameter. Yoo and Kang (1996) have developed explicit equations for the estimation of discharge and pipe diameter for the cases of uniformly rough pipe on a sloping bed with a pumping power. The use of poser law for the estimation of friction factor enabled to develop the explicit form of equations. Yoo (1995a) has suggested the mean friction factor method for the estimation of friction factor of commercial pipe or composite surface pipe. With the same approach, the present work has developed the explicit equations of discharge or pipe diameter for the general case of commercial pipe on a sloping bed with a pumping power by adopting the mean friction factor method.

• Journal of Korean Society on Water Environment
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• v.25 no.3
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• pp.441-451
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• 2009

To evaluate the soil erosion best management practices, many computer models has been utilized over the years. Among those, the USLE and SWAT models have been widely used. These models estimate the soil erosion from the field using empirically-based USLE/MULSE in it. However, these models are not good enough to estimate soil erosion from highland agricultural watershed where severe storm events are causing soil erosion and muddy water issues at the receiving watersheds. Thus, physically-based WEPP watershed version was applied to a watershed, located at Jawoon-ri, Gangwon with very detailed rainfall data, rather than daily rainfall data. Then it was validated with measured sediment data collected at the sediment settling ponds and through overland flow. In this study, very detailed rainfall data, crop management data, soil data reflecting soil reconditioned for higher crop production were used in the WEPP runs. The $R^2$ and the EI for runoff comparisons were 0.88 and 0.91, respectively. For sediment comparisons, the $R^2$ and the EI values were 0.95 and 0.91. Since the WEPP provides higher accuracies in predicting runoff and sediment yield from the study watershed, various slope scenarios (2%, 3%, 5.5%, 8%, 10%, 13%, 15%, 18%, 20%, 23%, 25%, 28%, 30%) were made and simulated sediment yield values were analyzed to develop appropriate soil erosion management practices. It was found that soil erosion increase linearly with increase in slope of the field in the watershed. However, the soil erosion increases dramatically with the slope of 20% or greater. Therefore special care should be taken for the agricultural field with slope greater than 20%. As shown in this study, the WEPP watershed version is suitable model to predict soil erosion where torrential rainfall events are causing significant amount of soil loss from the field and it can also be used to develop site-specific best management practices.

• Journal of the Korean Geotechnical Society
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• v.18 no.6
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• pp.141-152
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• 2002

This paper is the result of the experimental and numerical research on the distribution of vertical earth pressure due to surcharge loads acting on cantilever retaining wall close to a rigid slope with a stiff angle. Centrifuge model experiments were performed with changing the roughness of adjacent slope to the wall, distance between the wall and the slope and gravitational levels. Vertical earth pressures were measured by earth cells embedded in the backfill of the wall. Test results of vertical earth pressures due to surcharge loads were compared with theoretical estimations by using two different methods of limit equilibrium and the numerical analysis. For limit equilibrium methods, the modified silo and the wedge theories, proposed by Chung(1993, 1997), were used to analyze test results. Based on those modified theories, the particular solution with the boundary condition of surcharge loads on the surface of backfill was obtained to find the vertical stress distributions acting on the backfill. FLAC with the hyperbolic constitutive model was also used for the numerical estimation. As a result of comparison of test results with theoretical and numerical estimations, distribution of vertical earth pressures obtained from centrifuge model tests is generally in good agreement with numerical estmated values by using FLAC whereas the wedge theory shows values close to test results in case the distance between the wall and the slope is narrow.

• Water Engineering Research
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• v.2 no.4
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• pp.219-229
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• 2001

Synthetic unit hydrograph equations for rainfall run-off characteristics analysis and estimation of design flood have long and quite frequently been presented, the Snyder and SCS synthetic unit hydrograph. The major inputs to the Snyder and SCS synthetic unit hydrograph are lag time and peak coefficient. In this study, the methods for estimating lag time and peak coefficient for small watersheds proposed by Zhao and McEnroe(1999) were applied to the Kum river basin in Korea. We investigated lag times of relatively small watersheds in the Kum river basin in Korea. For this investigation the recent rainfall and stream flow data for 10 relatively small watersheds with drainage areas ranging from 134 to 902 square kilometers were gathered and used. 250 flood flow events were identified along the way, and the lag time for the flood events was determined by using the rainfall and stream flow data. Lag time is closely related with the basin characteristics of a given drainage area such as channel length, channel slope, and drainage area. A regression analysis was conducted to relate lag time to the watershed characteristics. The resulting regression model is as shown below: ※ see full text (equations) In the model, Tlag is the lag time in hours, Lc is the length of the main river in kilometers and Se is the equivalent channel slope of the main channel. The coefficient of determinations (r$^2$)expressed in the regression equation is 0.846. The peak coefficient is not correlated significantly with any of the watershed characteristics. We recommend a peak coefficient of 0.60 as input to the Snyder unit-hydrograph model for the ungauged Kum river watersheds

• Environmental and Resource Economics Review
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• v.22 no.3
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• pp.499-520
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• 2013

This study proposes an iterative approach to the estimation of the marginal abatement costs of undesirable outputs by computing the slope of the efficient production possibilities frontier on the basis of the efficient projection points generated by the directional output distance function approach due to Fare et al. (2005) based on duality theory. In case of the latter methodology, the estimated marginal abatement costs differ significantly depending on the choice of the directional output vector. In addition, depending on the curvature of the underlying PPF the efficient projection points may be located at a significant distance away from their actually observed counterparts. While it would be more logical to estimate marginal abatement costs as a PPF slope at a point corresponding to the actually observed emissions level, the methodology based on duality theory is likely to produce unstable results due to the problems associated with applying the theorem of implicit function differentiation. Since our methodology is not based on duality theory, our results are immune to both of these problems. We apply our methodology to a sample of Western European countries for the period of 1995-2011 to illustrate our approach.

• Journal of The Korean Society of Agricultural Engineers
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• v.60 no.2
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• pp.37-44
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• 2018

Universal soil loss equation (USLE) had been employed to estimate potential soil loss since it was developed from the statewide data measured and collected in the United States. The equation had an origin in average annual soil loss estimation though, it was modified or improved to provide better opportunities of soil loss estimation outside the United States. The equation has five factors, most studies modifying them to adapt regional status were focused on rainfall erosivity factor and cover management factor. While the conservation practice factor (USLE P factor) is to represent distinct features in agricultural fields, it is challenging to find studies regarding the factor improvements. Moreover, the factor is typically defined using slopes. The factor defining approach was suggested in the study, the approach is a step-by-step method allowing USLE P factor definition with given condition. The minimum condition is slope and field location to provide an opportunity for using in any GIS software and to reflect regionally distinct features. If watershed location, slope, crop type, and mulching type on furrows are given, detailed definition of the factors are possible. The approach was developed from field survey in South-Korea, it is expected to be used for potential soil loss using USLE in South-Korea.

• Journal of The Korean Society of Agricultural Engineers
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• v.48 no.7
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• pp.3-14
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• 2006

The objective of this study was to develop a GIS-based decision support system (GIS-USLE system) to estimate soil erosion and evaluate its effect on concentrated upland plots in Godang district, Korea. This system was developed for the ArcView environment using A VENUE script. Three modules were used in the GIS-USLE system, namely pre-processing, the USLE factors calculator module, and post-processing. This system benefits from a user friendly environment that allows users with limited computer knowledge to use it. This system was applied to 1,285 individual upland plots ranging from 0.005 to 1.347 ha in size with an average slope steepness of 14 %. The rainfall distributions were estimated using the three methods, namely Mononobe and Yen-Chow with Triangle and with Trapezoid type, and then used to calculate the rainfall erosivity factor. The soil erosion amounts from the 1,285 individual plots in the study area by 2 year return period with a 24h maximum rainfall amount of 154.6 mm were estimated at 5 tons/ha on average. Slope appeared to be the most important factor affecting soil erosion estimation, as expected. The prototype model was applied to the project area, and the results appeared to support the practical applications. By examining many fields simultaneously, this system can easily provide fast estimation of soil erosion and thus reveal the spatial pattern of erosion from fields in a region. This study will help estimate and evaluate soil erosion in concentrated upland districts and identify the best management practices.

• Proceedings of the Korea Water Resources Association Conference
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• 2008.05a
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• pp.1295-1299
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• 2008

Soil erosion is a natural process and has been occurring in most areas in the watershed. However, accelerated soil erosion rates have been causing numerous environmental impacts in recent years. To reduce soil erosion and sediment inflow into the water bodies, site-specific soil erosion best management practices (BMPs) need to be established and implemented. The most commonly used soil erosion model is the Universal Soil Loss Equation (USLE), which have been used in many countries over 30 years. The Sediment Assessment Tool for Effective Erosion Control (SATEEC) ArcView GIS system has been developed and enhanced to estimate the soil erosion and sediment yield from the watershed using the USLE input data. In the last decade, the Soil and Water Assessment Tool (SWAT) model also has been widely used to estimate soil erosion and sediment yield at a watershed scale. The SATEEC system estimates the LS factor using the equation suggested by Moore and Burch, while the SWAT model estimates the LS factor based on the relationship between sub watershed average slope and slope length. Thus the SATEEC and SWAT estimated soil erosion values were compared in this study. The differences in LS factor estimation methods in the SATEEC and SWAT caused significant difference in estimated soil erosion. In this study, the difference was -51.9%(default threshold)$\sim$-54.5%(min. threshold) between SATEEC and non-patched SWAT, and -7.8%(default threshold)$\sim$+3.8%(min. threshold) between SATEEC and patched SWAT estimated soil erosion.