• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.907-914
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• 2013

A FastSLAM is an algorithm for SLAM (Simultaneous Localization and Mapping) using a Rao-Blackwellized particle filter and its performance is known to degenerate over time due to the loss of particle diversity, mainly caused by the particle depletion problem in the resampling phase. In this paper, the GeSPIR (Geographically Stratified Particle Information-based Resampling) technique is proposed to solve the particle depletion problem. The proposed algorithm consists of the following four steps : the first step involves the grouping of particles divided into K regions, the second obtaining the normal weight of each region, the third specifying the protected areas, and the fourth resampling using regional equalization weight. Simulations show that the proposed algorithm obtains lower RMS errors in both robot and feature positions than the conventional FastSLAM algorithm.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.2
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• pp.18-35
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• 2020

Many human, roadway, and vehicle factors affect vehicle-pedestrian crashes. Especially, the roadway factors are easily defined and suitable for suggesting countermeasures. The characteristics of the road network are one of the roadway factors. The road network significantly influences behaviors and conflicts of drivers and pedestrians. A metropolitan city such as Seoul contains various types of road networks, and crash prevention strategy considering characteristics of the road network is required. In this study, we analyze the effects of road networks on vehicle-pedestrian crashes. In the study, high order road ratio, intersection ratio, high-low intersection ratio are considered as road network variables. Using Geographically Weighted Poisson Regression, crash frequencies in Dongs of Seoul are analyzed based on the road network variable as well as socioeconomic variables. As a result, Dongs are grouped by coefficient signs, and each group is suggested about improvement directions considering conflict situations.

• The Korean Journal of Ecology
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• v.28 no.6
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• pp.375-382
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• 2005

The American bullfrog, Rana catesbeiana was imported from Japan for farming for the human consumption in 1970's and introduced populations were a great threat to native habitats in the pond and lake ecosystem. However, it is thought that the population of bullfrog has rapidly declined for past years in Korea. In this study, we investigated the intra-genetic diversity of R. catesbeiana habitated in Korea. The nucleotide sequences of 1,215bp mitochondrial ND1/tRNA region in bullfrogs sampled from 5 sites in Jeollanamdo were analyzed and compared to the original sequence of R. catesbeiara reported in Genbank. The nucleotide similarity between Korean and North American bullfrog was ranged from 98.7% to 100% based on kimura-2-parameter distance. In addition, bullfrogs analyzed in this study were clustered into two groups with one including Jangheung and the other including Gwangju populations in the neighbor-joining tree. North American R. catesbeiana was grouped in Jangheung cluster, indicating that there is the very low genetic difference between Korean and North American populations. The maximum parsimony tree in which North American R. catesbeiana was set as an outgroup suggests that Jangheung group represents the introduced population to Korea. Taken together, the results indicate that the population of R. catesbeiana in Korea has not segregated geographically yet, after the introduction.

• Korean Journal of Environment and Ecology
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• v.25 no.3
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• pp.327-357
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• 2011

This study compared the species composition and distribution of the forest communities between Korea and Japan using vegetation releve database. The study included the eastern and southern Korean Peninsula, Is. Jeju, Is. Ulreung, northern Kyushu, central part of Japan and Is. Tsushima and divided in fourteen region with major mountain as the center. Seventy-nine forest communities were classified by tabular comparison with the total of 1844 releves. In the composition table, fifty-four groups of plant species were listed. Some grew in one area exclusively, while others were present in multiple locations. This study showed the similarity and heterogeneity of species composition among study areas. We grouped fourteen types showing similar physiognomy for forest communities. The physiognomical features of the vertical vegetation zones in the study area were similar, however, dominant species and species composition were different between the regions. In the lowland zone, Castanopsis-Type dominated by Castanopsis cuspidata var. sieboldii or Castanopsis cuspidata were distributed in the study area except for northern part of the Korean Peninsula and Is. Ulreung. Additionally, Persea thunbergii-Type was distributed widely in the lowest part of the study area, however, it showed the simplification of the species composition in the Korean Peninsula and Is. Ulreung. In the hilly zone, evergreen forest composed by Abies firma-Type distributed in northern Kyushuand Is. Tsushima, but it was absent in the other study region. The difference in forest community was conspicuous, especially in the montane zone. Deciduous broadleaved forests composed Quercus(D)-Type and Fagus-Type widely distributed in the montane of study area. However, forest community dominated by Quercus mongolica and Fagus multinervis flourished in Korea. On the otherhand, forest community dominated by Quercus mongolica var. grosseserrata, Fagus crenata and F. japonica distributed in Japan. In the sub-alpine zone, evergreen coniferous forest composed Abies-Quercus(D)-Type, Abies koreana-Type, and Pinus pumila-Type were distributed in the Korean Peninsula and Is. Jeju. Forests composed Taxus cuspidata var. nana-Type, Abies mariesii-Type, and Pinus pumila-Type distributed in the central part of Japan. As a result of DCA ordination, evergreen broadleaved forests of the whole study area showed the lower scores along the first axis, while deciduous and coniferous forests showed the higher scores. The forest types of western part of Japan were located the higer scores, forest types of the Korean Peninsula were located the lower scores, and forest types of Is. Jeju located in the middle. Warmth index (WI) and Annual range of temperature in climate factor were highly correlated on the first axis. The first axis reflected the gradient from oceanic climatic to continental one. The higher the altitude and further geographically, the lower the similarity among communities and the peculiarity of community appeared stronger. The historical background reflecting local flora has strongly influenced on development of community.