• Journal of Institute of Control, Robotics and Systems
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• v.15 no.9
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• pp.946-951
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• 2009

The small multi-jointed robots for most education are developed with the way of firmware. But the firmware may be very difficult to develop as gradually increasing throughputs and control routines. Due to limit of firmware we try to use on RTOS, but hard to adapt on the small multi-jointed robots. It would be hard to install RTOS into the small multi-jointed robots because of the size capacity of RTOS, and lack of libraries for control of the particular hardware. Moreover, even its RTOS with many functions causes its to make overheads scheduling, TCB (Task Control Block), and task states. Also to keep maintenance of RTOS, it is composed of components for the whole structure of my proposed RTOS. Additionally, We provided with libraries of servo motor and sensor control and developed RMS (Rate Montonic scheduler) to handle tasks on real time and reduce overheads. Therefore, It is possible to work the fixed priority and task preemptive way. We show one example of the multi-jointed robot installed with my proposed RTOS, which shows to obstacle avoidance and climbing up the slope.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.1 no.1
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• pp.119-132
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• 1998

In recent Japan, the demand for woodland creation on revegetation sites is increasing. In the forests and woodlands, we can find many functions of environmental conservation, in addition of biomaterial production, and all of these existences with such functions are defined as environmental woodlands. Many woodlands has been created from old times for the purpose of forest conservation and flood control, and most of these technology are handed down to present time. After Edo era (from the beginning of Meiji era, 1867), some valuable examples of woodlands were created, like Meiji shrine woodland in Tokyo. After the World War II, a lot of technology for woodland revegetation, such as ecological tree planting, have been developed. At present, many revegetation sites are aiming at woodland creation, like on man-made slope, etc.. In the great change of social structure, revegetation technology is also required to keep in close relationships to the restoration of devastated existing forests and woodlands, and to provide many technology for the restoration of secondary woodland, preservation of soil, mitigation, reclamation, etc.. Now in Japan, the improvement of environment including all the member of biosphere is demanded on a large scale. Therefore, revegetation technology should also try to make an activity taking a broad view of the restoration of natural vegetation in addition to the traditional and new woodland creation.

• Journal of Drive and Control
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• v.10 no.4
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• pp.14-21
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• 2013

The numerical analysis of the automatic ship mooring system which was equipped in the ship for trying to berth at the pier was performed in this study. The automatic ship mooring using hydraulic winch was a new method that had not need to change the existing devices and to help a pilot ship of outside. The numerical results of the proposed mooring system including ship motion were that the speed and rolling phenomenon of ship was affected by changing in the ship weight and affected the slope maintenance and yaw degree of ship if there has a trim of stern. Also, a static force of ship at the initial movement was important to calculate the mooring power. The moving force and inertial force of ship on the vertical direction was confirmed for the mooring stability. Therefore, the power and velocity of hydraulic mooring winch should be determined by considering the significant characteristics such as weight, velocity, inertial force and moving force of ship.

• Journal of the Korean Society of Mechanical Technology
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• v.13 no.3
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• pp.65-71
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• 2011

The concrete mixer truck which is in charge of raw materials in civil engineering construction of the concrete loading, transport, placement, is used $6m^3$, $7m^3$ class in domestic(Korea). But in the case of the international construction fields are utilized $9m^3$ or above class because of the large-scale engineering and construction circumstances. In this paper, to develop a large $9m^3$ class mixer drum and the mixer drum in order to complement the technical and discharge that is responsible for stirring the blades by applying optimal design through implementation of the optimal shape of the concrete in the drum maintenance and placement of high-quality effects on increasing discharge such as advanced conventional drum mixer is to secure and differentiated technology. Large, heavy weight in development and uphold the drum mixer vehicle sub-frame is required to settle the design of the existing class mixer drum frames per $6m^3$ changed to account for changes in slope and length using CATIA V5 3D modeling work was performed.

• Journal of The Geomorphological Association of Korea
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• v.24 no.4
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• pp.103-115
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• 2017

This paper shows the types of deteriorated hiking trails and degrading factors at three Great Walks such as Tongariro Alpine Crossing, Routeburn Track and Kepler Track in New Zealand. The deteriorated trails could be classified into gullying, widening, narrowing, branching and sidewall erosion. Department of Conservation carefully manages overland flows on trails for preventing surface erosion, thus the Great Walks show only a minor problem of gully on trails which is usually active in a mountainous area. Widening and branching of trails caused by tread erosion are not also developed due to the restriction of visitors as well as the management of rainwash. However, despite the detailed maintenance and prevention of an overuse of trails, some trails traversing steep slopes in a alpine zone under a periglacial environment are severely degraded along their sidewalls. It suggests that a unvegetated sidewall of trails has to be strictly managed in an early stage of occurrence and a slope-traversing section should be selected with more consideration when establishing a route of hiking trails.

• Structural Monitoring and Maintenance
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• v.6 no.2
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• pp.161-171
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• 2019

There have been a few checking frameworks intended to ensure and improve the nature of their regular habitat. The greater part of these frameworks are constrained in their capacities. In this paper, the insightful checking framework intended for debacle help and administrations has been exhibited. The ideal administrations, necessities and coming about plan proposition have been indicated. This has prompted a framework that depends fundamentally on ecological examination so as to offer consideration and security administrations to give the self-governance of indigenous habitats. In this sense, ecological acknowledgment is considered, where, in light of past work, novel commitments have been made to help include based and PC vision situations. This epic PC vision procedure utilized as notice framework for avalanche identification depends on changes in the normal landscape. The multi-criteria basic leadership strategy is used to incorporate slope data and the level of variety of the highlights. The reproduction consequences of highlight point discovery are shown in highlight guide coordinating toward discover steady and coordinating component focuses and effectively identified utilizing these two systems, by examining the variety in the distinguished highlights and the element coordinating.

• Geomechanics and Engineering
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• v.37 no.2
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• pp.135-147
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• 2024

A GIS-based landslide susceptibility mapping (LSM) was carried out using frequency ratio (FR), modified frequency ratio (M-FR), analytic hierarchy process (AHP), and modified analytic hierarchy process (M-AHP) methods to identify and delineate the potential failure zones along the Halong - Vandon expressway. The thematic layers of various landslide causative factors were generated for modeling in GIS, including geology, rainfall, distance to fault, distance to road, slope, aspect, landuse, density of landslide, vertical relief, and horizontal relief. In addition, a landslide inventory along the road network was prepared using data provided by the management department during the course of construction and operation from 2017 to 2019, when many landslides were documented. The validation results showed that the M-FR method had the highest AUC value (AUC = 0.971), which was followed by the FR method with AUC = 0.961. The AUC values were 0.939 and 0.892 for the M-AHP and AHP methods, respectively. The generated LSM obtained from M-FR method classified the study area into five susceptibility classes: very low (0), low (0-1), moderate (1-2), high (2-3), and very high (3-4) classes, which could be useful for various stakeholders like planners, engineers, designers, and local public for future construction and maintenance in the study area.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.14 no.5
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• pp.53-67
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• 2011

The major objective of this study was to quantify the effects of substrate depth and substrate composition on the development of sedum etc., in a sloped rooftop (6 : 12 pitch) environment during a 4-year period. The experiment was conducted from 2006 October to 2010 December under several conditions without soil erosion control : two substrate depth (5cm, 10cm), four substrate composition (A5N3C2, A3N3C4, A6C4, G5L3C2: A: artificial lightweight soil, N : natural soil, G : granite decomposed soil, C : leave composite, L : loess), four sloped roof direction ($E40^{\circ}W$, $W40^{\circ}N$, $S40^{\circ}W$, $N40^{\circ}E$). In this experiment 4 sedum etc., were used: Sedum sarmentosum, Sedum kamtschaticum, Sedum rupestre, Sedum telephium, flowering herbs (mixed seed : Taraxacum platycarpum, Lotus corniculatus, Aster yomena, Aster koraiensis), western grasses (mixed seed : Tall fescue, Creeping redfescue, Bermuda grass, Perennial ryegrass). The establishment factor had two levels : succulent shoot establishment (sedum), seeding (flowering herbs, western grasses). 1. Enkamat, as it bring about top soil exfoliation, was unsuitable material for soil erosion control. 2. Sedum species exhibited greater growth at a substrate depth of 10cm relative to 5cm. All flowering herbs and western grasses established only at a substrate depth of 5cm were died. A substrate depth of 5cm was not suited in sloped rooftop greening without maintenance. If additional soil erosion control will be supplemented, a substrate depth of 10cm in sloped rooftop greening without maintenance was considered suitable. 3. For all substrate depth and composition, the most abundant species was Sedum kamtschaticum. The percentage of surviving Sedum kamtschaticum was 73.4% at a substrate depth of 10cm in autumn 2007 one year after the roof vegetation had been established. But the percentage of surviving other sedum were 33.3%~51.9%, therefor mulching for soil erosion control was essential after rooftop establishment in extensive sloped roof greening was proved. To raise the ratio of plant survival, complete establishment of plant root at substrate was considered essential before rooftop establishment. 4. There was a significant interaction between biomass and substrate moisture content. There were also a significant difference of substrate moisture and erosion among substrate composition. The moisture content of A6C4 was highest, the resistance to erosion of A5N3C2 was highest among substrate composition. The biomass of plants were not significantly higher in A5N3C2 and A6C4 relative to A3N3C4 and G5L3C2, For substrate moisture and erosion resistance, A5N3C2 and A6C4 were considered suitable in sloped rooftop greening without maintenance. 5. There were significant difference among roof slope direction on the substrate moisture. Especially, the substrate moisture content of $S40^{\circ}W$ was lower relative to that of $N40^{\circ}E$, that guessed by solar radiation and erosion.

• Korean Journal of Environment and Ecology
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• v.18 no.2
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• pp.175-183
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• 2004

They are raising the necessity to prepare the conservational management strategy for the trail on the ridge of the Baekdudaegan where deterioration of natural environment along the trail as the rapid increase of visitors to the Baekdudaegan. The purpose of this study, followed after the Kwon and Lee(2003), is to research the deterioration condition of the trail between Namdeogyusan and Sosagogae on the Baekdudaegan. To accomplish the purpose, not only trail condition such as altitude, entire width, bare width, maximum depth and slope of trail, but also deterioration types of trail were surveyed at the total 182 points for 32.3km in length. Furthermore, impact rating class, which could be effective means to check the step and extent of deterioration process, was judged on each points of trail. Results informs us that the deterioration condition of the trail between Namdeogyusan and Sosagogae is not reached the level of grave concern yet, but some points and sections of trail are in urgent need of the integrated and organized maintenance. And some managerial strategies of trail were proposed in connection with the maintenance for trail on the Baekdudaegan ridge.

• Journal of the Korean Institute of Landscape Architecture
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• v.42 no.1
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• pp.133-148
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• 2014

In order to investigate community formation ability, herbaceous perennials such as Miscanthus sacchariflorus Bentham, Miscanthus sinensis var. purpurascens Rendle, Imperata cylindrica Linne, Pennisetum alopecuroides (L.) Spreng. and Arundinella hirta Tanaka were planted in April 2009 at the levee slope of Gwangju Stream in South Korea. Miscanthus sacchariflorus Bentham, Miscanthus sinensis var. purpurascens Rendle, Imperata cylindrica Linne and Pennisetum alopecuroides (L.) Spreng. which grew in pots for two years and divided rhizomes of Arundinella hirta Tanaka gathered from fields were employed. Weeds growing on the experiment sites were removed twice a year until 2011 when the plant species were formed into community. Weeds were not eradicated during 2012 and 2013 to observe community sustainability of the species. T-tests on stem numbers and heights in May, July and September were conducted between 2011 and 2012, and between 2012 and 2013. Stem numbers of the five species in 2012 were significantly reduced(p<0.001) compared with those in 2011, which were attributed to weed growth in 2012. Heights of Miscanthus sinensis var. purpurascens Rendle, Imperata cylindrica Linne, Pennisetum alopecuroides (L.) Spreng. and Arundinella hirta Tanaka in 2012 were significantly lower than those in 2011(p<0.001), which resulted from weed invasion. Heights of Miscanthus sacchariflorus Bentham in May and July 2012 were significantly decreased compared with those in 2011(p<0.001), however, heights of Miscanthus sacchariflorus Bentham in September 2012 were almost the same as those in 2011(p>0.05). Miscanthus sacchariflorus Bentham was able to compete against weeds in September 2012. Stem numbers and heights of Miscanthus sacchariflorus Bentham, Miscanthus sinensis var. purpurascens Rendle, Imperata cylindrica Linne and Pennisetum alopecuroides (L.) Spreng. in 2013 were similar to those in 2012(p>0.05). However, stem numbers and heights of Arundinella hirta Tanaka in 2013 were significantly decreased compared with those in 2012(p<0.001). After community formation, Miscanthus sacchariflorus Bentham, Miscanthus sinensis var. purpurascens Rendle, Imperata cylindrica Linne and Pennisetum alopecuroides (L.) Spreng. were able to maintain its community without weed removal. However, Arundinella hirta Tanaka was unable to establish its community due to the weed growth. Miscanthus sacchariflorus Bentham, Miscanthus sinensis var. purpurascens Rendle, Imperata cylindrica Linne are more suitable to stream levee slope environment in terms of community formation and maintenance, stream landscape enhancement and slope erosion control.