• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.38.3-38
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• 2002

$\textbullet$ The topological map using a thinning needs much simpler computation than that using a Voronoi. $\textbullet$ A thinning can provide much information on the environment (additional nodes). $\textbullet$ Each node created in a local map is considered as temporary and redundant nodes are discarded. $\textbullet$ A global topological map can be built fast and correctly through a thinning algorithm. $\textbullet$ Path planning can be easily achieved with a topological map.

• Journal of Ecology and Environment
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• 제40권1호
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• pp.5-11
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• 2016

Background: As the decomposition of lignocellulosic compounds is a rate-limiting stage in the nutrient mineralization from organic matters, elucidation of the changes in soil enzyme activity can provide insight into the nutrient dynamics and ecosystem functioning. The current study aimed to assess the effect of thinning intensities on soil conditions. Un-thinned control, 20 % thinning, and 30 % thinning treatments were applied to a Larix kaempferi forest, and total carbon and nitrogen, total carbon to total nitrogen ratio, extractable nutrients (inorganic nitrogen, phosphorus, calcium, magnesium, potassium), and enzyme activities (acid phosphatase, ${\beta}$-glucosidase, ${\beta}$-xylosidase, ${\beta}$-glucosaminidase) were investigated. Results: Total carbon and nitrogen concentrations were significantly increased in the 30 % thinning treatment, whereas both the 20 and 30 % thinning treatments did not change total carbon to total nitrogen ratio. Inorganic nitrogen and extractable calcium and magnesium concentrations were significantly increased in the 20 % thinning treatment; however, no significant changes were found for extractable phosphorus and potassium concentrations either in the 20 or the 30 % thinning treatment. However, the applied thinning intensities had no significant influences on acid phosphatase, ${\beta}$-glucosidase, ${\beta}$-xylosidase, and ${\beta}$-glucosaminidase activities. Conclusions: These results indicated that thinning can elevate soil organic matter quantity and nutrient availability, and different thinning intensities may affect extractable soil nutrients inconsistently. The results also demonstrated that such inconsistent patterns in extractable nutrient concentrations after thinning might not be fully explained by the shifts in the enzyme-mediated nutrient mineralization.

• Journal of Forest and Environmental Science
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• 제13권1호
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• pp.66-80
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• 1997

잣나무는 최근 10년간 우리나라 인공조림실적 중 31%를 차지하는 주요 조림수종이다. 현재 우리나라 산림(山林)은 대부분의 인공조림지를 포함하여 30년생 이하의 유령림(幼齡林)이 87%를 점유하고 있음에도 보육간벌은 거의 실시되지 못하고 있는 실정이다. 또한 현실정에 적합한 잣나무의 보육간벌 지침도 충분히 확립되어 있지 못하다. 본 연구는 잣나무림의 장기적 보육간벌 시험을 통하여 장차 최적(最適)한 간벌계획(間伐計劃) 및 방법(方法)의 확립 에 기여하고자, 우선 강원대학교(江原大學校) 연습림(演習林)에 설정된 잣나무의 간벌시험지와 기존의 임분수확표를 대상으로 생장함수를 이용하여 잣나무의 생장과정의 변화 등을 분석 고찰하였다. 간벌과정을 파악하기 위한 기초적인 단계로 생장과정을 표현하기 적합한 이론적 생장함수를 선정할 필요가 있다. 이를 위해 Mitscherlich, 4 parameter Richards, 3 parameter Richards의 3종의 생장함수식(生長函數式)을 간벌시험지에서 채취한 임령 18년 전후의 공시목의 직경생장 과정에 적용하였다. 그 결과 3변수 Richards 생장함수식이 가장 적합한 것으로 나타났다. 또한 산림청에서 작성한 잣나무 수확표의 직경과 수고생장, 입목본수의 감소 과정도 3변수 Richards 생장함수식에 의하여 적합하게 추정할 수 있음을 확인하였다. 장래 단목의 간벌에 따른 생장의 변화과정을 추정하기 위해, 단목의 점유 면적에 관계하는 계수 h를 포함하는 생장(生長)모델을 제안하였다. 현재 설치된 간벌시험지에서 향후 일정간격으로 얻어질 간벌시험지의 직경생장 공시자료를 이용하면 계수 h를 추정할 수 있고, 이를 이용하여 제안된 모델의 유용성을 검증, 보완한다면 단목의 생장과정을 사전에 유추하여 간벌의 효과를 표현할 수 있는 수식을 구축할 수 있을 것으로 사료된다.

• 한국산림과학회지
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• 제109권3호
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• pp.350-360
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• 2020

본 연구는 효율적인 숲가꾸기 사업 모니터링을 위해 숲가꾸기 사업의 작업종별 평가지표의 중요도를 선정하고 이를 적용한 숲가꾸기 사업 평가지표 개발 연구이다. 숲가꾸기 사업의 작업종별 중요도를 산정하기 위하여 Delphi와 AHP를 이용한 전문가 합의를 총 3차례에 걸쳐 진행하였으며, 선정된 사업추진 프로세스 4개 항목(계획 및 설계, 관리·감독, 감리, 작업품질)과 평가 항목 10개를 선정하여 중요도를 산정하였다. 분석결과, 사업추진 프로세스에서는 계획 및 설계가 가장 중요한 숲가꾸기 평가인자로 선정되었으며 관리·감독, 감리, 작업 품질 순으로 중요도가 산정되었다. 최종 종합 가중치 산정결과, 평가 항목별 우선순위에서는 "산림경영계획서 작성의 적절성" 이 가장 중요도가 높은 것으로 사료되었다. 또한 숲가꾸기 사업과 어린나무 가꾸기 사업에서는 "설계서 작성의 적정성", 조림지 가꾸기와 큰나무 가꾸기 사업에서는 "작업 품질"이 숲가꾸기 평가에 있어 중요한 인자로 나타났다. 본 연구 결과에 따르면, 숲가꾸기 계획 및 설계, 산림경영계획서 작성, 설계서 작성의 적정성 등 숲가꾸기 사업을 위한 설계 및 계획단계에서의 성과가 숲가꾸기 사업의 평가에 있어 많은 영향을 미치는 것으로 사료된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.722-725
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• 1990

This paper proposes a new path planning method for obstacle avoidance of mobile robot. In order to achieve easy planning of the path, a simple representation of the empty space is achieved based on thinning algorithm. The proposed Planning technique facilitates the direct use of information obtained by camera. Comparing to the V-graph method, the task of determining the shortest path from the resulting skeleton of empty space is optimized in terms of number of computation steps. The usefulness of the proposed method is ascertained by simulation.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.822-827
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• 2003

Topological maps have drawn more attention recently because they are compact, provide natural interfaces, and are applicable to path planning easily. To build a topological map incrementally, Voronoi diagram was used by many researchers. The Voronoi diagram, however, has difficulty in applying to arbitrarily shaped objects and needs long computation time. In this paper, we present a new method for global topological map from the local topological maps incrementally. The local topological maps are created through a thinning algorithm from a local grid map, which is built based on the sensor information at the current robot position. A thinning method requires simpler computation than the Voronoi diagram. Localization based on the topological map is usually difficult, but additional nodes created by the thinning method can improve localization performance. A series of experiments have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can create satisfactory topological maps.

• 한국약용작물학회지
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• 제23권3호
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• pp.198-206
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• 2015

This study was conducted to investigate the effects of sowing density, number of seeds sown per hole, and thinning treatment on growth characteristics and disease occurrence in Panax ginseng under direct sowing cultivation in a blue plastic greenhouse. Seedling were grown from 2 or 3 seeds sown, and the healthiest was only retained, while the rest were thinned out at the foliation stage. $NO_3$-N, $P_2O_5$, and organic matter content differed significantly between growth conditions in the plastic greenhouse and in conventional shade in the soil. Disease also tended to be higher in the conventional shade than in the plastic greenhouse. Plant height and stem length showed an increasing trend with increasing sowing density and number of seeds sown per hole. However, these measures noticeably decreased when thinning treatment was conducted. Growth of the subterranean part of ginseng was not markedly influenced by sowing density, the number of seeds sown per hole, or thinning treatment. Root weight, which is an important factor in yield, was significantly affected by the number of seeds sown and thinning treatment. Interestingly, root weight tended to be higher in the thinning treatment plot than the untreated control plot. Damping-off and root rot increased noticeably as the number of seeds sown increased. Disease also tended to be substantially higher in the thinning treatment plot than the untreated control. However, physiological disorder of the plants did not vary with sowing density, the number of seeds sown, or thinning treatment.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권12호
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• pp.577-582
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• 2002

The objective of this paper is to produce a weighted graph map for path-planning of an autonomous mobile robot(AMR) based on the measurements from a single ultrasonic sensor, which are acquired when the autonomous mobile robot explores unknown indoor circumstance. The AMR navigates in th unknown space by following the wall and gathers the range data using the ultrasonic sensor, from which the occupancy grid map is constructed by associating the range data with occupancy certainties. Then, the occupancy grid map is converted to a weighted graph map suing morphological image processing and thinning algorithms. the path- planning for autonomous navigation of a mobile robot can be carried out based on the occupancy grid map. These procedures are implemented and tested using an AMR, and primary results are presented in this paper.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.184-186
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• 2006

We propose a new method for shortest path planning of mobile robots. The topological information of the graph is obtained by thinning method to generate the collision-free path of robot. And the travelling path is determined through hierarchical planning stages. The first stage generates an initial path by use of Dijkstra's algorithm. The second stage then generates the final path by use of dynamic programming (DP). The DP adjusts the intial path to reduce the total travelling distance of robot. Simulation results are presented to verify the performance of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.900-903
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• 1996

The objective of this paper is to make the weighted graph map for path planning using the ultrasonic sensor measurements that are acquired when an A.M.R (autonomous mobile robot) explores the unknown circumstance. First, The A.M.R navigates on unknown space with wall-following and gathers the sensor data from the environments. After this, we constructs the occupancy grid map by interpreting the gathered sensor data to occupancy probability. For the path planning of roadmap method, the weighted graph map is extracted from the occupancy grid map using morphological image processing and thinning algorithm. This methods is implemented on an A.M.R having a ultrasonic sensor.