• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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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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• v.40 no.1
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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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• v.13 no.1
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• pp.66-80
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• 1997

Pinus koraiensis is one of the major speciese which have been recently planted for ten years and consists of 31% of total plantation. Presently young stand less than 30 years consists of 87% of total forest, but tending thinning of it is hardly carried out and the desirable direction for the thinning is not established yet. The objective of the study is to introduce the optimum thinning plan and thinning method through the long-run experiment of tending thinning for the Pinus koraiensis stand. The experiments carry out to interprete its growth model on the subject of two thinning experimental plots and yield table of Pinus koraiensis. As the basic step for understanding the thinning process, a theoretical growth model which is suitable to express the growth process is required. For that purpose, three growth functions (Mitscherlich, 4 parameter Richards, 3 parameter Richards) are applied to the diameter growth of the sample trees which are taken in the two plots. The results show that 3 parameter Richards is the most suitable. It is also verified that the diameter growth, the height growth, and the decrease in the number of stocks can be estimated by this function. To estimate the growth change of single tree, growth model including parameter h which is related to the occupation area of single tree are introduced. The parameter h can be estimated by using the data of the diameter growth obtained from the established experimental plots. Therefore, if both verification and modification of the usefulness of the model suggested is made, equations which tell about the thinning effects could be drived by estimating the growth process of single tree in advance.

• Journal of Korean Society of Forest Science
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• v.109 no.3
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• pp.350-360
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• 2020

The purpose of this study was to identify and prioritize the key indicators and drivers of forest thinning. The research for this study was designed in two-phases: 1) sequential, exploratory, mixed methods research that was initiated with a qualitative phase (Delphi technique), and 2) the quantitative phase (Analytic Hierarchy Process technique). Results indicated that management and planning were the most important factors in the first level of criteria among the "management and planning," "directing and monitoring," "supervision," and "quality of thinning work." On the sub-criteria level, "the quality of forest management planning" was indicated as the most important factor among the ten sub-criteria. Our results have shown that the developed forest thinning evaluation factors were a well-represented characteristic for a variety of forest thinning work in Korea.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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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.

• Proceedings of the KSME Conference
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• 2003.04a
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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.

• Korean Journal of Medicinal Crop Science
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• v.23 no.3
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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.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.12
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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.

• Proceedings of the KIEE Conference
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• 2006.10c
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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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• 1996.10b
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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.