• Journal of Ocean Engineering and Technology
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• v.28 no.2
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• pp.152-159
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• 2014

KRISO(Korea Research Institute of Ships & Ocean Engineering) designed and manufactured a pilot mining robot called "MineRo" in 2012. MineRo is composed of four track modules. In general, much time and money are needed for deep-sea tests. Therefore, a numerical analysis to predict the dynamic behaviors has to be performed before a deep-sea test. In the numerical analysis, the information about the mining robot and soil properties are the most important factors to analyze the driving performance and dynamic response of MineRo. A terra-mechanics model of extremely cohesive soft soil is implemented in the form of the relationships between the normal pressure and sinkage, and between the shear stress and shear displacement. It is possible to acquire information about MineRo from the CAD model in the design phase. The Wong model is applied to the terra-mechanics model. This model is necessary to acquire many soil coefficients for a numerical analysis. However, in soil testing, the amount of soil property data obtained is limited. Moreover, it is difficult to analyze all of the cases for the many soil coefficients. In this paper, the dynamic behaviors of MineRo are analyzed according to the driving velocity, steering ratio, and variable extremely cohesive soft soil properties using a table of orthogonal arrays. The dynamic responses of MineRo are the turning radius, sinkage, and slip ratio. The relationships between the dynamic responses and variable soil properties are derived for MineRo.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.8C
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• pp.721-730
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• 2012

In this paper the problem of a moving control of an automatic guided vehicle(AGV) which transports a dead body to a designated cinerator safely in a crematorium, an special indoor environment, will be discussed. Since a method of burying guided lines in the floor is not proper to such an environment, a method of moving control of an AGV based on infrared ray sensors is now proposed. With this approach, the AGV emits infrared ray to the landmarks adheres to the ceiling to find a moving direction and then moves that direction by recognizing them. One of the typical problems for this method is that dead zone and/or overlapping zone may exist when the landmarks are deployed. To resolve this problem, an algorithm of recognizing double landmarks at each time is applied to minimize occurrences of sensing error. In addition, at the turning area to entering the designated cinerator, to fit an AGV with the entrance of the designated cinerator, an algorithm of controlling the velocity of both the inner and outer wheel of it. The functional correctness of our proposed algorithm has been verified by using a prototype vehicle. Our real AGV system has been applied to a crematorium and it moves automatically within an allowable range of location error.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.43 no.9 s.351
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• pp.6-13
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• 2006

In this paper, we studied vehicle to vehicle (VTV) communication system using DSRC of 5.8 GHz bands. Nowadays, in the road traffic system is going intelligent and advancing, communication between driving vehicle is very important technology for ITS. We can contrive smoothness and safety traffic flowing by exchanging information about velocity, location, braking and driving condition of nearby vehicles. Therefore, we developed and verified the system which required for the communication among vehicles using DSRC technology of 5.8 GHz band hasa 1 Mbps data rate in the high mobility condition. For this, we developed DSRC modem, data link layer and logic link layer to make it possible that communication between vehicles of perfectly operation, and developed application service program for VTV communication. We performed to communication test in the general road and ascent road. In case of the general mad, obtained VTV communication results are more than number of 17 with in 300 m LOS coverage, and total communication time are $2.34{\sim]18.7$ msec that considered maximum 8-transaction. We blow that obtained results can be used VTV communication or the in areas form the feasibility road test as a function or various conditions. In the future, this system is very useful of advanced safety vehicle (ASV) and super smart vehicle system (SSVS) and so on.

• Journal of the Korean Association of Geographic Information Studies
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• v.11 no.2
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• pp.85-92
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• 2008

This study, the one concerning the evaluation analysis of the function of the wind generation using KLAM_21, has examined closely how the wind really flows on the space of the city, working with the object of case location. In the first place, the cold air formed at upper stream of Sincheon river, a ravine of whole area of Gachang gully and an inclined plane of neighboring mountainous district, flows to the north and expands itself along the upper stream of the Sincheon river, and as the time passes, it is tending upwards in the change of the volume and height as well as of the velocity and direction, of the cold air. It was learned that this phenomenon has made it clear that the spatial features of this area give rise to very good condition in generating and flowing the cold air. Meanwhile, it has been shown that in the area of park in the Ap-mountain, the generation and flow of the cold air are much interrupted because of the overpass traversing the whole area of the park of Ap-mountain, the congested area of large-scaled apartments and the urban development activities constructing the building in the park, and the volume and height of the cold air has been grown very small. In conclusion, It has been learned that for maximization of the spatial effect of the wind corridor, the areas where the cold air is generated, flowed, accumulated, and maintained, have to be connected spatially, and this spatial connection has a close relation with spatial features of the area.

• Science of Emotion and Sensibility
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• v.10 no.4
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• pp.539-554
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• 2007

Pilots of large airplanes have to land their airplanes with insufficient visual information because of high approach speed, high vertical velocity and high location or altitude of the cockpits from the runway intending to touch down. This study verifies that, due to the insufficient information, large airplane pilots can't exactly perceive height of their airplanes during the flare. Study 1 explored whether it's possible for the pilots to accurately perceive height with the static visual cues only. We showed them pictures of the runway taken from the pilot's pionts of view and asked them to assess the height of the airplanes. They determined exact height of the airplanes at the height of 85 feet, but they could not, at lower than 55 feet which is the flare preparation altitude. Study 2 explored whether it's possible for the pilots to accurately perceive height when dynamic cues were added to the static visual cues. We showed them videos of the runway taken from the pilot's pionts of view. With more cues they determined exact height of the airplanes at the height of 50 feet, but they could not, at the altitude of lower than 30 feet which is the flare altitude. As experience is believed to be a major factor which affects interpretation of the visual cues, we compared the accuracy of the assessment of the experienced captions and that of the in-experienced first officers. We found there was no significant difference between them.

• Korean Journal of Agricultural and Forest Meteorology
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• v.22 no.3
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• pp.117-127
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• 2020

The Early Warning System for agrometeorological hazard of the Rural Development Administration (Korea) forecasts detailed weather for each farm based on the meteorological information provided by the Korea Meteorological Administration, and estimates the growth of crops and predicts a meteorological hazard that can occur during the growing period by using the estimated detailed meteorological information. For verification of early warning system, automated weather observation network was constructed in the study area. Moreover, a real-time web display system was built to deliver near real-time weather data collected from the observation network. The meteorological observation system collected diverse meteorological variables including temperature, humidity, solar radiation, rainfall, soil moisture, sunshine duration, wind velocity, and wind direction. These elements were collected every minute and transmitted to the server every ten minutes. The data display system is composed of three phases: the first phase builds a database of meteorological data collected from the meteorological observation system every minute; the second phase statistically analyzes the collected meteorological data at ten-minutes, one-hour, or one-day time step; and the third phase displays the collected and analyzed meteorological data on the web. The meteorological data collected in the database can be inquired through the webpage for all data points or one data point in the unit of one minute, ten minutes, one hour, or one day. Moreover, the data can be downloaded in CSV format.

• Journal of Animal Environmental Science
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• v.17 no.2
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• pp.93-100
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• 2011

This study was conducted to verify the applicability of robot milking system through acquisition and analysis of model teat's position information using scanning range finder (SRF). Model teats, same size and shape as real teats, were designed to analyze the properties according to the material, distance error and angle error of the sensor. In addition, 2-dimensional distance information of each teats was obtained at same time with 4 teat models and the result were as follows. 1. In the case of the fingers on the experiment for selection of materials for teat model, the distance error was from 4.3 mm to 1.3 mm, average was 2.8 mm as a minimum record. In the case of rubber material, average distance error was 4.3 mm. So, this material was considered to be a most suitable model. 2. The distance error was maximum at 100 mm distance. The more distance increased, the less error increased up to 300 mm. Then the error increased after 300 mm and decreased again. 3. The maximum angle error of 10.1 mm was measured at $170^{\circ}$, in case of $70^{\circ}$ the error was 0.2 mm as a minimum value. There was no specific tendency to error of angle. 4. In the 2-dimensional location error for 4 teat models, distance error was 3.8 mm as minimum and 7.2 mm as maximum. The angle error was $1.2^{\circ}$ as maximum. All of errors were included within the accuracy of sensor, the robot milking system was considered to be applicable to measure the distance of teats due to the measuring velocity of SRF and the hole size of teat-cup.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.28 no.2
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• pp.247-254
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• 2010

In this paper, a new approach has been studied correcting the geometric distortion of SPOT 4 imagery. Two new equations were induced by the relationship between satellite and the Earth in the space. line-of-sight (LOS) vector adjustment model for SPOT 4 imagery was implemented in this study. This model is to adjust LOS vector under the assumption that the orbital information of satellite provided by receiving station is uncertain and this uncertainty makes a constant error over the image. This model is verified using SPOT 4 satellite image with high look angle and thirty five ground points, which include 10 GCPs(Ground Control Points) and 25 check points, measured by the GPS. In total thirty five points, the geometry of satellite image calculated by given satellite information(such as satellite position, velocity, attitude and look angles, etc) from SPOT 4 satellite image was distorted with a constant error. Through out the study, it was confirmed that the LOS vector adjustment model was able to be applied to SPOT4 satellite image. Using this model, RMSEs (Root Mean Square Errors) of twenty five check points taken by increasing the number of GCPs from two to ten were less than one pixel. As a result, LOS vector adjustment model could efficiently correct the geometry of SPOT4 images with only two GCPs. This method also is expected to get good results for the different satellite images that are similar to the geometry of SPOT images.

• Journal of Korean Society for Geospatial Information Science
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• v.12 no.4 s.31
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• pp.35-43
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• 2004

Multibeam Echosounder system is the latest technology of a hydrographic survey utilized in producing an electronic nautical chart, obtaining a DEM with high precision, making a moving image by Swath surveying a wide area. As a fundamental study for improving the precision of MBES, we compared and analyzed measurements of DGPS and Motion sensor, and studied for the dynamic characteristics of vessel's movements. DGPS was installed in front and in the rear and on both side or the vessel and surveyed. The receiving precision of surveyed GPS results was obtained to the satisfactory extent that was possible to valuate the accuracy of Motion sensor as 0.0016$^{\circ}$ of the roll value and 0.0009$^{\circ}$ of the pitch value. The relationship between the values of heading, pitch, and roll in Motion sensor and the data of DGPS was proportional correlation. In addition, it is considered that deviations by elements like rapid turning and vibration of the vessel will be occurred, although the correlation of each deviation according to each amount or change is proportional. It is suitable that GPS installs in the central line of the vessel that is less affected than other places by waving because the amount of change in the tide level obtained from GPS survey and the value of heave are similar with the values taken by Motion sensor, and the velocity of GPS is different from installed places. The accuracy of the final result from MBES could be affected by the values of gyro and Motion sensor inputted to MBES processor because there were intervals of 15s and 13s of receiving time in gyro and Motion sensor respectively compared with the real-time measurements of DGPS.

• Journal of Korean Society for Geospatial Information Science
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• v.19 no.3
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• pp.107-114
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• 2011

In this study, when interpreting leakage using the concept of geographical dispersion based on grid, to choose an appropriate spatial resolution, the statistical characteristics of drainage path length and the pattern of change of hydrodynamic parameters have been observed. Drainage path length has been calculated using an 8-direction algorithm from digital elevation model, from which the hydrodynamic parameters of the watershed were estimated. The scales of topographical map for this analysis are 1:5,000 and 1:25,000, appling grid sizes 5, 10, 15, 20 m and 20, 30, 50, 100, 150, 200 m, respectively. As results of this analysis, depending on the scale of stream networks, the statistical characteristics of drainage path length by spatial resolution and hydrodynamic parameters of the watershed have been changed. Based on the above results, when interpreting leakage using the concept of the geographical dispersion based on grid, in the case of 1:5,000 scale topographical map, a spatial resolution of 5 m will be better showing geographical and hydrodynamic characteristics to apply to the well developed stream network in basins, spatial resolution of 5~20 m to the less developed stream network in basins. And in the case of 1:25,000 scale topographical map, spatial resolution below 50 m is more desirable to show above two characteristics to apply to both cases.