• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.438-444
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• 2004

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using the a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Since the equations are based or the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot. The Kalman filter scheme is applied for this method. its performance is verified by the computer simulation and the experiment.

• Journal of the Korean association of regional geographers
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• v.22 no.4
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• pp.887-911
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• 2016

The empirical law that transverse dunes migrate inversely with their heights leads logically to the prediction that multiple dune ridges will converse to a single huge dune by merging. This contradicts the existence of the steady state dune fields on the Earth. The recent studies have emphasized dune collisions as a key mechanism to the stability of dunefield. The roles of wind shadow aspect ratio, however, have yet to be fully explored. This research aims to investigate the potential roles of wind shadow aspect ratio in the dynamical behaviors of transverse dune field. The simplified model is established for this, based upon allometric properties of transverse dunes, wind speedup on the stoss slope and sand trapping efficiency. The derived governing equations can be transformed to the zoning criteria and vector field for dune evolution. The dynamics analysis indicates that wind shadow aspect ratios do not produce convergent areas on the behavior space; rather, they just act as one of the factors that affect the trajectories of dune evolution. Though the model cannot represent the stability of dune field, but seem to produce a reasonable exponent for dune spacing-height relations.

• Korean Journal of Heritage: History & Science
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• v.52 no.4
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• pp.206-225
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• 2019

This paper examines the trade and development aspects of glass mirrors through the literature records of the Joseon Dynasty, and studies the characteristics of existing glass mirror crafts by referring to the terms and types shown in the literature. The glass mirror in the records had called western mirrors(西洋鏡, 洋鏡), glass mirrors(玻璃鏡, 玻瓈鏡), stone mirrors(石鏡), etc. Glass mirrors were imported mainly through trade with Russia and the Qing Dynasty since the 17th century and were banned from importation in the late Joseon Dynasty. These mirrors were something new that caused a great stirring in Joseon society in the 18th century, and in the 19th century, it grew larger as a commodity needed for everyday life, especially with trade with Japan. At that time, glass mirrors were used for various purposes, such as installing large glass at a store, which were not the standard mirror usage of confirming one's appearance. These mirrors surprised Koreans in Joseon who experienced them at Yanjing Liulichang(燕京 琉璃廠) in the 18th and 19th centuries. As a result, the demand for glass mirrors rapidly increased and quickly surpassed that of bronze mirrors. Consequentially, new crafts using glass mirrors instead of bronze mirrors in Joseon began to be produced and used after the 18th century. In particular, integrated flat boards of glass mirrors were developed as crafts used indoors. It was convenient to use the hair comb box, a long-time presence in Joseon society, with the bronze mirror. This kind of mirror remained apparent in various genre paintings, including the Taepyeong Seongsido(太平城市圖, 'A Thriving City in a Peaceful Era') collected the National Museum of Korea which reflect its populism of the times. Also, the Mirror Stand(鏡臺) used in the Qing Period was produced in Joseon, but there was a difference in the way of making the drawers and box shapes between two nations. On the other hand, the Face Mirror(面鏡) was made to look at the face. Various crafts made with the aesthetic sense of Joseon, such as the ox horn inlaying craft technique, were produced with auspicious designs. In the 19th century, glass mirrors were imported from European countries, such as France, Denmark, the Netherlands, and the United Kingdom, however after the end of the 19th century Japanese crafts were popular. Glass mirrors, which were popular in the Meiji and Taisho eras of Japan, were imported and also the Mirror Screen(鏡屛) using large glass mirrors were used. In particular, the mirror screen had developed wood furniture since the previous time, which were used for banquets and large spaces, such as the drawing room, and were imported from China and Japan. In addition, the western architectural effect of attaching a mirror to the wall was also attempted to adjust the brightness of the space and introduce another image and scenery in the mirror. This was done at Deoksugung Palace's Seokjojeon.

• Korean Journal of Heritage: History & Science
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• v.56 no.1
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• pp.46-61
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• 2023

Various Buddhist metal artifacts were excavated from the Heungjeon-ri Temple site from 2014 to 2020, such as gilt-bronze openwork decorations, a bronze kundika, a lion incense burner with a handle and lion weight, and so on. The gilt-bronze openwork decoration founded from the main hall of the western area is believed to have been used for the decoration of the Buddhist temple, and it is considered to be the best example of the gilt-bronze openwork decorations of the unified Silla that have been discovered so far. The incense burner with a handle and lion weight excavated from Heungjeon-ri Temple site is the earliest example of the style. The bronze kundikas excavated at the Heungjeon-ri Temple site have a more developed style than those of Ingaksa Temple. The bronze bowl and bronze bowl with a lid are similar to those excavated from the Anapji, Hwangryongsa Temple site, and Inwangdong Temple site. So these bronze vessels seem to have spread from the capital city to the provinces. Bronze seals excavated from the Heungjeon-ri Temple site are similar to those of the Hwangnyongsa Temple site in form and font. So, it was considered that they were produced and sent by the royal palace. In addition, "梵雄官衙之印" on the seal can be said to show that Heungjeonri Temple site was related to the organization of the monks at the time. The Buddhist metal artifacts excavated from Heungjeon-ri Temple site are believed to have been used from the early to mid-9th century at the temple by the Seon Order monk who was the main character of the monument. It can be said to be an important example of how the royal palace of Unified Silla and local crafts had a two-way influence, not a one-way influence, from the first half to the middle of the 9th century.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1991.04a
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• pp.147-152
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• 1991

양단이 고정된 보가 변형할 때에는 중간 평면의 신장을 수반하게 된다. 운동 의 진폭이 증가함에 따라 이 신장이 보의 동적 응답에 미치는 영향은 심각 하게 된다. 이러한 현상은 응력과 변형도와의 관계가 선형적이라 하더라도 변형도와 변위와의 관계식은 비선형이 되며 결국은 보의 비선형 운동방정식 을 낳게된다. 보는 연속계이긴하지만 근사를 위하여 다자유도계로 간주할 수 있다. 비선형 다자유도계에 있어서는 선형화된 계의 고유진동수끼리 적절한 관계를 가질 때 내부공진이 발생할 수 있다. 양단이 고정된 곧은 보의 비선 형 동적응답이 그동안 많이 연구되어 오고 있으며, 집중질량을 가지고 직각 으로 굽은 보의 해석을 위하여 내부공진을 고려한 해석적 혹은 실험적 연구 가 이루어져 왔다. 그중에서도 Nayfeh등은 조화가진 하의 핀과 꺾쇠로 고정 된(hinged-clamped) 보의 정상상태응답을 해석하기 위해 두 모우드 사이의 내부공진을 고려하였다. 이 연구에서는 세 모우드 사이의 내부공진을 고려하 여 강제진행 중인 보의 비선형 해석을 다루고자 한다. 이 문제에 관심을 갖 게 된 동기는 "연속계의 비선형 해석에서 더 많은 모우드를 포함시키면 어 떤 결과를 낳게 될 것인가\ulcorner"라는 질문에서 생겨난 것이다. 갤러킨 법을 이용 하여 비선형 편미분 방정식과 경계 조건으로 표현되는 이 문제를 연립 비선 형 상미분 방정식으로 변환한다. 다중시간법(the method of multiple scales) 을 이용하여 이 상미분 방정식을 정상상태에서의 세 모우드의 진폭과 위상 에 대한 연립비선형 대수방정식으로 변환한다. 이 대수방정식을 수치적으로 풀어서 정상상태 응답을 구하고 Nayfeh등의 결과와 비교한다. 결과와 비교한다. studies, the origin of ${\alpha}$$_1$peak was attributed to the detrapping process form trap with 2.88[eV] deep of injected space charge from the chathode in the crystaline regions. The origin of ${\alpha}$$_2$ peak was regarded as the detrapping process of ions trapped with 0.9[eV] deep originated from impurity-ion remained in the specimen during production process of the material, in the crystalline regions. The origin of ${\beta}$ peak was concluded to be due to the depolarization process of "C=0"dipole with the activation energy of 0.75[eV] in the amorphous regions. The origin of ${\gamma}$ peak was responsible to the process combined with the depolarization of "CH$_3$", chain segment, with the activation energy of carriers from the shallow trap with 0.4[eV], in he amorp

• Journal of Korean Society of Forest Science
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• v.111 no.4
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• pp.667-675
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• 2022

Agroforestry is an ecological and economic land-use system that enables sustainable agriculture by combining forestry, agriculture, and livestock industries. North Korea chose agroforestry as a strategy for the restoration of sloping land and deforested land. Agroforestry was proposed for the inter-Korean forest cooperation subcommittee meeting and is currently highlighting carbon removal and promoting the '2050 Carbon Neutral Strategy' and 'Korea Peninsula Green Détente.' The study area, Suan-gun, Hwanghaebuk-do, is a constant deforestation monitoring area and a pilot site for management by the International Center for Research in Agroforestry. The requirements for agroforestry were analyzed through literature analysis. The agroforestry site-suitability map was visualized by applying GIS overlap analysis. Approximately 8,839 ha of sloping area was selected as suitable for agroforestry management, which is about 15% of Suan. We compared the map with Google Earth images and visually detected the land use status, such as agroforestry in Suan, to verify the results. As a future study, we will consider both natural-environment and socioeconomic factors and evaluate the relative importance of the factors to produce a high-accuracy agroforestry sitesuitability map at the national scale with the goal of producing basic data for the inter-Korea forest cooperation policy for long-term goals.

• Sim-seong Yeon-gu
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• v.30 no.1
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• pp.1-30
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• 2015

The Red Book contains C.G. Jung's insightful comment on life suggesting the thoughts of the Eastern philosophers, particularly that of Lao Zi. The author reviewed Jung's commentaries in the Red Book in comparison with Lao Zi Dao De Jing. Jung's comments on the image of despised Surpreme Being, on the Simplicity, the attitudes of 'the Spirit of the Depth' toward intellectual knowledges and speech, toward the small and the mockered one resemble to what Lao Zi spoke on Dao in his Dao De Jing. The 'good and evil' are regarded by both C.G. Jung and Lao Zi as two poles in one total psyche. The favorite words of Lao Zi : 'emptiness' or 'empty' are frequently mentioned in the Red Book. The investigation in this concern revealed that C.G. Jung, contrary to Lao Zi has applied the word 'emptiness' mostly as the opposite to the fullness. C.G. Jung's way of encountering with the darkest side of soul in the Hell and his bold confrontation to the authoritative person such as Philemon, above all, the intensity of his experiences in the state of the utmost tension between the opposites are extraordinarily impressive and somehow strange when regarded from traditional eastern way of behavior such as I-You relationship and the patterns of emotional life based on Confucian tradition. Confucius never talked about the prodigies, feasts of strength and disorders or spirits. Lao Zi never mentioned infernal cruelty. Noteworthy is however, both have enough experienced the cruelty of life and conflicts in the reality and what they spoke was not a process in search for solution but the final proposals for the solution of human agony. C.G. Jung was, like great shaman in central and East-Asia forced to go through inferno in his unique way and from these experiences obtained the insight which resembles not only to Lao Zi but also to wisdoms from the western philosophies and also from the Christianity.

• Journal of radiological science and technology
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• v.27 no.4
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• pp.11-16
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• 2004

Classification of esophageal motility disorders not yet finalized and is still ongoing as the new disorders are reported, and the existing classification is changed or removed. In terms of radiology, the primary peristalsis does not exist, and the lower end of the esophagus show the smooth, tapered, beak-like appearance. The esophageal motility disorder, which mostly occurs in the smooth muscle area, show the symptoms of reduction or loss (hypomotility) or abnormal increase (hypermotility) of peristalsis of the esophagus. It is important to understand the anatomy and physiology of the esophagus for the appropriate radiological method and diagnosis. Furthermore, the symptom of the patient and the manometry finding must be closely referred for the radiological diagnosis. The lower esophageal sphincter can be normally functioning and open completely as the food moves lower. Sperandio M et al. argues that the name diffuse esophageal spasm must be changed to distal esophageal spasm (DES) as most of the spasm occurs in the distal esophagus, composed of the smooth muscle. According to Ott et al., usefulness of barium method for diagnosing the esophageal motility disorder is Achalasia 95%, DES 71% and NEMD 46%, with the overall sensitivity of 56%. However, excluding the nutcracker esophagus or nonspecific disorder which cannot be diagnosed with the radiological methods, the sensitivity increases to 89%. Using videofluoroscopy and 5 time swallows, the average sensitivity was over 90%. In conclusion, the barium method is a simple primary testing method for esophageal motility test. Using not only the image but also the videofluoroscopy with good knowledge of the anatomy and physiology, it is believed that the method will yield the accurate diagnosis.

• Journal of Korean Society of Environmental Engineers
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• v.32 no.2
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• pp.193-200
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• 2010

This study evaluated treatability of soluble Mn(II) using multifunctional sand media simultaneously coated with iron and manganese. In the preparation of IMCS(Iron and Manganese Coated Sand), 0.05 M Mn(II) solution and Fe(III) solution was mixed with sand at pH 7. The mineral type of IMCS was identified as the mixture of ${\gamma}-MnO_2$, goethite and magnetite($F_{e3}O_4$). The contents of Mn and Fe coated onto sand were 826 and 1676 mg/kg, respectively. The $pH_{pzc}$ of IMCS was measured as 6.40. The removal of soluble Mn(II) using IMCS and oxidants such as NaOCl and $KMnO_4$ was investigated with variation of the solution pH, reaction time and Mn(II) concentration in a batch test. The removal of Mn(II) on IMCS was 34% at pH 7.4 and the removals of Mn(II) on IMCS in the presence of NaOCl(13.6 mg/L) at pH 7 and $KMnO_4$(4.8 mg/L) at pH 7.6 were 96% and 89%, respectively. The removal of Mn(II) using IMCS and oxidants followed a typical cationic type, showing a gradual increase of removal as the solution pH increased. The removal of Mn(II) was rapid in the first 6 hrs and then a constant removal was observed. The maximum removed amount of Mn(II) on IMCS-alone and IMCS in the presence of oxidants such as NaOCl(13.6 mg/L) and $KMnO_4$(4.8mg/L) were 833.3, 1428.6 and 1666.7 mg/kg, respectively. Mn(II) removal onto the IMCS in the presence of oxidants was well described by second-order reaction and Langmuir isotherm expression.

• Korean Journal of Clinical Laboratory Science
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• v.48 no.3
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• pp.255-261
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• 2016

The purpose of this study was to investigate the relationship between excessive daytime sleepiness (EDS) and blood pressure (BP) in patients with obstructive sleep apnea-hypopnea (OSAH). Patients were classified into four groups based on their severity of polysomnographic data: the snoring group (n=108)-characterized by Apnea-Hypopnea Index (AHI<5); the mild OSA group (n=186)-AHI $5{\leq}AHI$<15; the moderate OSA group (n=179)- AHI $15{\leq}AHI$<30; and the severe OSA group (n=233)-$AHI{\geq}30$. On the same night of polysomnography (PSG), BP levels were measured before sleeping (bedtime BP) and immediately after waking up on the following morning (morning BP). EDS was recognized as ESS (epworth sleepiness scale)${\geq}9$. The differences and correlations between BP and PSG parameters in the EDS and non-EDS groups of OSAH patients were analyzed. MAP was positively correlated with BMI, AHI, and total arousal (r=0.099, r=0.142, r=0.135, p<0.01, p<0.01, p<0.01), while negatively correlated with mean $SaO_2$ (r=-0.258, p<0.01). The EDS group had overall younger population ($47.2{\pm}11.3$ vs $50.3{\pm}11.4$, p=0.023), higher DBP (both bedtime and morning, $83.1{\pm}9.7$ vs $81.4{\pm}8.8$ and $86.4{\pm}9.2$ vs $83.6{\pm}9.7$)(p=0.031, p=0.047), and higher SBP (both bedtime and morning, $126.7{\pm}11.2$ vs $123.4{\pm}12.4$, $128.9{\pm}12.4$ vs $125.3{\pm}12.9$)(p=0.021, p=0.021) than compared with the non-EDS group. In hypertensive OSAH patients, patients with EDS were also younger and had higher total arousal number, as well as higher morning and bedtime DBP and SBP than compared with the non-EDS group (p<0.005, p=0.008, p<0.001 and p<0.001). EDS in OSAHS patients is a special phenotype characterized by younger age, higher DBP, more severe desaturation, and hypertension.