• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.628-632
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• 2003

An intelligent miniature humanoid robot system is designed and implemented as a platform for researching walking algorithm. The robot system consists of a mechanical robot body, a control system, a sensor system, and a human interface system. The robot has 6 dofs per leg, 3 dofs per arm, and 2 dofs for a neck, so it has total of 20 dofs to have dexterous motion capability. For the control system, a supervisory controller runs on a remote host computer to plan high level robot actions based on the vision sensor data, a main controller implemented with a DSP chip generates walking trajectories for the robot to perform the commanded action, and an auxiliary controller implemented with an FPGA chip controls 20 actuators. The robot has three types of sensors. A two-axis acceleration sensor and eight force sensing resistors for acquiring information on walking status of the robot, and a color CCD camera for acquiring information on the surroundings. As an example of an intelligent robot action, some experiments on playing soccer are performed.

• Bulletin of the Korean Chemical Society
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• v.34 no.7
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• pp.1985-1989
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• 2013

A simple colorimetric and fluorescent anion sensor 1 based on salicylimine showed a high selectivity and sensitivity for detection of cyanide in aqueous solution. The receptor 1 showed high selectivity toward $CN^-$ ions in a 1:1 stoichiometric manner, which induces a fast color change from colorless to orange and a dramatic enhancement in fluorescence intensity selectively for cyanide anions over other anions. Such selectivity resulted from the nucleophilic addition of $CN^-$ to the carbon atom of an electron-deficient imine group. The sensitivity of the fluorescence-based assay (0.06 ${\mu}M$) is below the 1.9 ${\mu}M$ suggested by the World Health Organization (WHO) as the maximum allowable cyanide concentration in drinking water, capable of being a practical system for the monitoring of $CN^-$ concentrations in aqueous samples.

• Aerospace Engineering and Technology
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• v.6 no.1
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• pp.213-221
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• 2007

This paper showed how to analysis the object-based classification for wildfire fuel type map using Hyperion hyperspectral remote sensing data acquired in April, 2002 and compared the results of the object-based classification with the results of the pixel-based classification. Our methodological approach for wildfire fuel type map firstly processed correcting abnormal pixels and atypical bands and also calibrating atmospheric noise for enhanced image quality. Fuel type map is characterized by the results of the spectral mixture analysis(SMA). Object-based approach was based on segment-based endmember selection, while pixel-based method used standard SMA. To validate and compare, we used true-color high resolution orthoimagery.

• Ocean Science Journal
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• v.42 no.4
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• pp.199-209
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• 2007

Empirical band-ratio algorithms and artificial neural network techniques to retrieve sea surface chlorophyll concentrations were evaluated in the Bohai Sea of China by using an extensive field observation data set. Bohai Sea represents an example of optically complex case II waters with high concentrations of colored dissolved organic mattei (CDOM). The data set includes coincident measurements of radiometric quantities and chlorophyll a concentration (Chl), which were taken on 8 cruises between 2003 and 2005, The data covers a range of variability in Chl in surface waters from 0.3 to 6.5 mg $m^{-3}$. The comparison results showed that these empirical algorithms developed for case I and case II waters can not be applied directly to the Bohai Sea of china, because of significant biases. For example, the mean normalized bias (MNB) for OC4V4 product was 1.85 and the root mean square (RMS) error is 2.26.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.703-705
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• 2003

A comparison was made between the chlorophyll a and suspended solid (SS) retrievals from OSMI and SeaWiFS sensor to chlorophyll a and SS values determined with the standard method during the NFRDI's research cruises. The percentage of organic and inorganic materials from the SS was calculated to study the contribution of turbid water in the northern part of the East China Sea. The open sea waters in the Kuroshio regions of the East China Sea showed relatively higher concentration of volatile SS. However, towards the northwestern part of the East China Sea, the situation became much more optically different with the non-volatile SS from the Yangtze river and the sea bottom sources in the sea in winter and spring seasons. Furthermore, in order to indirectly detect low salinity water with high turbidity, which related to the Yangtze river using remote sensed data from the satellites, a comparison between the results of the band ratio(nLw 490nm/nLw 555nm) of SeaWiFS (OSMI) and the distribution of low salinity around the Jeju Island was presented.

• Proceedings of the KSRS Conference
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• 1999.11a
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• pp.331-336
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• 1999

The optical sensors of Electro-Optical Camera (EOC) and Ocean Scanning Multi-spectral Imager (OSMI) aboard the Korea Multi-Purpose SATellite (KOMPSAT) will be placed in a sun synchronous orbit in 1999. The EOC and OSMI sensors are expected to produce the land mapping imagery of Korean territory and the ocean color imagery of world oceans, respectively. Utilization of the EOC and OSMI data would encompass the various fields of science and technology such as land mapping, land use and development, flood monitoring, biological oceanography, fishery, and environmental monitoring. Readiness of data support for user community is thus essential to the success of the KOMPSAT program. As part of testing such readiness prior to the KOMPSAT launch, we have performed the preliminary acceptance test for the KOMPSAT data processing system using the simulated EOC and OSMI data sets. The purpose of this paper is to demonstrate the readiness of the KOMPSAT data processing system, and to help data users understand how the KOMPSAT EOC and OSMI data are processed and archived. Test results demonstrate that all requirements described in the data processing specification have been met, and that the image integrity is maintained for all products. It is however noted that since the product accuracy is limited by the simulated sensor data, any quantitative assessment of image products can not be made until actual KOMPSAT images will be acquired.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.645-648
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• 2005

The COMS(Communication, Ocean and Meteorological Satellite), a multi-mission geo-stationary satellite, is being developed by KARl. The first mission of the COMS is the meteorological image and data gathering for weather forecast by using a five channel meteorological imager. The second mission is the oceanographic image and data gathering for marine environment monitoring around Korean Peninsula by using an eight channel Geostationary Ocean Color Imager(GOCI). The third mission is newly developed Ka-Band communication payload certification test in space by providing communication service in Korean Peninsula and Manjurian area. There were many low Earth orbit satellites for ocean monitoring. However, there has never been any geostationary satellite for ocean monitoring. The COMS is going to be the first satellite for ocean monitoring mission on the geo-stationary orbit. The meteorological image and data obtained by the COMS will be distributed to end users in Asia-Pacific area and it will contribute to the improved weather forecast.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.445-449
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• 2005

Various methods to detect the phytoplankton/red tide blooms in the oceanic waters have been developed and tested on satellite ocean color imagery since the last two and half decades, but accurate detection of blooms with these methods remains challenging in optically complex turbid waters, mainly because of the eventual interference of absorbing and scattering properties of dissolved organic and particulate inorganic matters with these methods. The present study introduces a new method called Red tide Index (Rl), providing indices which behave as a good measure of detecting red tide algal blooms in high scattering and absorbing waters of the Korean South Sea and Yellow Sea. The effectiveness of this method in identifying and locating red tides is compared with the standard Ocean Chlorophyll 4 (OC4) bio-optical algorithm applied to SeaWiFS ocean imagery, acquired during two bloom episodes on 27 March 2002 and 28 September 2003. The result revealed that OC4 bio-optical algorithm falsely identifies red tide blooms in areas abundance in colored dissolved organic and particulate inorganic matter constituents associated with coastal areas, estuaries and river mouths, whereas red tide index provides improved capability of detecting, predicting and monitoring of these blooms in both clear and turbid waters.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.336-339
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• 2004

Communication, Ocean and Meteorological Satellite (COMS) has been developed by Korean Aerospace Research Institute (KARI) since 2003. Ocean Color Imager (OCI) is the one of COMS payloads, which will monitor the marine environment around Korean peninsula routinely with the intermediate resolution. But considering COMS is to be located in the geostationary orbit, required geographical coverage is not positioned in the nadir direction of COMS but in specific location with horizontal and vertical offsets from the nadir. In this study, coverage by OCI Field Of View (FOV) is analyzed. First of all, OCI is modeled as the sensor which is a $2,500{\times}2,500$ sized 2-D CCD and the pixel resolution is about 500m. And then, OCI is simulated to be controlled to target the required coverage accurately. As a result of it, coverage by OCI FOV is determined. Finally, all coverages by OCI FOV are mapped.

• Proceedings of the KSRS Conference
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• 2006.03a
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• pp.95-100
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• 2006

Measurements of ocean color from space since 1970s provided vital information with reference to physical and biogeochemical properties of the oceanic waters. The utility of these data has been explored in order to map and monitor highly toxic/or harmful algal blooms (HABs) that affected most of coastal waters throughout the world due to accelerated eutrophication from human activities and certain oceanic processes. However, the global atmospheric correction and bio-optical algorithms developed for oceanic waters were found to yield false information about the HABs in coastal waters. The present study aimed to evaluate the potential use of red tide index (RI) method, which has been developed by Ahn and Shanmugam (2005), for mapping of HABs in Korean and neighboring waters. Here we employed the SSMM to remove the atmospheric effect in the SeaWiFS image data and the achieved indices by RI method were found more appropriate in correctly identifying potential areas of the encountered HABs in Korean South Sea (KSS) and Chinese coastal waters during 1999-2004. But the existence of high absorbing and scattering materials greatly interfered with the standard OC4 algorithm which falsely identified red tides in these waters. In comparison with other methods, the RI approach for the early detection of HABs can provide state managers with accurate identification of the extent and location of these blooms as a management tool.