• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.38.4-38
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• 2002

We propose a fast map-matching algorithm based on the length and the slope for the sequence of lines extracted from a laser range finder and a map. After finding two feature set from laser data and a map, the position and heading of the mobile robot can be determined exactly.

• Journal of The Korean Society of Grassland and Forage Science
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• v.42 no.4
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• pp.237-242
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• 2022

'Jogreen' (Secale cereal L.) was developed for rye cultivars not fast heading but winter hardiness with high yields, which was open-pollinated by ten rye cultivars including 'Chochun' in 1995. Its average heading date was April 15, which was five days earlier on average compared with 'Gogu'. At harvest, the plant height of 'Jogreen' was 117 cm which was taller than 'Gogu' as much as 6 cm. The number of stems was 983 per m², which was higher than that of Gogu (979). 'Jogreen' did not show both winter kill and powdery mildew, but showed lodging as 3 which is similar to 'Gogu'. The biomass in the dry weight base was 8.1 MT ha^-1, and showing was 4% higher than 'Gogu'. The crude protein content of 'Jogreen' was 11.9%, 0.8% lower than that of 'Gogu', and the acid detergent fiber (ADF) and the neutral detergent fiber (NDF) contents were 36.9% and 64.5%, respectively, higher than that of 'Gogu'. The total digestible nutrients (TDN) content also was low, but the TDN content was 5.09 ton ha^-1, which was higher than that of 'Gogu'. The seed productivity of 'Jogreen' was approximately 3.1 ton ha^-1, which was similar to the check. 'Jogreen' was found to be resistant to winter kill and can be adapted to after-paddy-rice cultivation in all Korean provinces. 'Jogreen' is likely to lodge, therefore, farmers should follow the recommended seeding rate and fertilization rate.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.105-110
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• 1999

This paper presents a local obstacle avoidance method for indoor mobile robots using Lane method and velocity Space Command approach. The method locates local obstacles using the information form multi-sensors, such that ultrasonic sensor array and laser scanning sensor. The method uses lane method to determine optimum collision-free heading direction of a robot. Also, it deals with the robot motion dynamics problem to reduce some vibration and guarantee fast movement as well. It yields translational and rotational velocities required to avoid the detected obstacles and to keep the robot heading direction toward goal location as close as possible. For experimental verification of the method, a mobile robot driven by two AC servo motors, equipped with 24 ultrasonic sensor array and laser scanning sensor navigates using the method through a corridor cluttered with obstacle.

• Journal of the Korean Society for Library and Information Science
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• v.49 no.4
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• pp.179-201
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• 2015

The subject heading is an elaborate access tool for subject browsing and searching in information retrieval environment. The purpose of this study is to suggest the applicable facets to subject headings in Korea. First, the concepts of subject and the definitions of facets were investigated in the literature review. Second, six cases including OCLC's FAST, PRECIS, "Thesaurus construction and use", CC $7^{th}$ edition, BC $2^{nd}$ Edition, and UDC $3^{rd}$ Edition were analyzed to focus on configuration of facets as case studies. Based on the results, twenty-two facets were proposed including Topical, Event, Geography, Chronology, Personal and Corporate Name, Title, Form, Genre, Language, and Person facets as 11 top facets. Also, Topical-Thing/Entity and Topical-Action/Status, Part, Kind, Property, Whole, Material, Patient, Product, By-Product and Agent facets as sub-facets of Topical facet.

• Korean Journal of Breeding Science
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• v.40 no.3
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• pp.291-294
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• 2008

Amylogram properties such as peak viscosity, hot viscosity, cool viscosity, breakdown, pasting consistency and setback were investigated by the Rapid Visco Analyzer and interpreted by the relationship among amylogram properties according to the varietal groups classified by the rapidity of grain filling (RGF) which was calculated by the percentage of grain weight at 15 days after heading to 40 days after heading. The 164 rice recombinant inbred lines from the cross of Milyang23 and Gihobyeo were used to get the basic information regarding the amylogram properties. The used recombinant inbred lines could be grouped into 4 varietal groups such as slow maturing (less than 40% of RGF), mid-slow maturing (41-60% of RGF),mid-fast maturing (61-80% of RGF), and fast maturing (more than 81% of RGF) groups based on the RGF. The peak viscosity and setback showed regular tendency according to the varietal groups classified by the RGF. Positive significant correlations were found between pasting consistency and setback, however negative significant correlations were found between breakdown and setback in all varietal groups.

• Korean Journal of Environmental Agriculture
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• v.13 no.3
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• pp.251-261
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• 1994

This study was conducted to get some basic information about rice plant development rate and heading ecology in various climatic conditions, growing nine varieties at three locations, Jinbu as the mountainous cool area, Suweon and Iri as the plain area for two years from 1987 to 1988. Average daily air temperature and day length from transplanting to heading date were analyzed in relation to the heading. Heading date and development rate of each variety were estimated by the Symplex method and the fitness of the model was evaluated. The results obtained as follows: Average daily air temperatures among varieties during the period from transplanting to heading ranged from 18 to $19^{\circ}C$ in Jinbu, from 22.5 to $23.5^{\circ}C$ in Suweon, and from 23.5 to $24.5^{\circ}C$ in Iri, the late-maturing varieties requiring the higher temperatures. The average heading days were about 20 days longer in Jinbu and $3{\sim}5$ days shorter in Iri than those in Suweon in all varieties. Little differences in accumulated temperature from transplanting to heading were observed in regions and years, and also among varieties. Developmental stages could be expressed as the accumulation of daily development rate and the predicted heading dates by the Symplex method were similar to the observed ones. The development rate of each variety varies with air temperatures. The early maturing Japonica types including the Unbong variety were fast in development rate at lower temperatures, but the late-maturing varieties of the Japonica type were late. A model to predict the heading dates of rice varieties by the Symplex method using air temperatures and day lengths was feasible.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.164-170
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• 2013

Quadrotor UAV (Unmanned Aerial Vehicle) is a flying robotic platform which has drawn lots of attention in the recent years. The attraction comes from the fact that it is able to perform agile VTOL (Vertical Take-Off Landing) and hovering functions. In addition, the efficient modular structure composed of four electric rotors makes its design easier compared to other single-rotor type helicopters. In many cases, a quadrotor often utilizes vision systems in order to obtain altitude control and navigation solution in hostile environments where GPS receivers are not working or deniable. For carrying out their successful missions, it is essential for flight control systems to have fast and stable control responses of heading angle outputs. This paper presents a Fuzzy Logic based lateral PI controller to stabilize and control the quadrotor vehicle equipped with vision systems. The advantage of using the fuzzy based PI controller lies in the fact that it could acquire a desired output response of a heading angle even in presence of disturbances and uncertainties. The performance comparison of the newly proposed Fuzzy-PI controller and the conventional PI controller was carried out with various simulation results.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.36 no.1
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• pp.12-16
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• 1991

So as to compare the differences of major agronomic traits according to fall plant types, two cultivars and eight lines which were derived from the same pedigree, were planted and analyzed. The heading and mature times, and culum length of erect plant types were earlier or longer, but the spike number per ㎡ and yield were smaller than the those of prostrate types. Also, 1000 grain weith, assortment rate and light penetration rate in erect types were greater than in prostrate types. The heading time was positively correlated with mature time and yield, but negatively correlated with culum length, 1000 grain weight, assortment rate and light penetration rate. Yield was negatively correlated with light penetration rate. If the lines with prostrate types in fall season, fast regrowth after wintering and rapid elongation of stem were bred and selected, it will be of great benefit in the area requiring sever winter hardiness.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.365-370
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• 2012

Most path planning algorithms for a marine robot in the ocean environment have been developed without considering the robot's heading angle. As a result, the robot has a difficulty in following the path correctly. In this paper, we propose a limit-cycle circle set that applies to the $Theta^*$ algorithm. The minimum turning radius of a marine robot is calculated using a limit-cycle circle set, and circles of this radius is used to generate a configuration space of an occupancy grid map. After applying $Theta^*$ to this configuration space, the limit-cycle circle set is also applied to the start and end nodes to find the appropriate path with specified heading angles. The benefit of this algorithm is its fast computation time compared to other 3-D ($x,y,{\theta}$) path planning algorithms, along with the fact that it can be applied to the 3-D kinematic state of the robot. We simulate the proposed algorithm and compare it with 3-D $A^*$ and 3-D $A^*$ with post smoothing algorithms.

• Journal of the Korean Society for information Management
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• v.31 no.1
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• pp.31-51
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• 2014

This study aims to suggest several improvement strategies for the access and retrieval system of National Library of Korea Subject Headings (NLKSH). For this purpose, first of all, the access and retrieval systems in five selected subject headings were examined. Second, focus group interviews and system analysis were conducted to reveal the current condition and suggest the future development strategies. Third, IFLA's Guidelines for Subject Access in National Bibliographies and FAST application cases were analyzed to suggest implications on the improvement strategies. Upon these analysis, recommendations for improving access and retrieval systems of the NLKSH were proposed in four areas as follows: functionalities, interfaces, queries, and other front-end features.