• Korean Journal of Soil Science and Fertilizer
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• v.44 no.6
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• pp.1258-1263
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• 2011

This study was conducted to reclassify Asan series based on the second edition of Soil Taxonomy and to discuss the formation of Asan series distributed on the rolling to hilly areas. Morphological properties of typifying pedon of Asan series were investigated and physico-chemical properties were analyzed according to Soil survey laboratory methods manual. The typifying pedon of Asan series has dark yellowish brown (10YR 4/4) gravelly loam Ap horizon (0-18 cm), strong brown (7.5YR 5/6) gravelly clay loam BA horizon (18-30 cm), red (2.5YR 4/6) gravelly clay loam Bt1 horizon (30-52 cm), red (2.5YR 4/8) gravelly clay loam Bt2 horizon (52-98 cm), and red (2.5YR 4/8) gravelly clay loam C horizon (98-160 cm). The typifying pedon has an argillic horizon from a depth of 30 to 98 cm and a base saturation (sum of cations) of less than 35% at 125 cm below the upper boundary of the argillic horizon. It can be classified as Ultisol, not as Inceptisol. It has udic soil moisture regime, and can be classified as Udult. Also that meets the requirements of Typic Hapludults. It has 18-35% clay at the particle-size control section, and has mesic soil temperature regime. Therefore Asan series can be classified as fine loamy, mesic family of Typic Hapludults, not as fine loamy, mesic family of Typic Dystrudepts. Asan series occur on rolling to hilly areas in residual materials derived from granite gneiss, schist, and gneiss rocks. They are developed as Ultisols with clay mineral weathering, translocation of clays to accumulate in an argillic horizon, and leaching of base-forming cations from the profile for relatively long periods under humid and temperate climates in Korea.

• Korean Journal of Soil Science and Fertilizer
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• v.44 no.6
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• pp.1272-1278
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• 2011

This study was conducted to reclassify Cheongweon series based on the second edition of Soil Taxonomy and to discuss the formation of Cheongweon series distributed on broad continental alluvial plains. Morphological properties of typifying pedon of Cheongweon series were investigated and physico-chemical properties were analyzed according to Soil survey laboratory methods manual. The typifying pedon of Cheongweon series has dark grayish brown (2.5Y 4/2) silt loam Ap horizon (0~18 cm), dark grayish brown (2.5Y 4/2) silt loam BA horizon (18~30 cm), dark yellowish brown (10YR 4/6) silty clay loam Bt1 horizon (30~60 cm), strong brown (7.5YR 4/6) silty clay loam Bt2 horizon (60~91 cm), brown (10YR 4/4) silt loam BC horizon (91~104 cm), and mottled (7.5YR 4/6, and 7.5YR 5/2) silt loam C horizon (104~160 cm). The typifying pedon has an argillic horizon from a depth of 30 to 91 cm and a base saturation (sum of cations) of 35% or more at 125 cm below the upper boundary of the argillic horizon. It can be classified as Alfisol, not as Incceptisol. It has udic soil moisture regime, and can be classified as Udalf. Also that meets the requirements of Hapluadalf. It has anthraquic condition, and keys out as Anthraquic Hapludalf. That has fine silty textural family, and has mesic soil temperature regime. Therefore Cheongweon series can be classified as fine silty, mixed, mesic family of Anthraquic Hapludalfs, not as fine silty, mixed, mesic family of Fluvaquentic Epiaquepts.

• Korean Journal of Soil Science and Fertilizer
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• v.43 no.2
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• pp.230-236
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• 2010

Jeju Island is a volanic island which is located about 96 km south of Korean Peninsula. Volcanic ejecta, and volcaniclastic materials are widespread as soil parent materials throughout the island. Soils on the island have the characteristics of typical volcanic ash soils. This study was conducted to reclassify Jeju series based on the second edition of Soil Taxonomy and to discuss the formation of Jeju series in Jeju Island. Morphological properties of typifying pedon of Jeju series were investigated, and physico-chemical properties were analyzed according to Soil survey laboratory methods manual. The typifying pedon has dark brown (10YR 3/3) silt clay loam A horizon (0~22 cm), strong brown (7.5YR 4/6) silty clay BAt horizon (22~43 cm), brown (7.5YR 4/4) silty clay Bt1 horizon (43~80 cm), brown (7.5YR 4/6) silty clay loamBt2 horizon (80~105 cm), and brown (10YR 5/4) silty clay loam Bt3 horizon (105~150 cm). It is developed in elevated lava plain, and are derived from basalt, and pyroclastic materials. The typifying pedon contains 1.3~2.1% oxalate extractable (Al + 1/2 Fe), less than 85%phosphate retention, and higher bulk density than 0.90 Mg $m^{-3}$. That can not be classified as Andisol. But it has an argillic horizon from a depth of 22 to 150 cm, and a base saturation (sum of cations) of less than 35% at 125 cm below the upper boundary of the argillic horizon. That can be classified as Ultisol, not as Andisol. Its has 0.9% or more organic carbon in the upper 15 cm of the argillic horizon, and can be classified as Humult. It dose not have fragipan, kandic horizon, sombric horizon, plinthite, etc. in the given depths, and key out as Haplohumult. A hoizon (0~22 cm) has a fine-earth fraction with both a bulk density of 1.0 Mg $cm^{-3}$ or less, and Al plus 1/2 Fe percentages (by ammonium oxalate) totaling more than 1.0. Thus, it keys out as Andic Haplohumult. It has 35% or more clay at the particle-size control section, and has thermic soil temperature regime. Jeju series can be classified as fine, mixed, themic family of Andic Haplohumults, not as ashy, thermic family of Typic Hapludands. In the western, and northern coastal areas which have a relatively dry climate in Jeju Island, non Andisols are widely distributed. Mean annual precipitation increase 110 mm, and mean annual temperature decrease $0.8^{\circ}C$ with increasing elevation of 100m. In the western, and northern mid-mountaineous areas Andisols, and non Andisols are distributed simultaneously. Jeju series distributed mainly in the western and northern mid-mountaineous areas are developed as Ultisols with Andic subgroup.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1901-1904
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• 2003

MPC or model predictive control is representative of control methods which are able to handle physical constraints. Closed-loop stability can therefore be ensured only locally in the presence of constraints of this type. However, if the system is neutrally stable, and if the constraints are imposed only on the input, global aymptotic stability can be obtained; until recently, use of infinite horizons was thought to be inevitable in this case. A globally stabilizing finite-horizon MPC has lately been suggested for neutrally stable continuous-time systems using a non-quadratic terminal cost which consists of cubic as well as quadratic functions of the state. The idea originates from the so-called small gain control, where the global stability is proven using a non-quadratic Lyapunov function. The newly developed finite-horizon MPC employs the same form of Lyapunov function as the terminal cost, thereby leading to global asymptotic stability. A discrete-time version of this finite-horizon MPC is presented here. The proposed MPC algorithm is also coded using an SQP (Sequential Quadratic Programming) algorithm, and simulation results are given to show the effectiveness of the method.

• Journal of Electrical Engineering and Technology
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• v.12 no.1
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• pp.378-384
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• 2017

In this paper, an efficient short-time Fourier analysis method for the quasi-periodic signals is proposed via an optimal fixed-lag finite impulse response (FIR) smoother approach using a receding horizon scheme. In order to deal with time-varying Fourier coefficients (FCs) of quasi-periodic signals, a state space model including FCs as state variables is augmented with the variants of FCs. Through an optimal fixed-lag FIR smoother, FCs and their increments are estimated simultaneously and combined to produce final estimates. A lag size of the optimal fixed-lag FIR smoother is chosen to minimize the estimation error. Since the proposed estimation scheme carries out the correction process with the estimated variants of FCs, it is highly probable that the smaller estimation error is achieved compared with existing approaches not making use of such a process. It is shown through numerical simulation that the proposed scheme has better tracking ability for estimating time-varying FCs compared with existing ones.

• Advances in robotics research
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• v.2 no.2
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• pp.161-182
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• 2018

This paper proposes a novel receding horizon control (RHC) algorithm for formation control of a swarm of unmanned surface vehicles (USVs) using particle swarm optimization (PSO). The proposed control algorithm provides the coordinated path tracking of multi-agent USVs while preventing collisions and considering external disturbances such as ocean currents. A three degrees-of-freedom kinematic model of the USV is used for the RHC with guaranteed stability and convergence by incorporating a sequential Monte Carlo (SMC)-based particle initialization. An ocean current model-based estimator is designed to compensate for the effect of ocean currents on the USVs. This method is compared with the PSO-based RHC algorithms to demonstrate the performance of the formation control and the collision avoidance in the presence of ocean currents through numerical simulations.

• Korean Journal of Soil Science and Fertilizer
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• v.42 no.3
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• pp.160-166
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• 2009

We estimated site productivity for unstocked land based on the relationship between site index (i.e., average height of dominant trees at fixed age) and soil physico-chemical properties of Pinus densiflora stands. Site index relates to a direct method of determining a tree's response to a specific environment such as forest soil and climate conditions. We selected 78 sites in 22 P. densiflora stands of central temperate forest zone, and sampled soils for physicochemical analyzing. And 13 properties of soils were statistically treated by stepwise regression. In the degree of contribution of the variables to site index, the highly effective variables in A horizon were OM, clay content, sand content, available $P_2O_5$, and Exch. $Ca^{{+}{+}}$ inorder, and in B horizon T.N., O.M., Soil pH, cation exchange capacity(C.E.C.), and sand content in order. In both A and B horizon of the soil for P. densiflora stands, the variables commonly contributed to the site index were sand content and OM. These results may be useful to provide not only important criteria for establishment of Pinus densiflora stand sespecially in unstocked land but also aguidance for reforestation.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.174-185
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• 2006

This paper describes a DR construction for land navigation and the sigma point based receding horizon Kalman FIR (SPRHKF) filter for DR/GPS hybrid navigation system. A simple DR construction is adopted to improve the performance both of the pure DR navigation and the DR/GSP hybrid navigation system. In order to overcome the flaws of the EKF, the SPKF is merged with the receding horizon strategy. This filter has several advantages over the EKF, the SPKF, and the RHKF filter. The advantages include the robustness to the system model uncertainty, the initial estimation error, temporary unknown bias, and etc. The computational burden is reduced. Especially, the proposed filter works well even in the case of exiting the unmodeled random walk of the inertial sensors, which can be occurred in the MEMS inertial sensors by temperature variation. Therefore, the SPRHKF filter can provide the navigation information with good quality in the DR/GPS hybrid navigation system for land navigation seamlessly.

• Geophysics and Geophysical Exploration
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• v.6 no.1
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• pp.35-39
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• 2003

A software to visualize and analyse 3-D seismic data is developed using OpenGL, one of the most popular 3-D graphic library, under the PC and Windows platform. The software can visualize the data as volume and slices, whose color distribution is specified by a special dialog box that can pick a color in RGB or HSV format. The dialog box can also designate opacity values so that several 3-D objects can be displayed superimposed each other. Horizon picking is implemented very easily with this software thanks to the guided picking method. The picked points from a horizon will compose a set of points, mesh, and a surface, which can be viewed and analysed in three dimensions.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.659-664
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• 2000

Fuel-consumption and catalyst-out emissions of a parallel hybrid electric vehicle are affected by operating region of an engine. In many researches, It is generally known that it is profitable in fuel- consumption to operate engine in OOL(Optimal Operating Line). We established the mathematical model of a parallel hybrid electric vehicle, which is linear time-invariant. To operate an engine in OOL, we applied RHC(Receding Horizon Control) to the driving control of a parallel hybrid electric vehicle. And it is known that the RHC has advantages such as good tracking performance under state and control constraints. This RHC is obtained by using linear matrix inequality (LMI) optimization. In this paper, there are three main topics. First, without state and control constraints, the optimal tracking of OOL was simulated. Second, with state and control constraints by engine and motor performances, the optimal tracking of OOL was simulated. In the last, we studied on the optimal gear ratio. That is to say, we combined the RHC and the iterative simulation to extract the optimal gear ratio. In this simulation, the vehicle is commanded to track the reference vehicle trajectory and the engine is operated in the optimal operating region which is made by the state constraints.