• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.8
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• pp.1365-1373
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• 2002

In this paper, we present two types of vision algorithm that mobile robot has CCD camera. for obstacle avoidance. This is simple algorithm that compare with grey level from input images. Also, The mobile robot depend on image processing and move command from PC host. we has been studied self controlled mobile robot system with CCD camera. This system consists of digital signal processor, step motor, RF module and CCD camera. we used wireless RF module for movable command transmitting between robot and host PC. This robot go straight until recognize obstacle from input image that preprocessed by edge detection, converting, thresholding. And it could avoid the obstacle when recognize obstacle by line histogram intensity. Host PC measurement wave from various line histogram each 20 pixel. This histogram is (x, y) value of pixel. For example, first line histogram intensity wave from (0, 0) to (0, 197) and last wave from (280, 0) to (2n, 197. So we find uniform wave region and nonuniform wave region. The period of uniform wave is obstacle region. we guess that algorithm is very useful about moving robot for obstacle avoidance.

• Journal of architectural history
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• v.8 no.3 s.20
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• pp.23-38
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• 1999

The purpose of this study is to analogize the appearance of Korean Ancient Architecture in view of the Stone Remains from 3 Kingdom Period to Unificated Shilla Period. But in these period, there is no building remains but some stupas and fine arts. Especially, there are many architectural appearance and revealing signature in these Historical Stone remains. Architectural elements which are analogized by stone remains what has value as historical materials by preservation of original form from 3 Kingdom Preiod to Unificated Shilla Period are as follows : 1) Platform, the representative characteristic of Korean traditional architecture, was frame structure and accumulate structure. And circular or square footing stood a same shape column on it is put on the platform. 2) In the case of column, there used entasis column and inclined column and circular chamfer technique was applied on the top side of it. Upper side of column, capital and head pentrating tie that small bearing block was put on the center of it was joined. And longitu야nal rest(長舌) supported a cross beam. Capital and small bearing block had no bottom heel, and heel side was curved and straight. Centered bracket structure was often used, and multi bracket structure is not used yet. Inward incline technique was used. 3) Inward opening pair door which had lintel, threshold, doorjamb was usually used, Fixing stone was used for structural safety, and circular handle and lock was used for decoration. Handrail was used on the edge of wooden floor for decorative effect and safety. 4) Square rafter and circular rafter were used in the same period and so did flying rafter. Double eaves and single eave were used in the same period but, single eave was usually used. In this period, square rafter was usually used. This would be studied more by comparing with Japanese wooden architecture. 5) Hipped roof was used and half-hipped roof was not used yet. In front of th hip, there are small sculpture called Jap-Sang(雜像), and windbell was hang on the end of the hip rafter. Concave roof tile, convex roof tile, round eaver tile, decorative tile at end of roof ridge were used. Lotus style was well used on the face of roof tile for decoration. From the results of this study, wooden architecture of Unificated Shilla period was simple compare to Koryo dynasty and Chosun dynasty but, it had some brilliant character. It was hard work that analogized the form of non-existent wood architecture of Ancient Korean period by restricted stone remains. But, in addition to the results of this study and research of old documentations, more study should be go on.

• Journal of Bio-Environment Control
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• v.26 no.3
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• pp.215-220
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• 2017

This study was conducted to improve the insufficiency of fruit vegetable grafting system developed by National Institute of Agricultural Sciences, Rural Development Administration. When the rotary blade cut the stem of scions and rootstocks, the grafting failure at curved cutting surfaces happened. The cutting depth of a tomato seedling by a rotated cutter was calculated 0.11 mm even when the cutting arm length and the maximum stem diameter were 50 mm and 5 mm, respectively. Mathematical analysis and high-speed photography showed that there was no problem by cutting in straight the stem of scions and rootstocks. The compression test of seedling stems to design the optimal shape of gripper showed that stems were not completely restored when they were compressed above 0.8 mm and 0.6 mm in case of rootstocks and scion, respectively. This study found that the bending angle of stem of tomato seedlings at the grafting period was 10 degree on average. The optimal gripper finger was the edge finger type which could be precisely set center point by adjusting the distance between fingers. In addition, it was found that most of seedling could be grasped without damage when the finger-to-finger distances is set to 2.5 mm for scion and 3.0 mm for rootstocks and finger are coated by 1 mm-thick flexible material.

• Journal of architectural history
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• v.1 no.1 s.1
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• pp.88-105
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• 1992

This dissertation aims to investigate the structure of Palsangjeon, a five story wooden pagoda in Pubjoo Temple which is the only wooden pagoda existing in Korea, by a comparative study of the Palsangjeon with Japanese counterparts. By doing so, the writer of the present investigation attempts to find out its structural originality. The main finding of this study are as follows. The upper part of Palsangjeon is constructed with square log frameworks called GuiTl and Sacheon-Ju around the central column. The four walls along Sacheon-Ju from the 1st level to the 3rd well resists the outside horizontal piressure. And Gui-Tl structure on the 5th level copes much better with shear force. So this frame consisting of Sacheon-Ju and log frameworks might be viewed an semi-core system, This core is supported once again by the frame of Go-Ju. That is to say. Go-Ju supports frame of Sacheon-Ju. And the frame of Pyeong-Ju on the 4th and the 5th levels also supports it. The frame of Go-Ju is supported by the frame of Pyeong-Ju on the 1st and the 2nd levels. So this structure is designed to resist the wind and also keep the balance by properly distributing vertical pressure. The plan and the elevational structure of Palsangjeon keep the balance by the perfect symmetric structure. And the frame of Sacheon-Ju forming semi-core system can resist both the lateral load and the vertical pressure for the balance of its structure. The five story pagoda in Horyuji used to stand on a central which is desigend to support the main body of the pagoda from the first level. The principles of balance is used between the Ha-Aag and short to react the rafter. Sacheon-Ju and edge column is against the lateral load. The structural jointing system is stable thanks to the log framewroks formed on every level. The five story pagoda in Horyuji poseses the structual system originated from the ancient wooden pagoda. The pagoda is found to express simple, sincere and straight forward form. On the other hand, it could be seen as a stucture resisting the earthquake and the lateral load, Palsangjeon is an excellent building which religions function is well harmonized with its structure and appearance. It not only functions extremely well as a regions place like other pagodas, but also excellently shows how multi-story wooden building should be structured.

• Radiation Oncology Journal
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• v.14 no.1
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• pp.77-85
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• 1996

Purpose : Multileaf collimator(MLC) is very suitable tool for conformal radio-therapy and commissioning measurements for a multileaf collimator installed on a dual energy accelerator with 6 and 10MV photons are required, For modeling the collimator with treament planning software, detailed dosimetric characterization of the multileaf collimator including the penumbra width, leaf transmission between leaf leakage and localization of the leaf ends and sides is an essential requirement. materials and Methods : Measurement of characteristic data of the MLC with 26 pair block leaves installed on CLINAC 2100C linear accelerator was performed. Low sensitive radiographic film(X-omatV) was used for the penumbra measurement and separate experiments using radiographic film and thermoluminescent dosimeters were performed to verify the dose distribution, Measured films were analized with a photodensitometer of WP700i scanner. Results : For 6 & 10 MV x-ray energies, approximately $2.0\%$ of photons incident on the multileaf collimator were transmitted and an additional $0.5\%$ leakage occurs between the leaves. Localizing the physical end of the leaves showed less than 1mm deviation from the $50\%$ decrement line and this difference is attributed to the curved shaped end on the leaves One side of a sin히e leaf corresponded to the $50\%$ decrement line, but the opposite face was aligned with a lower value. This difference is due to the tongue and groove used to decrease between leaf leakage. Alignment of the leaves to form a straight edge resulted larger penumbra at far position from isocenter as compare with divergent alloy blocks. When the MLC edge is stepped by sloping field, the isodose lines follow the leaf pattern and Produce scalloping isodose curves in tissue. The effective penumbra by 45 degree stepped MLC is about 10mm at 10cm depth for 6MV x-ray. The difference of effective penumbra in deep tissue between MLC and divergent alloy blocks is small (5mm). Conclusion : Using the characteristic data of MLC, the MLC has the clinlical acceptability and suitability for 3-D conformal radiotherapy except small field size.

• Journal of the Korean Society of Costume
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• v.4
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• pp.87-114
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• 1981

A costume reveals the social characteristics of the era in which it is worn, thus we can say that the history of change of the costume is the history of change of the living culture of the era. Since the Three States era, the costume structure of this country had been affected by the costume system of the China's historical dynasties in the form of the grant therefrom because of geographical conditions, which affection was conspicuous for the bureaucrat class, particularly including but not limited to the Kings' familities. Such a grant of the costume for the bureaucrat class (i.e., official uniform) was first given by the Dang-dynasty at the age of Queen Jinduck, the 28th of the Shilla-dynasty. Since then, the costume for the bureaucrats had consecutively been affected as the ages had gone from the unified Shilla, to the Koryo and to the Yi-dynasty. As the full costumes officially used by government officials (generally called "Baek Gwan") in the Yidynasty, there existed Jo-bok, Gong-bok and Sang-bok. Of such official costumes, Gong-bok was worn at the time of conducting official affairs of the dynasty, making a respectful visit for the expression of thanks or meeting diplomatic missions of foreign countries. It appears no study was made yet with regard to the Gong-bok while the studies on the Jo-bok and the Sangbok were made. Therefore, this article is, by rendering a study and research on the styles of costumes of civil servants' stone images erected at the Kings' tombs of the Yi-dynasty, to help the persons concerned understand the Gong-bok, one of the official costume for Baek Kwan of that age and further purports to specifically identify the styles and changes of the Gong-bok, worn by Baek Gwan during the Yi-dynasty, consisting of the Bok-doo (a hat, four angled and two storied with flat top), Po (gown), Dae (belt), and Hol (small and thin plate which was officially held by the government officials in hand, showing the courtesy to and writing brief memorandums before the King) and Hwa (shoes). For that purpose, I investigated by actually visiting the tombs of the Kings of the Yi-dynasty including the Geonwon-neung, the tomb of the first King Tae-jo and the You-neung, the tomb of the 27th King Soon-jong as well as the tombs of the lawful wives and concubines of various Kings, totalling 29 tombs and made reference to relevant books and records. Pursuant. to this study, of the 29 Kings' tombs the costume styles of civil servants' stone images erected at the 26 Kings' tombs are those of Gong-bok for Baek-gwan of the Yi-dynasty wearing Bok-doo as a hat and Ban-ryeong or Dan-ryenog Po as a gown with Dae, holding Hol in hand and wearing shoes. Other than those of the 26 tombs, the costume styles of the Ryu-neung, the tomb of the Moon-jo who was the first son of 23rd King Soon-jo and given the King's title after he died and of the You-neung, the tomb of the 27th King Soon-jong are those of Jobok with Yang-gwan (a sort of hat having stripes erected, which is different from the Bok-doo), and that of the Hong-neung, the tomb of the 26th King Go-jong shows an exceptional one wearing Yang-gwan and Ban-ryeong Po ; these costume styles other than Gongbok remain as the subject for further study. Gong-bok which is the costume style of civil servants' stone images of most of the Kings' tombs had not been changed in its basic structure for about 500 years of the Yi-dynasty and Koryo categorized by the class of officials pursuant to the color of Po and materials of Dae and Hol. Summary of this costume style follows: (1) Gwan-mo (hat). The Gwan-mo style of civil servants' stone images of the 26 Kings' tombs, other than Ryu-neung, Hong-neung and You-neung which have Yang-gwan, out of the 29 Kings' tombs of the Yi-dynasty reveals the Bok-doo with four angled top, having fore-part and back-part divided. Back part of the Bok-doo is double the fore-part in height. The expression of the Gak (wings of the Bokdoo) varies: the Gyo-gak Bok-doo in that the Gaks, roundly arisen to the direction of the top, are clossed each other (tombs of the Kings Tae-jong), the downward style Jeon-gak Bok-doo in that soft Gaks are hanged on the shoulders (tombs of the Kings Joong-jong and Seong-jong) and another types of Jeon-gak Bok-doo having Gaks which arearisen steeply or roundly to the direction of top and the end of which are treated in a rounded or straight line form. At the lower edge one protrusive line distinctly reveals. Exceptionally, there reveals 11 Yang-gwan (gwan having 11 stripes erected) at the Ryu-neung of the King Moon-jo, 9 Yang-gwan at the Hong-neung of the King Go-jong and 11 Yang-gwan at the You-neung of the King Soon-jong; noting that the Yang-gwan of Baek Kwan, granted by the Myeong-dynasty of the China during the Yi-dynasty, was in the shape of 5 Yang-gwan for the first Poom (class) based on the principle of "Yideung Chaegang" (gradual degrading for secondary level), the above-mentioned Yang-gwans are very contrary to the principle and I do not touch such issue in this study, leaving for further study. (2) Po (gown). (a) Git (collar). Collar style of Po was the Ban-ryeong (round collar) having small neck-line in the early stage and was changed to the Dan-ryeong (round collar having deep neck-line) in the middle of the: dynasty. In the Dan-ryeong style of the middle era (shown at the tomb of the King Young-jo); a, thin line such as bias is shown around the internal side edge and the width of collar became wide a little. It is particularly noted that the Ryu-neung established in the middle stage and the You-neung in the later stage show civil servants in Jo-bok with the the Jikryeong (straight collar) Po and in case of the Hong-neung, the Hong-neung, the tomb of the King Go-jong, civil servants, although they wear Yang-gwan, are in the Ban-ryeong Po with Hoo-soo (back embroidery) and Dae and wear shoes as used in the Jo-bok style. As I could not make clear the theoretical basis of why the civil servants' costume styles revealed, at these tombs of the Kings are different from those of other tombs, I left this issue for further study. It is also noted that all the civil servants' stone images show the shape of triangled collar which is revealed over the Godae-git of Po. This triangled collar, I believe, would be the collar of the Cheomri which was worn in the middle of the Po and the underwear, (b) Sleeve. The sleeve was in the Gwan-soo (wide sleeve) style. having the width of over 100 centimeter from the early stage to the later stage arid in the Doo-ri sleeve style having the edge slightly rounded and we can recognize that it was the long sleeve in view of block fold shaped protrusive line, expressed on the arms. At the age of the King Young-jo, the sleeve-end became slightly narrow and as a result, the lower line of the sleeve were shaped curved. We can see another shape of narrow sleeve inside the wide sleeve-end, which should be the sleeve of the Cheom-ri worn under the Gong-bok. (c) Moo. The Moo revealed on the Po of civil servants' stone images at the age of the King Sook-jong' coming to the middle era. Initially the top of the Moo was expressed flat but the Moo was gradually changed to the triangled shape with the acute top. In certain cases, top or lower part of the Moo are not reveald because of wear and tear. (d) Yeomim. Yeomim (folding) of the Po was first expressed on civil servants' stone images of the Won-neung, the tomb of the King Young-jo and we can seemore delicate expression of the Yeomim and Goreum (stripe folding and fixing the lapel of the Po) at the tomb of the Jeongseong-wanghoo, the wife of the King Young-jo, At the age of the King Soon-jo, we can see the shape of Goreum similar to a string rather than the Goreum and the upper part of the Goreum which fixes Yeomim was expressed on the right sleeve. (3) Dae. Dae fixed on the Po was placed half of the length of Po from the shoulders in the early stage. Thereafter, at the age of the King Hyeon-jong it was shown on the slightly upper part. placed around one third of the length of Po. With regard to the design of Dae, all the civil servants' stone images of the Kings' tombs other than those of the Geonwon-neung of the King Tae-jo show single or double protrusive line expressed at the edge of Dae and in the middle of such lines, cloud pattern, dangcho (a grass) pattern, chrysanthemum pattern or other various types of flowery patterns were designed. Remaining portion of the waist Dae was hanged up on the back, which was initially expressed as directed from the left to the right but thereafter expressed. without orderly fashion,. to the direction of the left from the right and vice versa, Dae was in the shape of Yaja Dae. In this regard, an issue of when or where such a disorderly fashion of the direction of the remaining portion of waist Dae was originated is also presented to be clarified. In case of the Ryuneung, Hong-neung and You-neung which have civil servants' stone images wearing exceptional costume (Jo-bok), waist Dae of the Ryu-neung and Hong-neung are designed in the mixture of dual cranes pattern, cosecutive beaded pattern and chrvsenthemum pattern and that of You-neung is designed in cloud pattern. (4) Hol. Although materials of the Hol held in hand of civil servants' stone images are not identifiable, those should be the ivory Hol as all the Baek Gwan's erected as stone images should be high class officials. In the styles, no significant changes were found, however the Hol's expressed on civil servants' stone images of the Yi-dynasty were shaped in round top and angled bottom or round top and bottom. Parcicularly, at the age of the King Young-jo the Hol was expressed in the peculiar type with four angles all cut off. (5) Hwa (shoes). As the shoes expressed on civil servants' stone images are covered with the lower edges of the Po, the styles thereof are not exactly identifiable. However, reading the statement "black leather shoes for the first class (1 Poom) to ninth class (9 Poom)," recorded in the Gyeongkook Daejon, we can believe that the shoes were worn. As the age went on, the front tips of the shoes were soared and particularly, at the Hong-neung of the King Go-jong the shoes were obviously expressed with modern sense as the country were civilized.

• Journal of Korea Water Resources Association
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• v.48 no.7
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• pp.553-566
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• 2015

Acoustic Doppler Current Profilers(ADCPs) have capability to concurrently capitalize three-dimensional velocity vector and bathymetry with highly efficient and rapid manner, and thereby enabling ADCPs to document the hydrodynamic and morphologic data in very high spatial and temporal resolution better than other contemporary instruments. However, ADCPs are also limited in terms of the inevitable unmeasured regions near bottom, surface, and edges of a given cross-section. The velocity in those unmeasured regions are usually extrapolated or assumed for calculating flow discharge, which definitely affects the accuracy in the discharge assessment. This study aimed at scrutinizing a conventional extrapolation method(i.e., the 1/6 power law) for estimating the unmeasured regions to figure out the accuracy in ADCP discharge measurements. For the comparative analysis, we collected spatially dense velocity data using ADV as well as stationary ADCP in a real-scale straight river channel, and applied the 1/6 power law for testing its applicability in conjunction with the logarithmic law which is another representative velocity law. As results, the logarithmic law fitted better with actual velocity measurement than the 1/6 power law. In particular, the 1/6 power law showed a tendency to underestimate the velocity in the near surface region and overestimate in the near bottom region. This finding indicated that the 1/6 power law could be unsatisfactory to follow actual flow regime, thus that resulted discharge estimates in both unmeasured top and bottom region can give rise to discharge bias. Therefore, the logarithmic law should be considered as an alternative especially for the stationary ADCP discharge measurement. In addition, it was found that ADCP should be operated in at least more than 0.6 m of water depth in the left and right edges for better estimate edge discharges. In the future, similar comparative analysis might be required for the moving boat ADCP discharge measurement method, which has been more widely used in the field.

• Journal of Animal Science and Technology
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• v.48 no.2
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• pp.331-336
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• 2006

Moving behavior of groups of Hanwoo was observed when solid side was applied along the straight single file chute. Dark blue liners (PVC coated fabric) were hung on the outer side along the steel bars of chute to block vision of cattle. Ten animals were grouped together in a batch to move through chute to the restrainter. Movement of animals through chutes were significantly faster when solid side with liners were applied than when they had open vision of flight zone. And the difference in movement time between of solid side and open side was even greater in a longer chute than in a shorter one. From the experiment with longer chute, we could not find any significant differences between presence or absence of solid sides in the time spent for the leaading cattle to enter the squeeze chute from crowd pen. But the average time spent for movement from squeeze gait to restrainter was 22.78±1.15 seconds with solid sides, which was much shorter than with open sides (40.56±4.46 seconds). Time required for batch of animals to move from crowd pen to restrainter and exit was much faster with solid sides than with open sides: 96.33±3.98 seconds vs. 121.89±5.54 seconds from leading animal to enter the squeeze chute until the last animal of the batch to exit restrainter and 104.56±3.89 vs. 131.22±6.42 seconds for the whole batch of animals to enter the squeeze chute and exit restrainter. Another experiment with shorter chute showed that animals balked to right angled edge of the crowed pen before entering squeeze chute. We could not find any differences in time requred for the leading animal to enter the crowd pen from holding pen. Total time spent from entrance of leading animal to crowd pen until the last animal to exit restrainter was shorter with solid sides than with open sides: 177.44±5.20 seconds vs. 193.44±7.46 seconds.