• Journal of Advanced Marine Engineering and Technology
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• v.32 no.7
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• pp.1068-1079
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• 2008

Tilt and heading angles information of a remotely operated vehicle (ROV) are very important in underwater navigation. This paper presents a low.cost tilt and heading estimation system. Three single.axis rate gyros, a tri-axis accelerometer, and a tri-axis magnetometer are used. Output signals coming from these sensors are fused by two Kalman filters. The first Kalman filter is used to estimate roll and pitch angles and the other is for heading angle estimation. By using this method, we have obtained tilt (roll and pitch angles) and heading information which are reliable over long period of time. Results from experiments have shown the performance of the presented system.

• Journal of Mechanical Science and Technology
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• v.17 no.11
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• pp.1693-1703
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• 2003

This paper presents a new local obstacle avoidance method for indoor mobile robots. The method uses a new directional approach called the Lane Method. The Lane Method is combined with a velocity space method i.e., the Curvature-Velocity Method to form the Lane-Curvature Method (LCM). The Lane Method divides the work area into lanes, and then chooses the best lane to follow to optimize travel along a desired goal heading. A local heading is then calculated for entering and following the best lane, and CVM uses this local heading to determine the optimal translational and rotational velocities, considering some physical limitations and environmental constraint. By combining both the directional and velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the physical limitations of the robot motion into account.

• Journal of The Korean Society of Grassland and Forage Science
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• v.16 no.1
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• pp.39-46
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• 1996

The experiment was conducted to inxvestigate matter production ability and growth characteristic variation for Italian ryegrass seed of introduced variety and the different seed production time of the next generation in paddy field at Iksan and Kyehwa experiment field from 1987 to 1988. Germination rate is good at seed production of 35 days before and after heading with introducced variety. Also, Early growth before wintering, dead leaf rate and regenerating day is same tendendy. Panicle numbers per hill like that and heading date is for 15~20 days after heading seed is late about three days, but 35 days before and after heading seed is early about one day. Fresh and drymatter yield at the different cutting time shows decrease in 15~25 days after heading seed but 35 days before and after heading seed is same or increase trend, it's notable at Kyehwa paddy field in reclaimed land. In case of feed value according to cutting time differ little against introduced seed.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.3
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• pp.313-320
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• 1999

The Lane-Curvature Method(LCM) presented in this paper is a new local obstacle avoidance method for indoor mobile robots. The method combines Curvature-Velocith Method(CVM) with a new directional method called the Lane Method. The Lane Method divides the environment into lanes taking the information on obstacles and desired heading of the robot into account ; then it chooses the best lane to follow to optimize travel along a desired heading. A local heading is then calculated for entering and following the best lane, and CVM uses this heading to determine the optimal translational and rotational velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the dynamics of the robot Xavier, show the efficiency of the proposed method.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.30 no.1
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• pp.39-46
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• 1985

Heading time was hastened by the combination of seeding time and longday treatment in order to elucidate the effect of early heading on earliness in maturity, vegetative growth and grain yield in five barley varieties and four wheat varieties under field conditions in Suwon, Korea, 1978-79. About 15 days of earliness in heading accelerated only 2 to 6 days in maturity. Furthermore, the duration of grain fill was not much prolonged comparing with the extension of days from heading to maturity, because of the extension of periods from heading to anthesis at lower temperature resulting in somewhat greater final grain weight. Periods from heading to anthesis and from anthesis to maturity were negatively correlated with the air temperature. In early heading, leaf area at 10 days after anthesis and net assimilation rate were much limited, and although leaf area duration got larger, presumably, it could not make up for the reduction of grain yield. Grain yield per plant reduced noticeably in early heading. This was mainly caused by the reduction of spike number and grain number per spike.

• Proceedings of the Korean Society of Crop Science Conference
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• 2022.10a
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• pp.144-144
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• 2022

The amount of required forage is increasing by 20% every year in South Korea, but the cultivation area for forage production is limited. The yield ability of triticale forage is the highest among the winter forage crops including rye and the crop has cold tolerance within the average low temperature of -10℃ in January. Therefore, this study analyzed effects of sowing and harvesting times on feed value and quality for efficiently using and supplying triticale as livestock feed. Seed of the triticales, 'Joseong' was sown in 2021 fall (October) and 2022 spring (March). The triticales were harvested according to growth stages: seedling stage, booting stage, heading stage, 10 days after heading, and 20 days after heading. Moisture contents of each harvested triticales were adjusted to about 60%, and then the triticales were fermented for 40 days at room temperature under anaerobic conditions as silage. We have analyzed pH and organic acid to determine the feed value and quality of each silage. The contents of lactic acid in silage ofthe triticale harvested at the seedling stage of both fall and spring-sown (1.61%, 1.63%) were the highest among all of the silages; the booting stage (0.75%, 1.33%), the heading stage (0.50%, 0.69%), 10 days after the heading stage (0.31%, 0.42%), and 20 days after heading stage (0.22%, 0.40%). Such as the contents of lactic acid in the silages, and the pH value of the silages The pH value in both the fall- and spring-sown became lower as the triticale was grown up: seedling stage (7.05, 6.85), booting stage (6.21, 6.75), heading stage (6.18, 6.28), 10 days after heading stage (6.22, 6.17), and 20 days after heading stage (6.15, 5.81). Taken together, the results showed that the feed value and quality of triticale silage were more affected by harvesting time than sowing time.

• Plant Resources
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• v.5 no.2
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• pp.155-160
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• 2002

The heading date is known to be controlled by two kinds of genetic constituent, photosensitivity and basic vegetable phase. For the latter, the effect of temperature in early growth period is critical to determine the shortness of vegetative growth periods in plant's life. A phytotron experiment on 55 rice cultivars, consisting of two ecotypes of rices, indica and japonica, was conducted at high and low temperature treatments at early growth stage to investigate the possible role of plant growth stimulus by high temperature to associate with shortening of heading date. The high temperature during the early growth stage stimulated the rice growth as measured by plant height with much difference of the growth response between indica and japonica. The conclusive finding that these growth stimulus in early growth stage was highly correlated with the acceleration of heading is, more or less, correlated with the heading of the late growth stage although we could not conclude the genes for early plant growth stimulus by high temperature is the same genes as the genes for accelerating of heading in the late growth stage of plants.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.30 no.1
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• pp.53-63
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• 1994

The conventional cold-heading process for the production of a bolt-shaped product is composed of some process and two or three blows heading. The strength of a bolt-shaped product produced by multi-blow heading depends on the working conditions of the heading process such as preforming die angle, corner-radius of the necked portion of product, and the reduction in height during pre-forming. Arigid-plastic finite-element program(RDHPSC) has been coded and the program testified by comparison with the results of experimentation. A method of testing the optimum die-conditions in the double-blow heading process by use of RDHPSC analysis is discussed a fundamental structures of CAD/CAPP system for two-blow heading process is discussed.

• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.178-188
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• 2019

When burying underwater cables using robots, heading control is one of the key functions for the robots to improve task efficiency. This paper addresses the heading control issue for URI-T, an ROV for underwater construction tasks, including the burial and maintenance of cables or small diameter pipelines. Through modeling and identifying the heading motion of URI-T, the dynamic characteristics and input limitation are analyzed. Based on the identification results, a PD type controller with appropriate input treatment is designed for the heading control of URI-T. The performance of the heading controller was verified in water tank experiments. The field applicability of the proposed controller was also evaluated through the sea trial of URI-T at the East Sea, with a water depth of 500 m.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2004.04a
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• pp.59-64
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• 2004

In this paper, the error compensation method of the low-cost IMU is proposed. In general, the position and attitude error calculated by accelerometers and gyros grows with time. Therefore the additional information is required to compensate the drift. The attitude angles can be bound accelerometer mixing algorithm and the heading angle can be aided by single antenna GPS velocity. The Kalman filter is used for error compensation. The result is verified by comparing with the attitude calculated by Attitude Heading Reference System with Micro Electro Mechanical System for a basis