• Journal of The Korean Society of Grassland and Forage Science
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• v.20 no.4
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• pp.237-242
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• 2000

This study was conducted to investigate the effects of cutting frequency on dry matter yield and nutritive value between heading and headless varieties of sorghumxsudangrass hybrid in 1998. Treatments were var. TE hay grazer(heading type) and Jumbo(headless type) as main plot, and 1, 2, and 3 cutting times per a year as sub plot. Although plant height of sorghumxsudangrass hybrid was no significant difference among treatments, headless type was very slightly higher than that of heading type, and both of variety decreased with 1, 2, and 3 cutting times in order. Also, dry matter yield of sorghum~sudangrass hybrid was no significant difference between heading and headless type. Dry matter yield of first cutting plot in heading type and in headless type was the higher than those of second and third cutting plot. Acid detergent fiber and neutral detergent fiber of headless type were slightly higher than that of heading type. Acid detergent fiber of sorghumxsudangrass hybrid was highest at first cutting plot in both varieties. Neutral detergent fiber of second cutting plot in heading type and first cutting plot in headless type were the highest respectively. In vitro dry matter digestibility of headless type was very slightly higher than that of heading type. And in vitro dry matter digestibility of second cutting plot was the highest in both varieties. In vitro digestible dry matter of sorghumxsudangrass hybrid was no significant difference among treatments. The results demonstrated that although there was not significant difference, cultivation of headless type and first cutting plot per a year were very good for nutritive value and DM yield of sorghumxsudangrass hybrid as summer forage crops in Korea. (Key words : Heading, Headless type, Cutting frequency, Sorghum X Sudangrass Hybrid)

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.46 no.1
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• pp.50-55
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• 2010

The ship's heading information of hybrid GPS/EM compass were applied to the AIS of fishing vessel and examined the possibility of accuracy improvement. It is observed 453 each in AIS receiver of land among 3,982 each in AIS Rx/Tx transponder of the test ship at sea, and transmission interval according to the speed of ship is determined the 11.4% good transmitting data of the all information. In results, maximum compass error for the ship's heading of an EM compass was $19.1^{\circ}$. The variance of ship's heading owing to the speed of ship is surveyed. The COG (Course Over Ground) was changed extremely in $180^{\circ}W-179^{\circ}E$ range under 4.9knots, and in $24^{\circ}W-23^{\circ}E$ range over 4.9knots. Finally, using the ship's heading of EM compass and the COG from GPS for the autopilot system of a small fishing boat and the ship's heading information of AIS results in danger on the own ship's navigation safety and leads to make confusion both the others and VTS (Vessel Traffic Service) center. Therefore, the hybrid GPS/EM compass is identified as the best system for a small fishing boat and is allowed to offer continuously a ship's heading information with high accuracy and stability.

• Korean Journal of Agricultural Science
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• v.2 no.2
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• pp.331-339
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• 1975

This experiment was carried out to obtain some imformations about the ecological variations of the heading time of the newly breeded Indica x Japonica varieties/pedigrees according to the seasonal changes of the seeding date. day length and temperature. The results obtained are summarized as follows; 1) At all varieties. days to heading showed a straight reduction according as the seeding time was delayed. 2) At the group of Japonica varieties. the days to heading of early maturing varieties were much shortened and that of medium or late maturing varieties were little or not shortened under high temperature condition but at the group of Indica ${\times}$ Japonica va rieties/pedigrees. days to heading were significantly elongated under high temerature condition. 3) At the group of Japonica varieties. the effect of the short day condition on the days to heading was significantly high at the medium and the late maturing varieties than at the early maturing varieties. however. the short day effect on the reduction of days to heading was not related with the earlyness of each varieties at the group of Indica ${\times}$ Japonica varieties/pedigrees. 4) Days to heading of all varieties under the high temperature condition were longer than that under the ordinary culture. On the other hand, the days to heading of Japonica varieties under the short day treatment were shorter than the days to heading of ordinary culture but at the group of Indica x Japonica varieties/pedigrees. the days to heading under the short day treatment were longer than ordinary culture. 5) At both varieties groups. the days to heading at each seeding time were significantly correlated with days to heading at ordinary cultivation. fl) At the group of Japonica varieties. relatively high correlation(p=0.1) was recognized between the days to heading by delay of seeding time, but at the group of Indica ${\times}$ Japonicava rieties/pedigrees, correlation between the ordinary heading date and the shortening rate of days to heading was very low.

• Journal of the Korea Institute of Military Science and Technology
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• v.8 no.3 s.22
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• pp.5-10
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• 2005

This paper presents the new in-flight alignment method using the flight distance of vehicle in order to improve the performance of the heading error estimation. In the proposed method, the Kalman filter having the difference between GPS and SDINS position as measurements is used for levelling of SDINS and heading error is estimated utilizing the flight distance information. It is shown in the simulation results that the in-flight method proposed in this paper has the high accuracy in heading error estimation and the heading error can be very quickly estimated at the high speed vehicle, compared with the existing method using the Kalman filter.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.4
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• pp.116-123
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• 2008

In this paper we study the performance of the measurement time-delay estimation of tightly-coupled GPS/INS(Global positioning system/Inertial Navigation system) system. Generally, the heading error estimation performance of loosely-coupled GPS/INS system using GPS's Navigation Solution is poor. In the case of tightly-coupled GPS/INS system using pseudo-range and pseudo-range rate, the heading error estimation performance is better. However, the time-delay error on the measurement(pseudo-range rate) make the heading error estimation performance degraded. So that, we propose the time-delay model on the measurement and compose the time-delay estimator. And we confirm that the heading error estimation performance in the case of measurement time-delay existence is similar with the case of no-delay by Monte-Carlo simulation.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2000.08a
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• pp.117-120
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• 2000

본 논문은 이동로봇이 주행 중 발생하는 heading 오차를 지자기센서를 이용하여 보정하고 주행을 정확히 제어하는 것에 관한 것이다. 일반적으로 이동로봇의 주행제어는 여러 원인에 의한 부정확성을 내포하고 있다. 예를 들어 바퀴의 부정확한 기계적 정렬, 기어의 헐거워짐, 센서 신호의 잡음과 오차, 바퀴의 미끄러짐, 평탄하지 않는 표면에 의한 제도변동 등이다. 따라서, 이동명령어 수행 시 이동로봇의 heading이 의도된 대로 유지되는지를 측정하는 오차 검출이 필요하며 이를 위한 센서 본 논문에서는 지자기센서를 이용하여 오차를 보정하였다. 실험은 무선 원격 제어되는 이동로봇에 지자기 센서를 부착하여 자계의 영향이 비교적 적은 평탄한 옥외에서 수행하였고, 실험 결과를 통해 지자기 센서를 이용한 이동로봇의 heading 오차 보정과 주행제어효과를 보여주었다.

• Journal of Advanced Research in Ocean Engineering
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• v.4 no.1
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• pp.16-24
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• 2018

This paper addresses the heading control of an offshore floating storage and regasification unit (FSRU) using a resolved motion and acceleration control (RMAC) algorithm. A turret moored vessel tends to have the slewing motion. This slewing motion may cause a considerable decrease in working time in loading and unloading operation because the sloshing in the LNG containment tank might happen and/or the collision between FSRU and LNGC may take place. In order to deal with the downtime problem due to this slewing motion, a heading control system for the turret moored FSRU is developed, and a series of model tests with azimuth thrusters on the FSRU is conducted. A Kalman filter is applied to estimate the low-frequency motion of the vessel. The RMAC algorithm is employed as a primary heading control method and modified I-controller is introduced to reduce the steady-state errors of the heading of the FSRU.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.1053-1059
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• 2013

Heading bias effects in PNS using IMUs attached to shoes are analyzed in this paper. The navigation algorithms of a single foot PNS where one IMU is attached to a foot and dual foot PNSs where two IMUs are attached to each foot are derived. Two navigation algorithms are proposed for the dual foot PNS: 1) the positions from the independent right and left foot PNSs are averaged to provide the final position, 2) the right and left foot PNSs are correlated and it provides positions of each foot. Furthermore, it is proven that two methods are equal. Using the derived navigation algorithms the effect of heading bias caused by a misalignment of the moving direction and IMU is analyzed. The analysis explains the position error of a single foot PNS is diverged while the heading bias is effectively compensated in dual foot PNSs because of the symmetry of heading biases. The experimental results confirm the analysis.

• Journal of the Korean BIBLIA Society for library and Information Science
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• v.4 no.1
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• pp.1-22
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• 1980

It was analysed and considered about entry methods of headings in Japanese book cataloging which using methods of major universities and public libraries in our nation at present. I was suggested and clarified one's position that authors heading must make an entry to our pronunciation after translating from sound of chines letters, title headings must make an entry translation from Japanese title or Chinese title, to Korean. On the cataloging of authors heading or title heading, if cataloging make an entry to Japanese pronunciation it have many faults as follow. (1) In the title and authors heading of Japanese books, if it make an entry as Kana letter, not only non skilled librarian at Japanese language will have many faults but also non skilled users to Japanese language or pronunciation will very difficult to reference in title and authors catalog card. (2) If it Romanize the catalog card of title and authors heading in the Japanese books, librarian of the catalog part will make efforts and take pains to the catalog work. In addition, catalog users which is skilled in Japanese language but can not understand or unknown to the Romanized entry, and which if not understand to the, methods of entry will very difficult to card investigation or can not refer to catalog card. (3) If it make an entry to Korean in the authors and title heading from Japanese sound or pronunciation, librairans and library users which is unskilful as Japanese language will be inconvenience to works and investigation of library materials.

• Journal of the Society of Naval Architects of Korea
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• v.61 no.2
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• pp.98-105
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• 2024

Due to the low accuracy of measured data obtained from low-cost GNSS and IMU devices, it was hard to secure the required accuracy of the measured position and heading angle for autonomous navigation which was conducted by a model-scale marine mobility. In this paper, a localization technique using the Extended Kalman Filter (EKF) is proposed for coping with the issue. First of all, a position and heading angle estimator is developed using EKF with the assumption of a point mass model. Second, the measured data from GNSS and IMU, including position, heading angle, and velocity are used for the estimator. In addition, the heading angle is additionally obtained by comparing the LiDAR point cloud with map information for a temporal water tank. The newly acquired heading angle is integrated into the estimator as an additional measurement to correct the inaccuracy in the heading angle measured from the IMU. The effectiveness of the proposed approach is investigated using data acquired from preliminary tests of the model-scale autonomous marine mobility.