• The Journal of Korea Robotics Society
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• v.9 no.3
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• pp.154-159
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• 2014

The Global Positioning System (GPS) is widely used to aid the navigation of aerial vehicles. However, the GPS cannot be used indoors, so alternative navigation methods are needed to be developed for micro aerial vehicles (MAVs) flying in GPS-denied environments. In this paper, a real-time three-dimensional (3-D) indoor navigation system and closed-loop control of a quad-rotor aerial vehicle equipped with an inertial measurement unit (IMU) and a low-cost light detection and ranging (LIDAR) is presented. In order to estimate the pose of the vehicle equipped with the two-dimensional LIDAR, an octree-based grid map and Monte-Carlo Localization (MCL) are adopted. The navigation results using the MCL are then evaluated by making a comparison with a motion capture system. Finally, the results are used for closed-loop control in order to validate its positioning accuracy during procedures for stable hovering and waypoint-following.

• Nuclear Engineering and Technology
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• v.33 no.5
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• pp.526-538
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• 2001

Fatigue tests in air and in room temperature water were performed to obtain comparable data and stable crack measuring conditions. In air environment, fatigue crack growth rate was increased with increasing temperature due to an increase in crack tip oxidation rate. In room temperature water, the fatigue crack growth rate was faster than in air and crack path varied on loading conditions. In simulated light water reactor (LWR) conditions, there was little environmental effect on the fatigue crack growth rate (FCGR) at low dissolved oxygen or at high loading frequency conditions. While the FCGR was enhanced at high oxygen condition, and the enhancement of crack growth rate increased as loading frequency decreased to a critical value. In fractography, environmentally assisted cracks, such as semi-cleavage and secondary intergranular crack, were found near sulfide inclusions only at high dissolved oxygen and low loading frequency condition. The high crack growth rate was related to environmentally assisted crack. These results indicated that environmentally assisted crack could be formed by the Electrochemical effect in specific loading condition.

• Journal of Korean Society for Geospatial Information Science
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• v.20 no.1
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• pp.65-72
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• 2012

With the development of MEMS, small and low-priced sensors integrating IMU and GPS have produced and exploited for diverse field. In this research, we have judged that MEMS-based IMU/GPS sensor is suitable for light-weighted mobile mapping system and carried out experiments to analyze the characteristics of MTi-G, which was developed from XSens company. From a sensor which fixed to dashboard, coordinates results with no post-processing were achieved for test area. On the whole, the results show satisfactory performances but some errors also were discovered from parts of the road due to sensor properties, XKF characteristics and GPS reception environment. We could confirm the potential of light-weighted mobile mapping system. Experiments considering various GPS reception environments and road condition and more detailed level of accuracy analysis will be performed for further research.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.2
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• pp.155-164
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• 2013

Two design techniques for more accurate and more convenient hybrid positioning system with visible light communication (VLC) and ad-hoc wireless network infrastructure are proposed, in order to overcome the problems of high estimation error, high cost, and limited service range of the conventional positioning techniques. First method is based on a non-carrier VLC based hybrid positioning technique for applications involving of low data rate optical sensing and narrow-range visible light reception from transmitter, and long-range positioning. The second method uses a 4 MHz carrier VLC-based hybrid positioning technique for a high data rate optical sensing and wide-range visible light receiving from transmitter, and mid-range positioning applications. In indoor environments with obstacles where there are long-range 7731.4cm and mid-range 2368cm distances between an observer and a target respectively, the hybrid positioning developed with two design techniques are tested, and the proposed system is verified and analyzed in this paper.

• Korean Journal of Agricultural and Forest Meteorology
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• v.8 no.2
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• pp.54-60
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• 2006

The purpose of this study was to examine the reaction in variable light environments on shade tolerant species, Chloranthus glaber. We raised Chloranthus glaber seedlings under four light conditions: PPFD 400, 250, $100\;{\mu}mol\;m^{-2}s^{-1}$ and full sunlight (PPFD $1600\;{\mu}mol\;m^{-2}s^{-1}$). Using 2 years old seedlings, chlorophyll content, photosynthetic rate, stomata conductance and intercellular $CO_2$ concentration were investigated. Shaded seedlings had higher chlorophyll content, photosynthetic rates, and stomatal conductance, but not higher intercellular $CO_2$ concentration than those in the full sun treatment. This result suggested that growth and physiology of Chloranthus glaber adapted to low light intensity.

• Korean Journal of Environment and Ecology
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• v.25 no.6
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• pp.893-902
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• 2011

The purpose of this study was to survey structures and growth conditions of Pinus densiflora village groves, and to establish management strategies for their desirable growth and conservation. Twelve village groves were selected in western Gangwon province for the study. The age of the study groves ranged from 50 to 200 years. Average dbh (diameter at breast height) and density of trees for each study grove were 27~52cm and 0.5~9.3 trees/$100m^2$, respectively. Soil environments were favorable to Pinus densiflora growth in the majority of the study groves, but 2 study groves with sandy soils showed considerably poor nutrient contents. Low tree vitality was found in some of the study groves due to poor conditions of root growth from soil fill and trampling. There were detachment of cambial tissue and damage of stem cavity at 6 study groves, which were caused by artificial injury, careless pruning, and frost damage. Light disease damage by Rhizosphaera kalkhoffii and phomopsis blight were found at 6 study groves. Light pest damage by Thecodiplosis japonensis was also found at 6 study groves, but the pest damage at 2 study groves was relatively considerable. Thus, major factors limiting normal growth of Pinus densiflora village groves were infertility, soil fill and trampling, stem damage, and disease and pest. Desirable management strategies were explored to solve growth-related problems and to conserve the study groves. The management strategies included fertilization of organic matter and lime, removal of soil fill, soil plowing and graveling, wood-trail installation or woodchip mulching, supply of wood fences and protective frames, surgical operation for damaged stems, vitality enhancement, and trunk injection to improve growth environments or control stem damage and disease/pest.

• Journal of the Institute of Convergence Signal Processing
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• v.20 no.1
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• pp.16-23
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• 2019

Fine particulate matter known as PM 2.5 refers to the atmospheric particulate matter that has a diameter less than 2.5 micrometer identified as dangerous element for human health and its concentration can provide us a clear picture about air dust concentration. Humans stay indoor almost 90% of their life time and also there is no official indoor dust concentration data, so our study is focused on measuring the indoor air quality. Indoor dust data monitoring is very important in hospital environments beside that other places can also be considered for monitoring like classrooms, cements factories, computer server rooms, petrochemical storage etc. In this paper, visible light communication system is proposed by Manchester encoding technique for electromagnetic interference (EMI)-free indoor dust monitoring. Important indoor environment information like dust concentration is transferred by visible light channel in wide range. An average voltage-tracking technique is utilized for robust light detection to eliminate ambient light and low-frequency noise. The incoming light is recognized by a photo diode and are simultaneously processed by a receiver micro-controller. We can monitor indoor air quality in real-time and can take necessary action according to the result.

• Journal of IKEEE
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• v.21 no.1
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• pp.66-69
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• 2017

In recent year, energy harvesting technologies from the ambient environments such as light, motion, wireless waves, and temperature again a lot of attraction form research community [1-5] due to its efficient solution in order to substitute for conventional power delivery methods, especially in wearable together with on-body applications. The drawbacks of battery-powered characteristic used in commodity applications lead to self-powered, long-lifetime circuit design. Thermoelectric generator, a solid-state sensor, is useful compared to the harvesting devices in order to enable self-sustained low-power applications. TEG based on the Seebeck effect is utilized to transfer thermal energy which is available with a temperature gradient into useful electrical energy. Depending on the temperature difference between two sides, amount of output power will be proportionally delivered. In this work, we illustrated a low-input voltage energy harvesting circuit applied discontinuous conduction mode (DCM) method for getting an adequate amount of energy from thermoelectric generator (TEG) for a specific wearable application. With a small temperature gradient harvested from human skin, the input voltage from the transducer is as low as 60mV, the proposed circuit, fabricated in a $0.6{\mu}m$ CMOS process, is capable of generating a regulated output voltage of 4.2V with an output power reaching to $40{\mu}W$. The proposed circuit is useful for powering energy to battery-less systems, such as wearable application devices.

• Korean Journal of Agricultural and Forest Meteorology
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• v.2 no.4
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• pp.198-203
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• 2000

This study was conducted to investigate seasonal changes on height, root collar diameter, shoot growth, biomass and chlorophyll contents of Pinus strobus seedlings (two-year old) grown under different light environments in Sangju National University Nursery. Four shade treatments provided seedlings with full sunlight (1800 umo1 m$^{-2}$ s$^{-1}$ ), 75% of full sunlight (1350 umo1 m$^{-2}$ s$^{-1}$ ), 50% of full sunlight (900 ,umo1 m$^{-2}$ s$^{-1}$ ) and 25% of full sunlight (450 umo1 m$^{-2}$ s$^{-1}$ ). Planting density in four light intensities was 30 cm$\times$30cm. In each treatment, 10 trees were planted and height, diameter at root collar, shoot growth, biomass and chlorophyll contents (chlorophyll a, band a+ b) were measured. The highest height, root collar diameter, shoot growth and biomass in Pinus strobus seedlings were observed at full sunlight. Specially, root biomass was the most sensitive tree components part and strongly associated with decreases in the total biomass under low light intensity. The lowest chlorophyll contents (Chlorophyll a, band a+ b) were shown at 25% of sunlight, the lowest light intensity in this study.

• Journal of Microbiology and Biotechnology
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• v.15 no.1
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• pp.125-130
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• 2005

The growth and phosphatase (phosphomonoesterase) activity of Chroococcidiopsis culture isolated from the cryptoendoliths of the Antarctic were compared with a similar isolate from the Arizona hot desert. Such cyanobacteria living inside rocks share several features with the immobilized cells produced in the laboratory. This study has relevance because the availability of phosphorus is a key factor influencing the growth of these cyanobacteria in nature, in such unique ecological niches as the hot and cold deserts. Phosphatase activity therefore is of particular importance for these organisms if they are to survive without any other source of phosphorus availability. Also, there is paucity of knowledge regarding this aspect of study in cyanobacterial cultures from these extreme environments. The salient feature of this study shows the importance of specific pH and temperatures for growth and phosphatase activity of both cultures, although there were marked differences between the two isolates. The pH and temperature optima for growth and phosphatase activity (PMEase) of Chroococcidiopsis 1 and 2 were 9.5, $240^{\circ}C$ and 8.5, $40^{\circ}C$ respectively. The $K_m and V_max$ values of cultured Chroococcidiopsis 1 showed lower affinity of PMEase for the substrate compared to the enzyme affinity of the same organism when found within the rocks; Chroococcidiopsis 2 and Arizona rocks containing the same alga however showed similar affinity of PMEase for the substrate. An interesting observation was the similarity in response of immobilized Chroococcidiopsis 1 culture and the same organism in the Antarctic rocks to low light and low temperature stimulation of PMEase. This thermal response seems to be related to the ability of the immobilized Antarctic isolate and the rocks to either cryoprotect the PMEase or undergo a change to save the enzyme from becoming nonfunctional under low temperatures. The free cells of Chroococcidiopsis 1 culture however did not show such responses.