• Journal of Agricultural Extension & Community Development
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• v.12 no.1
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• pp.97-107
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• 2005

The purpose of this study was to make a survey of the operation of childcare facilities in rural regions through in-depth interviews with 5 facility principals. Owing to regional disadvantages, rural childcare facilities have many problems as follows: uneven distribution of facilities, shortage of teachers, financial difficulties, unsuitable programs for rural regions, insufficient reeducation of principals and teachers, and poor operations and accessibility for handicapped or very young children. The principals proposed that many conditions might be made better as follows: evenly distributing facilities in step with needs and supply, raising the salary of teachers of rural facilities, supporting the facilities themselves side by side with supporting children, improving 'childcare fee supporting system' of the Ministry of Agriculture and Forestry, developing and spreading programs suitable for rural regions, and promoting the reeducation of principals and teachers through online programs.

• Proceedings of the Korea Concrete Institute Conference
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• 2000.04a
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• pp.853-858
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• 2000

According to the results of this research, Production of Fold Mortar Permanent - Form was found to be possible by Mortar. Th FP-Form (Fold Permanent-Form) mortar had compress strength 580kgf/$\textrm{cm}^2$. FP-Form model was made by the result of the first research. There was no minute-crack on beam form and the outer surface of form was very smooth, and those qualities it were made possible hand-mad by experiment. This study is about bond strength progress of FP-Form that developed for the form work rationalization and systematization. The result of this study follows; (1) Fluidity and strength development of mortar which used for FP-Form are satisfied (2) After study on getting good bond strength progress, inside-uneven type presents the better suitableness, and wire netting V-type presents the better shear strength.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.342-348
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• 2002

This paper presents a computer image processing system, which measures the thickness of the ALC block and inspects the defect on a real-time basis. The Image processing system was established with a CCD camera, an image grabber, and a personal computer without using assembled measurement equipment. The image obtained by the system was analyzed by a devised algorithm, specially designed for the enhanced measurement accuracy. For the realization of proposed algorithm, the pre-processing method that can be applied to overcome uneven lighting environment, and threshold decision method, and subpixel method are developed. from the experimental results, we could find that the required measurement accuracy specification is sufficiently satisfied using our proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.251-257
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• 2012

Unmanned ground vehicles have important military, reconnaissance, and materials handling application. Many of these applications require the UGVs to move at high speeds through uneven, natural terrain with various compositions and physical parameters. This paper presents a framework for high speed autonomous navigation based on the integrated real time traversability. Specifically, the proposed system performs real-time dynamic simulation and calculate maximum traversing velocity guaranteeing safe motion over rough terrain. The architecture of autonomous navigation is firstly presented for high-speed autonomous navigation. Then, the integrated real time traversability, which is composed of initial velocity profiling step, dynamic analysis step, road classification step and stable velocity profiling step, is introduced. Experimental results are presented that demonstrate the method for a $6{\times}6$ autonomous vehicle moving on flat terrain with bump.

• Journal of the Korea Institute of Military Science and Technology
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• v.25 no.6
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• pp.606-616
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• 2022

Semantic segmentation in autonomous driving for unstructured environments is challenging due to the presence of uneven terrains, unstructured class boundaries, irregular features and strong textures. Current off-road datasets exhibit difficulties like class imbalance and understanding of varying environmental topography. To overcome these issues, we propose a deep learning framework for semantic segmentation that involves a pooled class semantic segmentation with five classes. The evaluation of the framework is carried out on two off-road driving datasets, RUGD and TAS500. The results show that our proposed method achieves high accuracy and real-time performance.

• Earthquakes and Structures
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• v.22 no.5
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• pp.527-538
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• 2022

In this paper the free vibration frequencies of tri-directional functionally graded materials imperfect plate is investigated for Several plate geometries with two types of porosity (even and uneven) and different type of material configuration. The effect of several parameters such as power law index and boundary conditions have been investigated. For this purpose, an efficient computational method is developed and written under Matlab environment, based on a three-dimensional modeling and the isogeometric method is used for the discretization of the structure based on NURBS (Nonuniform rational B-spline) basis functions. The results obtained by the present method are validated by the comparison with the results given by several authors in the literature.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.46-53
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• 2007

This paper describes the development of a high-precision measuring device with DSP (digital signal processor) for the accurate measurement of the 6-axis force/moment sensor mounted to a humanoid robot's ankle. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, and Fz and moments Mx, My, and Mz to itself, and control the foot using the measured them. The applied forces and moments should be measured from two 6-axis force/moment sensors mounted to the feet, and the sensor is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body (single block). In order to acquire output values from twelve sensors (two 6-axis force/moment sensor) accurately, the measuring device should get the function of high speed, and should be small in size. The commercialized measuring devices have the function of high speed, unfortunately, they are large in size and heavy in weight. In this paper, the high-precision measuring device for acquiring the output values from two 6-axis force/moment sensors was developed. It is composed of a DSP (150 MHz), a RAM (random access memory), amplifiers, capacities, resisters and so on. And the characteristic test was carried out.

• Journal of Sensor Science and Technology
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• v.16 no.3
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• pp.211-219
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• 2007

This paper describes the development of 6-axis force/moment sensor for a humanoid robot. In order to walk on uneven terrain safely, the robot's foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself, and be controlled by the foot using the forces and moments. Also, in order to grasp unknown object safely, the robot's hand should perceive the weight of the object using the mounted 6-axis force/moment sensor to its wrist, and be controlled by the hand using the forces and moments. Therefore, 6-axis force/moment sensor should be necessary for a humanoid robot's hand and foot. In this paper, 6-axis force/moment sensor for a humanoid robot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing element of the sensor was designed using theoretical analysis. Then, 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from theoretical analysis agree well with the results from the experiments.

• Journal of Biosystems Engineering
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• v.25 no.2
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• pp.131-140
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• 2000

Spraying operation is one of the most essential in an orchard management and it is also hazardous to human body. for automatic and unmanned spraying , an autonomous travelling vehicle is demanded. In this study, a telemeter was developed using infrared beam which could detect trunks and obstacles measure distance and direction from the vehicle travelling in the orchard. The telemeter system was composed of two infrared LED transmitters and receivers, a beam scanning device for continuous object detection , two rotary encoders for angle detector, and a beam level controller for uneven soil surface. The detected distance and direction signal s were sent to personal computer which made for the system display the angular and distance measurements through I/O board. According to a field test in an apple farm, the system detected up to 10m distance under 12 V of transmitted beam intensity, however, it was recommended that the proper beam transmit intensity be 7 v at the 10 m distance, because of the negative effect to human body at 12 V. The error rate of this system was 0.92 % when the actual distance was compared to measured one. The system was feasible at the small error rate. The developed telemeter system was an important part for autonomous travelling vehicle provided the real time object recognition . A direction control system could be constructed suing the system. It is expected that the system could greatly contribute to the development of autonomous farm vehicle.

• Korean Journal of Agricultural Science
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• v.44 no.1
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• pp.23-29
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• 2017

This study was conducted to explore which pollen type could be an effective pollen source for self-incompatible 'Niitaka' pear (Pyrus pyrifolia Nakai), when different pollinizers were to be applied. The pollens of five different pears with similar flowering times were applied to bagged 'Niitaka' flowers grown in Cheonan city, Korea. Pollen types used were of different origins including Korean pears ('Wonhwang' and 'Chuhwangbae'), Japanese pears ('Chojuuro' and 'Okusankichi'), and Chinese pear ('Yali'). Results show that the amount of pollen produced by flowers of each cultivar was the largest in Korean pear 'Wonhwang' (234 g/100 flowers) and the smallest in Japanese pear 'Okusankichi' (126 g/100 flowers). A high proportion of large fruits (> 600 g), 71.4% of total production, was found in the fruits treated with 'Yali' pollen. However, these fruits showed an unfavorable external appearance. Based on individual fruit width differences, 'Chojuuro' treatment produced the smallest difference in fruit diameters (3.2 mm) and 'Yali' treatment' gave the largest (4.8 mm). Also, the difference in fruit length was the largest in 'Yali' (7.5 mm), which also produced the most uneven fruits among the pollinizers used. Meanwhile, the use of pollens of 'Wonhwang' and 'Chuhwangbae' improved productivity by increasing the fruit shape index and the ratio of bigger fruits in total production. Moreover, those pollens also decreased the development of lenticels on fruit skins which gave them a smoother appearance.