This study was carried out in order to examine the germination characteristics of Atractylodes japonica seeds, and it was to develop the more efficient pre-treatment and production system of the seeds. Experiment was performed by two ways-temperature control (10, 15, 20, 25℃) and shading treatment (full sunlight, 35, 50, 75, 95% of full sunlight). Seed pre-treatment before the each experiment was carried out by temperature (with low temperature and wetting treatment (LTW) for 0, 15, 30, 45 and 60 days) and shading treatment (with drying at room temperature (DRT), drying at low temperature (DLT) and water soaking (WS) for 48 hours). Seeds of A. japonica were germinated well under temperature control (overall 85.3~100%), especially high temperature. And, the seeds pre-treated with LTW for 45 days germinated with a 100% success rate. Under the surveying shading treatment, the highest germination rate was 95.8% with DRT and overall 63.2~95.8%. Germination rate under seeds with WS was 63.2~7.8%. As a result of surveying the whole experiment, A. japonica seeds don't need to pre-treat cause of high germination, but if it is performed with LTW for a certain period of time, it would be more productive.

독도로부터의 거리 및 수심에 따라 채취된 표층 퇴적물에 대하여 입도분석, 광물분석, 유기물 분석 및 미화석 분석 결과를 이용하여 독도 인근 해저의 퇴적 기작 및 유기 퇴적물의 분포를 규명하였다. 독도 인근 해저 퇴적물은 자갈 및 사질이 우세하며, 끌림에 의한 퇴적 작용이 주를 이루는 반면에 독도와 거리가 멀어짐에 따라 실트와 머드의 비율이 증가하며 점토광물과 장석 등의 광물 성분의 변화를 보이고 뜬짐에 의한 퇴적이 우세해지는 경향을 보인다. 퇴적물에 포함된 유기 퇴적물의 군집 조성 또한 큰 변화를 보이는데, 연안 퇴적물에서는 해양 기원의 유기 퇴적물이, 심해 퇴적물에서는 육상 기원의 유기 퇴적물이 우점한다. 이러한 유기 퇴적물의 군집 변화는 퇴적물의 입도에 큰 영향을 받는 것으로 밝혀졌으며 유기 퇴적물중 높은 화분 농집도는 심해 퇴적물의 유기탄소 함량을 증가시키는데 중요한 역할을 하는 것으로 판단된다.

One of the important issues for structural and electrical specifications in developing a robot is to determine lengths of links and motor specifications, which need to be appropriate to the purpose of robot. These issues become more critical for a gait rehabilitation robot, since a patient wears the robot. Prior to developing an entire gait rehabilitation robot, designing of a 1DOF assistive knee joint of the robot is considered in this paper. Human gait motions were used to determine an allowable range of knee joint that was rotated with a linear type actuator (ball-screw type) and links. The lengths of each link were determined by using an optimization process, minimizing the stroke of actuator and the total energy (kinetic and potential energy). Kinetic analysis was performed in order to determine maximum rotational speed and maximum torque of the motor for tracking gait trajectory properly. The prototype of 1 DOF assistive knee joint was built and examined with a impedance controller.

겨울철 작물재배를 위해서 비닐하우스 보온을 위한 수막시설의 이용이 늘어나고 있어 과다한 지하수 이용에 따른 수위 강하 및 하천수 감소를 유발하고 있다. 따라서 수막시설재배 지역에서의 지하수 양수가 지하수 대수층과 연결된 하천에 어떠한 영향을 미치는 지를 정량적으로 평가해야 할 필요가 있다. 본 연구에서는 경기도 이천시 신둔면 수하리 일대 수막시설재배지역에 지하수위와 온도를 계측하기 위한 지하수 관측공을 제내지와 제외지에 설치하고 관측 결과를 분석하여 지하수 양수에 따른 하천-지하수 상호 유동계의 변화를 평가하였다. 연구대상지역은 수위와 수온 관측 결과, 수막시설재배 기간 동안 지하수 양수의 영향으로 하천수가 지하수계로 유입되는 손실하천의 양상을 나타내었다. 하천바닥층에 대해 침윤계 실험을 통해서 유도한 수두차와 침윤량간의 관계에 자동관측된 수위자료를 대입하여 하천과 지하수계 상호간 유동량의 연속적인 변화를 산정한 결과 수막시설재배가 한창인 2월말에는 지하수 이용량의 약 16% 만큼의 하천수가 감소하는 것으로 분석되었다.

This study was performed to assess functions of 10 man-made wetlands in Gunsan City, Jeollabuk Province by means of RAM (Rapid Assessment Method), a technique recommended by Ramsar Convention to appraise wetlands. The assessment of the wetlands value found Gunsan reservoir to have the highest function points while Bukchosan reservoir was estimated to have the lowest function among the wetlands surveyed. By detailed factors of valued 10 man-made wetland, the wetlands were found to function most favorably in terms of vegetational variety and as habitat for wild animals. They need to have more improved functions as habitats for fish and amphibians․reptiles, for preservation and betterment of water quality as well as for supplement of underground water, though. From the assessment of vegetational naturalness of the surveyed reservoirs, Gunsan reservoir turned out to be the most favorable wetland from the viewpoint of vegetation science whereas, however, Anjeong wetland was rated as the lowest in the assessment of vegetational value due to simplicity in its vegetation and lots of dangers in its neighborhood threatening its vegetation and ecology. The assessment of vegetational values for Gunsan, Gongchang, Daewi, Bukchosan, Anjeong, Geumgul, Changan and Chuksan reservoirs showed the same orextremely similar results as RAM function assessment. Geumsan reservoir only, however, featured the opposite result.

In this paper we propose the method that detects moving objects in autonomous navigation vehicle using LRF sensor data. Object detection and tracking methods are widely used in research area like safe-driving, safe-navigation of the autonomous vehicle. The proposed method consists of three steps: data segmentation, mobility classification and object tracking. In order to make the raw LRF sensor data to be useful, Occupancy grid is generated and the raw data is segmented according to its appearance. For classifying whether the object is moving or static, trajectory patterns are analysed. As the last step, Markov chain Monte Carlo (MCMC) method is used for tracking the object. Experimental results indicate that the proposed method can accurately detect moving objects.

According to previous research on evaluating vegetative value of wetland and RAM evaluation targeting the man-made wetland in Gunsan, Gunsan Reservoir and Gongchang Reservoir had been found to have satisfactory results while Anjeong Reservoir and Changan Reservoir had been found to have unsatisfactory results. Aimed at those reservoirs, a vegetation survey was conducted to analyze differences in terms of flora and growth habit. As for the flora, Gunsan Reservoir ranked first with 433 kinds of plants, followed by Gongchang Reservoir with 306, Changan Reservoir with 176 and Anjeong Reservoir with 167. As for specific plant species by floristic region, it was identified that Gunsan Reservoir had 18 species, larger than other wetlands and also, it had more species of naturalized plants than others. This phenomenon is related to various wetland environments resulted from wider area of Gunsan Reservoir. In the case of dormancy form, hemicryptophytes were mainly distributed in Gunsan Reservoir and Gongchang Reservoir while annual plants were mainly distributed in Anjeong Reservoir and Changan Reservoir with heavy disturbance.

We propose a formation-keeping and changing methods for outdoor multiple mobile robots in chained form. Our proposed method is designed to maintain the follower to its desired distance and orientation with respect to the pole using the concept of virtual force such as potential field. The client robots use a behavior-based control to perform kinematic control to keep formation under the centralized system in our software framework. The relationship of each poles that is expressed by set of distance and angle is the description of the formation type and the type converting is performed using this set. In addition, we also examine the stability and capability in the simulation and experiments with real robots.

A study on vegetation in the Mangyeong River and Dongjin River basins and the surrounding regions of the Saemangeum Reclaimed Land was conducted in a series of efforts to determine the expected ecological changes in the salt marshes, to restore their vegetation, to explore the restoring force of halophyte, to examine the community mechanism and, ultimately, to rehabilitate marshy land vegetation along the lakeside, coastal dune and salt marshes of the Saemangeum Project Area. The findings of the study may be summed up as follows: Five species such as Suaeda japonica, Salicornia herbacea, Atriplex gmelini, Aster tripolium and Suaeda asparagoides that are mostly distributed in the estuary of the Saemangeum Reclaimed Land were analyzed to examine the mechanism of halophyte to maintain their community. To find out the strategies of plants for survival and the cause of forming community structure, a research was made as for appearance ratio of biomass, root lengths and germination. With regard to biomasses of halophyte, the biomass of Suaeda japonica increases rapidly, while Salicornia herbacea adopts a strategy of unstable growth pattern by which the biomass increases slowly in parallel with its slow speed of growth since initial appearance of young sapling. In contrast, Suaeda asparagoides, Atriplex gmelini and Aster tripolium choose to adapt themselves to environment promptly by being transformed into life form of annual or biennial plant, a pattern that is presumed to be favorable and stable for survival in the later stage of growth. In short, there is a sharp distinction among the 5 species: i.e. Suaeda japonica that begins to grow fast in the length of surface and underground section but slows down from the mid-stage on; Salicornia herbacea that grows slowly in the beginning step but starts to step up from the middle onward; Atriplex gmelini and Aster tripolium growing slowly in the initial stage but fast later on; and Suaeda asparagoides that turns from the constant growth in the beginning to rapid growth in the later period. The outcomes of the analysis into status of growth and influencing factors of Suaeda japonica in the sowing field that is most widely prevalent in the Saemangeum Reclaimed Land as a sort of ecological pioneer in the salt marshes showed that the average size of grass lands, density and number of individuals increase in the natural sowing field as well as in the plowing field regardless of their physical as well as physico-chemical features of the soil as the season progresses from June to October of a year.

A study on vegetation in the Mangyeong River and Dongjin River basins and the surrounding regions of the Saemangeum Reclaimed Land was conducted in a series of efforts to determine the expected ecological changes in the salt marshes, to restore their vegetation, to explore the restoring force of halophyte, to examine the community mechanism and, ultimately, to rehabilitate marshy land vegetation along the lakeside, coastal dune and salt marshes of the Saemangeum Project Area. The findings of the study may be summed up as follows: Five species such as Suaeda japonica, Salicornia herbacea, Atriplex gmelini, Aster tripolium and Suaeda asparagoides that are mostly distributed in the estuary of the Saemangeum Reclaimed Land were analyzed to examine the mechanism of halophyte to maintain their community. To find out the strategies of plants for survival and the cause of forming community structure, a research was made as for appearance ratio of young sapling. From the results of laboratory analysis into dynamics of the saplings of halophyte, it was revealed that the germination ratio of the dry area and submerged area decreases in the order of Suaeda asparagoides, Suaeda japonica, Salicornia herbacea, Atriplex gmelini and Aster tripolium.

People have expected a humanoid robot to move as naturally as a human being does. The natural movements of humanoid robot may provide people with safer physical services and communicate with persons through motions more correctly. This work presented a methodology to generate the natural motions for a humanoid robot, which are converted from human motion capture data. The methodology produces not only kinematically mapped motions but dynamically mapped ones. The kinematical mapping reflects the human-likeness in the converted motions, while the dynamical mapping could ensure the movement stability of whole body motions of a humanoid robot. The methodology consists of three processes: (a) Human modeling, (b) Kinematic mapping and (c) Dynamic mapping. The human modeling based on optimization gives the ZMP (Zero Moment Point) and COM (Center of Mass) time trajectories of an actor. Those trajectories are modified for a humanoid robot through the kinematic mapping. In addition to modifying the ZMP and COM trajectories, the lower body (pelvis and legs) motion of the actor is then scaled kinematically and converted to the motion available to the humanoid robot considering dynamical aspects. The KIST humanoid robot, Mahru, imitated a dancing motion to evaluate the methodology, showing the good agreement in the motion.

This paper deals with a tangible interface system that introduces robot as remote avatar. It is focused on a new method which makes a robot imitate human arm motions captured from a remote space. Our method is functionally divided into two parts: capturing human motion and adapting it to robot. In the capturing part, we especially propose a modified potential function of metaballs for the real-time performance and high accuracy. In the adapting part, we suggest a geometric scaling method for solving the structural difference between a human and a robot. With our method, we have implemented a tangible interface and showed its speed and accuracy test.

During the communication and interaction with a human using motions or gestures, a humanoid robot needs not only to look like a human but also to behave like a human to make sure the meanings of the motions or gestures. Among various human-like behaviors, arm motions of the humanoid robot are essential for the communication with people through motions. In this work, a mathematical representation for characterizing human arm motions is first proposed. The human arm motions are characterized by the elbow elevation angle which is determined using the position and orientation of human hands. That representation is mathematically obtained using an approximation tool, Response Surface Method (RSM). Then a method to generate human-like arm motions in real time using the proposed representation is presented. The proposed method was evaluated to generate humanlike arm motions when the humanoid robot was asked to move its arms from a point to another point including the rotation of its hand. The example motion was performed using the KIST humanoid robot, MAHRU.

The purpose of this study was to research about salt marsh flora and vegetation in the Dongjin-river estuary area where has a project for Sea Man Geum Reclaimed Land so that we can foster foundation on restoration of an ecological habitat, development of applicable plant and establishment of a conservation policy after deceloping the reclaimed land for salt marsh vegetation which has great value ecologically. In conclusion, we was distributed that there are 7 families 21 genera, 25 species, 2 varieties of vascular plant at the Dongjin-river estuary area which have 27 taxa in total and are 0.64% among 4,191 of korean vascular plant. There are also 2 family, 2 genus, 2 species of a naturalized plant which are 1.1% of indicator of a naturalized plant salt marsh vegetation of the downstream are very much affected by the time of inundation, tidal water so that a low degree of salt marsh has frequent flooding by sea water and has a pure group of Suaeda japonica. A Phragmites communis, Carex scabrifolia are distributed mainly around a waterway of salt marsh and Zoysia sinica, Atriplex subcordata, Phragmites communis are living in stock as forming into patch around medium salt marsh. Suaeda asparagoides, Phacelurus latifolius are living around a little high ground and a Phragmites communis is a behind vegetation of Phacelurus latifolius and a part of the Phragmites communis are living along with waterway in a salt marsh as a community. By the Z-M method twelve plant communities were recognized ; Suaeda japonica, Carex scabrifolia, Zoysia sinica, Artemisia scoparia, Phacelurus latifolius, Phragmites communis, Suaeda maritima, Suaeda japonica-Atriplex gmelini, Phragmites communis-Suaeda japonica, Suaeda japonica-Salicornia herbacea, Salicornia herbacea-Suaeda asparagoides and Scirpus planiculmis community. The actual vegetation map was constructed on the grounds of the communities classified and other data.

수도권내 9개 골프장 연못에서 조사된 관속식물은 코리아 CC(Korea CC)에서 95종으로 가장 많은 종이 분포하고 있으며, 은화삼 CC(Eunhwasam CC)에서는 가장 적은 21종류가 조사되었다. 조사된 관속식물은 대체적으로 1～2년생의 단자엽식물과 다년생의 쌍자엽식물로 구성되어 있다. 연못식생의 외래식물과 식재식물의 비율은 지산 CC(Jisan CC)가 52.3%의 비율을 보여 많은 식물들이 외래식물과 식재식물로 구성되어 있으며, 파인크리크 CC(Pine Creek CC)는 21.1%로서 가장 낮은 비율을 보였다. 9개 골프장 중에서 식물군락이 가장 다양한 곳은 파인크리크 CC(Pine Creek CC)로서 총 25개 군락이 조사되었으며, 반자연식생 및 자연식생군락이 16개, 식재 또는 외래식물군락이 9개 군락으로 조사되었다. 전체 연못의 반자연식생 및 자연식생 식물군락 중 수생식물군락은 17개군락으로 조사되었으며, 교란지식생 및 식재군락에서는 12개의 수생식물군락이 조사되었다. 조사된 9개 골프장에서 파인크리크 CC(Pine Creek CC)가 자연식물군락이 대상식물군락 보다 많았으며, 프리스틴벨리 CC(Pristine Valley CC)는 반자연식생 및 자연식생이 조사되지 않았다. 연못식생의 자연성 평가에서는 마이다스벨리 CC (Midas Valley CC)와 파인크리크 CC(Pine Creek CC)가 평가지표에 따른 가치등급에서 높은 자연성을 보였으나, 서서울 CC(Seseoul CC)와 은화삼 CC (Eunhwasam CC)는 가장 낮은 자연성을 보였다. 이들 자연성에 대한 유사성 거리계수의 상대거리에 의한 집단 분류에서는 인위적 식생이 우세한 태영 CC(Taeyoung CC), 은화삼 CC(Eunhwasam CC), 지산 CC(Jisan CC), 서서울 CC(Seseoul CC)가 하나의 군으로 구분되었으며, 반자연적 식생의 특징을 보인 코리아 CC(Korea CC)와 프리스틴벨리 CC (Pristine Valley CC)가 하나의 군으로 조사된 골프장에서 비교적 자연성이 높은 마이다스벨리 CC (Midas Valley CC)와 파인크리크 CC(Pine Creek CC)가 하나의 군을 형성하고 있었다. 블루헤런 CC (Blue Heron CC)는 다른 군과는 또다른 의미로서 구분되었는바, 블루헤런 CC(Blue Heron CC)는 경관적 의미에 대한 가치평가가 높은 결과로서 하나의 군으로 나누어 졌다.

CCA (Canonical Correspondence Analysis) was used so as to analyze the relation between vegetation and soil environment of Mankyeong river located in Jeollabuk-do. Vegetation survey consulted 1:5,000 topographical map, set up 30 plot and analyzed from June, 2001, to september, 2001. Plant communities of Mankyeong river was investigated by phytosocialogical method. The species composition of plant communities showed high correlation to soil pH, soil organic matter, P2O5, total nitrogen, EC, when they were analyed by CCA. According to the results of CCA hydrophyte communities were distributed in the region that high pH. But the vegetation of disturbed site and wetland plants were distributed in a good nutrients.

전라북도지방 소산 한약자원 식물은 91과 305속 470종 1아종 30변종 2품종으로 총 503종류가 본 조사결과 밝혀졌다. 각 과별로 그 숫자가 많은 종류는 국화과에 속하는 식물이 45종류로 가장 빈번하게 나타났고 그 다음은 장미과 식물이 30종류 그리고 콩과는 23종류의 순서였다. 전 조사지역에 고루 다수 분포하는 종류는 오미자, 마, 승마, 촛대승마, 족도리, 천남성, 둥굴레, 꿀풀, 박새를 들 수 있으며 집중적으로 나는 상태를 알아보기 위하여 정량조사를 실시한 결과, 예컨대, 더덕은 5m×5m내에 30-50 개체가 덕유산 표고 약1300m 북서사면에서 조사되었다. 현재 심한 채취로 감소추세에 있는 식물은 둥굴레, 오미자, 더덕 등이고, 농가에서 재배중이거나 앞으로 개발 유망하며 가치가 높은 종류는 만삼, 가시오갈피, 천마, 복분자딸기, 더덕, 하수오 등이 있다. 요컨대 전라북도 지방에는 풍부하고 다양한 한약자원식물이 자연상태에 분포하고 있으며 이를 연구하고 집중적인 개발이 필요하다고 판단되었다.