Planetary global localization is necessary for long-range rover missions in which communication with command center operator is throttled due to the long distance. There has been number of researches that address this problem by exploiting and matching rover surroundings with global digital elevation maps (DEM). Using conventional methods for matching, however, is challenging due to artifacts in both DEM rendered images, and/or rover 2D images caused by DEM low resolution, rover image illumination variations and small terrain features. In this work, we use train CNN discriminator to match rover 2D image with DEM rendered images using conditional Generative Adversarial Network architecture (cGAN). We then use this discriminator to search an uncertainty bound given by visual odometry (VO) error bound to estimate rover optimal location and orientation. We demonstrate our network capability to learn to translate rover image into DEM simulated image and match them using Devon Island dataset. The experimental results show that our proposed approach achieves ~74% mean average precision.

In reinforced concrete structures, carbonation phenomena associated with deterioration is important. So, this study conducted a visual inspection and a concrete durability test in Precise Safety Diagnosis, analyzed the result, and tried to suggest a reasonable repair method and range of concrete carbonation.

reinforced concrete structures, carbonation phenomena associated with deterioration is important. So, this study conducted a visual inspection and a concrete durability test in Precise Safety Diagnosis, analyzed the result, and tried to suggest a reasonable repair method and range of concrete carbonation.

About 4,800 soil drums were generated in the process of maintenance on KRR site (Korea Research Reactor) in Seoul. Most of the drums are processed by regulatory clearance in 2007-2008 and the remaining 1800 drums are currently stored in KAERI (Korea Atomic Energy Research Institute). To decide a treatment method of radioactive soil for final disposal, the soil is classified according to a particle size. Based on the results of the radioactivity concentration for the classified soil, methods such as regulatory clearance, decommissioning, and solidification were decided. Many papers show that radioactive soil is disposed of using a decontamination agent or other method. But it is difficult to decontaminate radioactive particles from fine soil particles because the adsorptive power of fine soil particles is too strong. This study was focused on finding a particle size distribution of radioactive soil that can be used as an operating range for cement solidification produced by a suitable ratio of radioactive soil for final disposal. Workability, free-standing water, compressive strength, immersion, and leaching tests were carried out to evaluate characteristics of the cement solidification. Cement solidification is the only method for final disposal because radioactive soil particle sizes below 500 μm exceed the regulatory clearance criteria (< 0.1 Bq/g). According to the test results for cement solidification, 0.4 water/cement and 0.5 soil/cement ratios are the most appropriate operating ranges.

Cup arrangement ranking method (CARM) is a method for a rapid and small-sample sensory evaluation of cooked rice in rice breeding program. This study was compared to four different scale ranges (1~11, 1~9, 1~7 and 1~5) for improving the efficiency of CARM using sixteen Japonica and four Tongil-type cultivars. The wide scale ranges were higher of that than narrow scale range on determination coefficient between standard sensory evaluation method (SSEM) and CARM. However, the wide scale ranges were required more time and efforts than those of the narrow scale ranges for eating sensory evaluation of cooked rice. The wide scale ranges of 1~11 and 1~9 were difficult to distinguish the differences between the cultivars in the scale 3 and 4. On the other hand, the narrow scale ranges of 1~7 and 1~5 could distinguish the difference between cultivars in all scales. We suggest that two scale ranges for CARM were 1~7 (7 classes) in including Tongil type cultivars and 1~5 (5 classes) in Japonica cultivars.

In this paper, we fabricate arrayed-type flexible capacitive touch sensor using liquid metal (LM) droplets (4 mm spatial resolution). Poly-4-vinylphenol (PVP) layer is used as a dielectric layer on the electrode patterned Polyethylene naphthalate (PEN) film. Bonding tests between hydroxyl group (-OH) on the PVP film and polydimethylsiloxane (PDMS) are conducted in a various O2 plasma treatment conditions. Through the tests, we can confirm that non-O2 plasma treated PVP layer and O2 plasma treated PDMS can make a chemical bond. To measure dynamic range of the device, one-cell experiments are conducted and we confirmed that the fabricated device has a large dynamic range (~60 pF).

In this study, we grasp the present conditions of ‘Large-scale Slope’ located on the national highway and analysis countermeasure method applied collapsed slopes during the past three years. Through this analysis, we can find suitable Countermeasure Method by collapse mode, and utilize as a reference data when maintenance the slopes.

In this study, changes in daily temperature range were investigated using daily maximum and minimum temperatures of Busan and Daegu for last 81 years (1934-2014), and also characteristics of daily temperature range and seasonal fluctuations by urbanization were examined. First, elapsing changes showed a lower decreasing trend in Busan (0.32℃) than Daegu (1.2 8℃) for last 81 years. Daily temperature range showed the highest rise in winter in both Busan and Daegu. Second, daily temperature range due to urbanization showed that Busan had a pronounced decreasing trend before urbanization meanwhile Daegu showed the same trend after urbanization. On seasonal changes, the results of Busan showed a decreasing trend in summer before urbanization, and in autumn after urbanization. For Daegu, the results showed a decreasing trend in spring before urbanization, and in winter after urbanization. Seasonal fluctuations of Busan showed little difference in the pre and post-urbanization, except in winter and summer. There was large difference in daily temperature range in winter after urbanization, and in summer before the urbanization. The results in Daegu showed that there was decreasing trend of daily temperature range in all seasons after urbanization.

The main purpose of the current study was to compare quality of eggs 1) produced from hens housed in battery cages vs. free range, 2) from young vs. old hens, and 3) tagged with the lowest vs. the highest price in a local franchised mart. The ages of hens, at which their eggs were used for the analysis of quality, were 70 weeks old in the experiment 1, 22 and 47 weeks old in the experiment 2, and were unknown in the experiment 3. Eggs were analyzed for weight, albumen height, Haugh unit, shell color, shell strength, shell thickness, shell weight, yolk color, yolk weight, and egg white weight. In the experiment 1, significant differences were detected between two housing systems in shell color, shell weight, yolk color, and yolk weight (P<0.05), but not in egg weight, albumen height, Haugh unit, shell strength, shell thickness, and egg white weight (P>0.05). Although egg weight was slightly but not significantly higher in battery cages by 2.2 g than in free range, yolk weight was significantly higher in battery cage (P<0.05). On the contrary, shell color was greatly increased in free range system by 68.5% compared with battery cage. In the experiment 2, there were significant differences between young and old hens in egg weight, albumen height, Haugh unit, shell strength, shell weight, yolk color and yolk weight (P<0.05). Egg weight, shell weight, yolk color and yolk weight were increased in old hens than young hensile albumen height, Haugh unit, and shell strength were decreased. In the experiment 3, egg weight, albumen height, Haugh unit, shell weight, and egg white weight were significantly higher in the highest priced eggs than the lowest ones (P<0.05), whereas shell strength and yolk color were lower (P<0.05) but shell color, shell thickness and yolk weight were not different (P>0.05). So, egg freshness was clearly higher in the highest priced ones than in the lowest (P<0.05). Due to the limited information on raising and husbandry of laying hens whose eggs were tested for egg quality in the current study, the present results should be cautiously interpreted while contributing to the future study as a basis in this field.

홍수기유량측정의어려움을극복하고자물과비접촉식으로유속을측정하여유량을산정하는전자파표면유속계를개발하여실무에적용하고 있다. 기존에 사용 중인 전자파표면유속계는 홍수용으로 연중 활용도가 낮아 이의 활용도를 높이고자 전자파표면유속계의 성능개선을 통하여 유속측정범위를확장하여평․갈수기에도하천유량측정이적용할수있게하였다. 즉기존홍수용전자파표면유속계의유속측정범위가0.5∼10.0 m/s이었던 반면, 금번 개발된 고성능 범용 전자파표면유속계는 0.03∼20.0m/s로 홍수기뿐만 아니라 평수기에 유속측정이 가능하도록 성능을 개선하였다. 전자파표면유속계를 이용한 저유속의 측정을 위해서 필요한 요소를 조사한 결과, 송신신호의 수신단 유입을 차단하여 저유속의 미세한수신신호에대한검출능력을향상할수있도록송수신격리도의개선, 이와함께공진기의위상잡음특성개선이저유속의검출에필수사항 임을파악하였다. 따라서이를감안하여안테나의송신부와수신부가분리된안테나를개발함으로써송수신격리도를개선하였고, 기존공진기의 위상잡음특성을개선하기위하여위상고정주파수합성기를공진기로적용함으로써저유속검출성능을개선하였다. 또한고성능범용전자파표면 유속계의 사용편의성 증진을 위하여 안테나의 소형, 경량화 제작을 가능토록 하고자 사용주파수(10 GHz→24GHz)를 변경하였다. 이와 더불어 기존전자파표면유속계사용자들의개선요구사항-측정유속안정화, 자체점검기능, 저전력, 방수방습-을반영함으로써현장에서유량측정하기에 간편한 기기로 개발하였다.

본 연구에서는 지진계 센서의 동적범위를 향상시키는 새로운 방법을 제안하였다. 먼저, 센서에 포함된 저주파수 대역 잡음을 ARMA(Auto Regresive Moving Average) 모델로 모델링하고 시스템 식별 방법으로 그 모델을 식별한다. 다음으로, 모델링된 잡음과 지진파 입력을 칼만필터 식에 포함하여 칼만필터에 의한 지진파입력을 추정한다. 제안한 방법을 새로이 개발된 MEMS 기반 3축 가속도 형태의 지진계에 적용하여 성능을 검증하였다. 시험 결과는 제안한 방법이 단순한 LPF(Low Pass Filter)를 사용한 경우에 비해 동적범위를 개선시킴을 보여준다.

이 글은 독도와 관련된 사항이 처음으로 한일 양국간 외교문제로 떠오른 1952년의 독도 관련 사건을 다룬다. 1952년의 독도 관련 사건이라고 하면, 1952년 1월 한국의 평화선 선언과 그해 7월 일본의 독도 폭격 연습지 지정이다. 일본 외무성 홈페이지에는 독도 영유권 주장과 관련하여 9가지 논거를 제시하고 있다. 그 중 7번째와 8번째의 내용이 독도 폭격 연습지 지정과 평화선 선언에 관한 것이다. 독도 폭격 연습지 지정은 ‘독도가 일본의 영토’라는 주장의 근거로 제시한 것이고, 평화선 선언은 ‘한국의 독도 불법점거’ 주장과 관련하여 제기한 것이다. 이 글에서는 두 사건을 법적 측면과 정책적 측면에서 검토한다. 우선 국제법적 측면에서 두 사건을 둘러싼 한일 양국 주장의 법적 타당성을 검토한다. 아울러 정책적 측면에서는 1952년에 한일 양국이 독도문제에 대해 어떠한 정책을 취했는지, 또 관련 사건에 있어서 제3의 이해 당사국인 미국은 어떠한 입장을 취하였는지를 살펴보고자 한다. 지금까지 이에 대한 연구들이 많이 이루어져 왔으나, 대개 개별적으로 이루어져 왔다. 그런데 이 글에서는 두 사건을 하나의 맥락에서 함께 다루고자 한다. 이러한 접근은 두 사건이 가지는 법적, 역사적 의미를 종합적으로 이해하고, 독도 영유권에 대한 일본 주장의 부당성을 확인하는데 도움이 될 것이다.

급속한 경제발전과 이상기온 등으로 인해 기후변화에 따른 풍수해 재해가 여전히 지속되고 있다. 풍수해가 발생하고 대피발령이 선포되고 그에 따른 시민이 대피소까지 도달하는 시간에 따라 안전하게 대피해야 인명피해를 최소화 할 수 있다. 하지만 현존하는 풍수해에 대한 대피시설에 대한 정보는 시민에게 잘 알려지지 않고 대피시간 안에 지역 주민을 수용 할 수 있는지는 알 수가 없다. 따라서 본 연구에서는 서울시의 서울 열린 데이터 광장에서 제공하는 수해예방정보 중 방재시설의 취약지역을 추출하는 것을 목적으로 하였다. 본 연구에서는 GIS등의 지리정보시스템을 이용하여, 대피소의 속성정보를 이용하여 인간의 보행속도에 따른 대피소의 수용범위를 분석하였다. 또한 재해약자 중 고령자를 대상으로 현존하는 대피소가 얼마나 고려했는지에 대해서 노인의 평균 속도에 따른 수용 범위를 분석하였다. 현존하는 대피소의 수용범위를 성인과 재해약자 중 고령자를 대상으로 대피시간을 설정하여 Network Analysis의 Service Area 분석을 실시하였다. 서울시에서 제공하는 대피소의 속성정보에 따라 서울시 전역을 지역구단위로 분석을 하고 취약지역을 추출하였다. 또한, 고령자의 경우에는 취약지역이 전체적으로 나타났으며 서울시 중에서도 고령화지수가 다른 지역구보다 높은 지역을 선별하여 분석을 실시하였다. 성인의 경우 1m/s, 고령자의 경우 0.5m/s를 평균속도로 설정하였고 대피시간을 5분,10분,15분으로 설정하여 대피소의 수용범위에 대해서 분석을 실시하였다.

본 연구에서는 지진 발생 시, 진앙으로부터 원거리 지역에 위치하거나 연약지반에 위치한 구조물에 영향을 줄 수 있는 장주기 성분 지진에 대한 예측 거리산정식을 분석하였다. 장주기 성분 지진에 관한 대표적인 피해 사례로는 멕시코시티지진(1985), 토카치오키지진(2003), 동일본대지진(2011) 등이 있으며, 일반 지진의 경우에서 볼 수 없는 다른 피해 양상이 나타났다. 이러한 장주기 성분 지진에 대해서는 연구된 바가 거의 없는 실정으로, 본 연구에서는 세계 각지에서 발생한 실제 지진기록에 대한 DB를 구축하고, 이를 분석하여 장주기 성분 지진의 도달거리 범위, 도달거리에 따른 최대지반가속도의 변화 등에 관한 분석을 실시하였다.

Heading date and photoperiod sensitivity are fundamental traits that determine rice adaptation to a wide range of geographic environments. By quantitative trait locus (QTL) mapping and candidate gene analysis using wholegenome re-sequencing, we found that Oryza sativa Pseudo-Response Regulator37 (OsPRR37; hereafter PRR37) is responsible for the Early heading7-2 (EH7-2)/Heading date2 (Hd2) QTL which was identified from a cross of late-heading rice ‘Milyang23 (M23)’ and early-heading rice ‘H143’. H143 contains a missense mutation of an invariantly conserved amino acid in the CCT (CONSTANS, CO-like, and TOC1) domain of PRR37 protein. In the world rice collection, different types of nonfunctional PRR37 alleles were found in many European and Asian rice cultivars. Notably, the japonica varieties harboring nonfunctional alleles of both Ghd7/Hd4 and PRR37/Hd2 flower extremely early under natural long-day conditions, and are adapted to the northernmost regions of rice cultivation, up to 53° N latitude. Genetic analysis revealed that the effects of PRR37 and Ghd7 alleles on heading date are additive, and PRR37 down-regulates Hd3a expression to suppress flowering under long-day conditions. Our results demonstrate that natural variations in PRR37/Hd2 and Ghd7/Hd4 have contributed to the expansion of rice cultivation to temperate and cooler regions

This paper verifies the performance of Extended Kalman Filter(EKF) and MCL(Monte Carlo Localization) approach to localization of an underwater vehicle through experiments. Especially, the experiments use acoustic range sensor whose measurement accuracy and uncertainty is not yet proved. Along with localization, the experiment also discloses the uncertainty features of the range measurement such as bias and variance. The proposed localization method rejects outlier range data and the experiment shows that outlier rejection improves localization performance. It is as expected that the proposed method doesn’t yield as precise location as those methods which use high priced DVL(Doppler Velocity Log), IMU(Inertial Measurement Unit), and high accuracy range sensors. However, it is noticeable that the proposed method can achieve the accuracy which is affordable for correction of accumulated dead reckoning error, even though it uses only range data of low reliability and accuracy.

In case of measuring strength of concrete using ultrasonic pulse testing, setting reasonable range of limitations to get reliable strength data results is highly recommended. To resolve this issue, ultrasonic testings were performed on several concrete specimens ,randomly selected and contain strength ranged from 20 to 200MPa, to measure values of ultra sonic velocity and actual strength. Then advanced data analyses were performed based on the results from the experimental works.

Between July and October 2011, radio-tracking was used to analyze the characteristics of home ranges and day roosts of Myotis aurascens by using 3 individuals (male: 2, female: 1). Bat capturing was conducted at a bridge and a nearby forest in Ulju-gun, Ulsan-si. We attached radio transmitters (0.32 g) to the bats and monitored them by using a radio receiver with a Yagi antenna. Home-range analysis of M. aurascens by using 100% minimum convex polygon (MCP) and 95% MCP showed an average of 106.5 ha and 89.3 ha, respectively, and 50% kernel home range (KHR) showed an average of 8.4 ha. Home range overlap of the 3 bats was observed at the bridge and at nearby water bodies as the core areas, and the size of the home range overlap was 7.3 ha by 100% MCP, 5.9 ha by 95% MCP, and 1.6 ha by 50% KHR. The home range for each bat consisted of the main foraging sites, and the types of foraging sites were similar. M. aurascens-01(M-01) used the bridge and nearby water bodies as the nightly main core areas, M. aurascens-02(M-02) used rice fields and water bodies adjacent to the forest as core areas, and M. aurascens-03(M-03) used water bodies and resident areas as core areas. Although rice fields and resident sites represented the core areas of the home ranges of M-02 and M-03, habitat use was the highest near water bodies as the core area for all the 3 bats. The types of day roosts in this study were a wooden house, canopies of a broad-leaved woodland, and banks of rice fields. The roosts in the wooden house and canopies of the broad-leaved woodland were located within the forest, and the roost in the banks of rice fields was also adjacent to the forest. Our results revealed that the main home range and foraging sites of M. aurascens were located near water bodies as the core area, and forests and places adjacent to the forests were used as day roosts.

이 연구는 동결견 진단을 받은 환자에 대한 한국전통 정골요법(이하 KTO)을 적용하여 통증완화에 대한 유의성 연구가 진행하였던 환자를 대상으로 통증의 감소가 견관절의 가동범위도 증가하는지를 추가적으로 확인하기 위하여 진행하였다. 대상자는 총 14명으로 구성되어 있으며, 두 개 그룹으로 나누어 7명의 실험군과 7명의 대조군으로 하여 2그룹으로 나누어 연구를 진행하였다. 7명은 KTO를 총 10회 시술하고, 7명은 시술하지 않았다. 견관절의 가동범위의경우 항목별로 살펴보면 KTO를 적용한 그룹은 가동치의 변화를 살펴보았을 때 굴곡(7.33) 신전(10.00) 외전(8.76)내전(9.05) 외회전(8.10) 내회전(10.00)의 변화가 나타났다. KTO를 적용하지 않은 그룹의 가동치의 변화를 살펴보았을 때 굴곡(4.67), 신전(7.50), 외전(7.14), 내전(9.14), 외회전(6.59), 내회전(9.31)의 변화가 나타났다. 동결견 환자에게 한국전통정골요법을 적용하면 견관절의 가동범위 증가를 가져올 수 있음을 확인하였다.

본 연구는 각 호흡 위상에 따른 계획용표적체적(planning target volume. PTV)의 움직임 및 체적(PTV volume)의 변화를 횡격막(diaphragm)의 움직임을 이용하여 정량적으로 분석함으로써 폐암의 호흡 동기 방사선치료를 위한 최적화된 호흡 위상을 알아보고자 하였다. 비특이적 호흡이나 불규칙적인 호흡에 의한 체계적 오류(system error)를 최소화하기 위하여 모의 호흡 훈련을 시행하였다. 정규화된 호흡 동기 방사선치료 절차에 따라 각 호흡 위상 i에 따른 4차원 전산화치료계획(4-dimensional computed tomography. 4DCTi)을 시행하였으며 0~90%, 30~70%, 40~60% 호흡위상으로 재구성된 4DCTi 영상에서 PTV를 정의하고 PTVi의 움직임 및 체적의 변화를 정략적으로 분석하였다. 모의호흡 훈련에 의한 평균 호흡 주기는 3.4±0.5초로 나타났으며 임상적으로 유도되는 예상 값과 실제 측정값의 일치 정도를 나타내는 R-제곱 값은 1에 근접하여 유의하였다. 또한 각 호흡 위상 i에 따른 PTVi의 움직임은 0~90% 호흡 위상의 경우 13.4±6.4mm, 30~70% 호흡 위상의 경우 6.1±2.9mm, 40~60% 호흡 위상의 경우 4.0±2.1mm 이었으며 PTVi의 체적 변화는 30~70% 호흡 위상의 경우 32.6±8.7%, 40~60% 호흡 위상의 경우 41.6±6.2% 감소되었다. 결론적으로 짧은 호흡 위상(40~60%: 30% duty cycle) 폭을 적용하였을 때 PTV의 움직임 및 체적의 변화가 감소되어호흡을 고려한 PTV 마진이 4mm 이내이면서 PTV 내 선량의 균일성을 얻을 수 있었다.