불연속성 드론 Odometry 보완과 1채널 LiDAR 기반 맵핑 정밀도 향상 방법

이경로,류제호,이승주,이종훈 한국멀티미디어학회 2025 멀티미디어학회논문지 Vol.28 No.12

This study proposes an offline processing method to address discontinuous drone odometry and improve mapping accuracy in terrestrial mapping applications using single-channel LiDAR. Odometry discontinuities frequently occur during drone-based data logging due to hardware constraints such as onboard computer overheating, communication instability, and processing delays. To overcome these limitations, this study extracts ORB-SLAM3-based visual odometry from logged camera images and uses a conditional complement strategy to selectively replace drone odometry only in discontinuous sections, ensuring continuity while maintaining accuracy. Furthermore, we construct individual maps for each flight path and apply ICP-based map-to-map matching to compensate for z-value errors due to the vertical accuracy limitations of RTK. Experimental results demonstrate that the proposed approach significantly improves continuity while maintaining accuracy comparable to drone odometry. Quantitative evaluation results demonstrate that ICP matching significantly reduces z-value errors across all experimental regions. This offline processing method produces maps with higher density than conventional methods while maintaining accuracy, effectively providing reliable topographic information despite the limitations of single-channel LiDAR systems. The results of this study will contribute to the development of practical high-precision mapping systems applicable to various fields, including agriculture and construction, in resource-constrained environments.

Methoprene이 매미나방 난소의 미세구조에 미치는 영향

이경로,오세원,강정호 건국대학교 1995 學術誌 Vol.39 No.2

매미나방(Lymantria dispar)의 발생단계에 따라 JH유사물인 methoprene(isopropyl(2E, 4E)-11-methoxy-3,7,11-trimethyl-2,4-dodecadienoate)을 경구처리(ingestion treatment)와 도포처리(topical treatment)를 하여 난소의 미세구조에 미치는 영향을 광학현미경과 투과전자현미경으로 관찰하였다. 다자양형 난소소관으로 이루어진 난소는 복부배면에 1쌍 존재하고 각각 4개의 난소소관으로 구성되었다. 대조군에서는 전형적인 난세포의 분화가 일어났으며, 난황 축적이 진행되면서 난모세포 내에는 단백질성 난황, 지질성 난황과 글리코겐 입자들이 다량 함유되어 있었다. 난황 축적이 끝난 후에는 난황막과 난각이 형성되어 정상적인 난성숙을 하였다. 반면 methoprene 처리군은 발육이 억제되어 외형상 난소의 크기와 성숙도가 낮아져 대조군에 비하여 난소소관의 길이와 난세포의 수에서 차이를 보였으며, 난황 축적 등이 제대로 형성되지 않아 정상 성숙과 분화 과정에 연속성을 나타내지 않았다. The cellular effects of methoprene(isopropyl(2E, 4E)-11-methoxy-3,7,11-trimethyl-2,4-dodecadienoate), juvenile hormone analogue, on fine structure in the ovary of gypsy moth, Lymantria dispar were studied with light and transmission electron microscope. The ovaries of Lymantria dispar composed 4 ovarioles which are polytropic ovarioles. In the control groups, normal oocytes were matured, and then proteid yolk, lipid yolk and glycogen particles were formed in cytoplasm. In the methoprene treatment groups, morphological changes were examined. A lot of lipid vesicles and abnormal oocytes were observed in the methoprene treatments groups. There were processing of yolk formation, numerous glycogen particle and the shape of protein droplets were changed in the methoprene treatment groups. Egg maturation were not completely controlled in the methoprene treateds gypsy moth.

매미나방 유충기의 혈림프 유약 호르몬의 활성 변화

李敬魯 건국대학교 교육대학원 1987 敎育論叢 Vol.7 No.-

This paper describes the changes in juvenile hormone titers in the hemolymph using Galleria bioassay during larval stages of the gypsy moth, Lymantria dispar. Healthy specimens were chosen as samples at each developmental stages: 3rd instar larva, 4th instar larva, 5th instar larva, 6th instar larva and 7th instar larva(female). The juvenile hormone titers increased gradually at the 3rd instar larva to 5th instar larva but, decreased suddenly at the 6th instar larva stage. Five instar 1-2 old day larva of juvenile hormone titers in both sexs contains 41.900GU/g (male) and 37.000GU/g (female), respectively. Now, juvenile hormone titers reached the maximum during larval development stages. Male insects of juvenile hormone titers higher than from female insects of similar age of the gypsy moth. I Galleria unit corresponds to 1 pg/ml JH-Ⅰ, 4.5 pg/ml JH-Ⅱ and 22 pg/ml JH-Ⅲ.

한국산 밤나무흑벌의 변태에 따른 지방산에 관한 연구

이경로 한국통합생물학회 1965 동물학회지 Vol.8 No.2

Fatty acid components of the Chestnut gall wasp (Dryocosmus kuriphilus YASUMATSU) were analyzed by the method of gas chromatogrphy at various developmental stages. 1. The fatty acids identified at each stage are as follows : Larva stage : acetic acid , benzoic acid and capric acid. Prepupa stage : acetic acid, benzoic acid and capric acid. Pupa stage : acetic acid, benzoic acid and capric acid. 2. Through the development of the wasp, there were large amount of acetic acid.

함나무혹벌 신생태종에 관한 연구(I)

이경로,이종진 한국곤충학회 1982 Korean journal of entomology Vol.12 No.1

In order to clarify the comparision of biological characteristics between susceptible and resistant hosts of the chestnut gall wasp, Dryocomus kuriphilus Yasumatsu, morphological and physiological investigation that is the concentration of free amino acid, protein nitrogen, non protein nitrogen, trehalose, lipids, mineral salts and respiratory activity were measured, respectively. The results are summarized as follows; Morphological investigation of the egg, the ovipositor, the antennae, the wing and the leg were measured, but can not found significant differences between the two varieties of the chestnut gall wasp. In susceptible varieties, amino acids were detected in a total of 16 but amino acids of resistant varieties were detected in a total of 13 The amino acids identified at each varieties are alanine, aspartic acid, cysteine, glutamic acid, glycine, histidine, leucine, methionine, serine, threonine and valine. In general, protein nitrogen, non protein nitrogen and trehalose content of resistant were more than susceptible. Also, total lipid' phospholipid, monoacylglycerol, free fatty acid, triacylglycerol and ester cholesterol were identified at each stage in both varieties, and changes of concetration through the course of the physiological cycle form a U-shaped curve during metamorphosis. The respiratory activities had no significant differences between susceptible and resistant varieties. The mineral salts presented were sodium, calcium, potassium and phosphorus, which were identified at each stage in both varieties. The mineral salts concentration of susceptible was by far lower than that resistant of the chestnut gall wasp. In conclusion, of the two ecospecies of the chestnut gall wasp which damaged susceptible and resistant varieties, morphological differences were insignificant, however, physiological differences brought out the metabolic pattern that resistant was more than susceptible. 감수성품종과 저항성품종 밤나무를 가해하는 밤나무혹벌의 생태학적 특성을 비교하기 위하여 형태학적 조사와 변태에 따른 아미노산, 단백성질소, 비단백성질소, 탄수화물, 지질, 무기염류, 호흡능의 활성도에 대한 생리학적 조사를 한 결과는 다음과 같다. 1) 형태학적 조사를 위하여 란ㆍ산란관 촉각, 시맥, 각의 형태및 크기를 관찰하였으나 두 품종간에 유의한 차이를 찾을 수 없었다. 2) 아미노산은 감수성품종의 밤나무혹벌에서 16종, 저항성품종, 밤나무혹벌에서 13종이 검출되었고 alanine, aspartic acid, serine, valine은 모두 높은 농도를 나타냈다 3) 단백성질소ㆍ비단백성질소와 trehalose 모두 저항성품종의 밤나무혹벌이 높은 함량을 나타냈다. 4) 지질은 총지질, 인지질, monoacylglycerol, 유리지방산, triacylglycerol, ester cholesterol 이 분리되었으며 변태에 따른 생리적 U자형 곡선을 나타냈다. 지질의 함량은 저항성품종의 밤나무혹벌이 감수성품종의 그것보다 높았다. 5) 호흡능의 활성도는 감수성품종과 저항성품종의 밤나무혹벌에서 일정한 경향성을 보이지 않았다. 6) 무기염류의 함량변화는 변태기별로는 유충기와 전용기에 높았고, 저항성품종의 밤나무혹벌이 다소 높은 함량을 나타냈다.

솔잎혹파리의 변태에 따른 용기의 체액분석

이경로,이종진,이상석,고진복 한국곤충학회 1982 Korean journal of entomology Vol.12 No.2

The concetration of total protein and non protein nitrogen, lipid, trehalose, acid$.$alkaline phosphatase, glutamic oxaloacetic transaminase, glutamic pyruvic transaminase and mineral salts during the pupal stage in the pine leaf gall midge, Thecodiptosis japonensis Uchida et Inouye, were measured by using micro-Kjeldahl method, Thin layer chromatographic method, Anthrone method, Reitman-Frankel method, Oser method and EEL dame photometric method respectively. Healthy specimens were chosen as samples of each developmental stages; the prepupa and the late pupa. The concentration of total protein was 88.139mg/g in the prepupa and was 120.719mg/g in the late pupal stage. Non protein nitrogen contents was 2.292mg/g in the prepupa add was 4.225mg/g in the late pupal stage. In the late pupal stage total protein and non protein nit-rogen contents was higher than those in the prepupal stage. Total lipid, phospholipid, menoacylgly cerol, free fatty acid, sterol and ester cholesterol were identified in the prepupa and the late pupal stage. The concentration of total lipid was 150.0mg/g in the prepupa and was 162.8mg/g in the late pupal stage. With the exception of total lipid, phospholipid, monoacylglycerol, free fatty acid, sterol and ester cholesterol contents were higher than in the late pupa those in the prepupal stage. Rf value of trehalose analyzed on thin layer chromatogram was 0.714 in both stages, and the concentration of trehalose was 3.640mg/g in the Prepupa and was 3.553mg/g in the late pupal stage. The activity of acid phosphatase was 0.272unit/mg in the prepupal and was 0.281unit/mg in the late pupal stage, and alkaline phosphatase was 0.413unit/mg in the prepupa and was 0.546unit/mg in the late pupal stage. The activities of glutamic oxaloacetic transaminase and glutamic pyruvic transaminase showed the same patterns wi th acid . alkaline phosphatase. Mineral salts present were calcium, phosphorus, sodium and potassium, which were identified in both stages. All kinds of mineral salts contents in the late pupa were higher than those in the prepupal stage. In view of controlling pest, the patterns of the physiological activties indicate that control will be the most effective at the time of the worst physiological manifested at the prepupal stage. 솔잎혹파리 (Thecodiplosis japonensis Uchida et Inouye)의 변태기 중 전용과 후용의 액체 변화를 분석하고 그 활성을 측정코자 micro-Kjeldahl법, Thin layer chromatography법, Anthrone법, Reitman-Fra-nkel법, Oser법, EEL flame photometer법으로 측정분석하였다. 1)전용과 후용에서 총단백질과 비단백성질소, 지질, 탄수화물, phosphatase, GOT, GPT, 무기염류의 함량과 화성도가 측정되었다. 2) 총단백질과 비단백성질소 모두 후용에서 높은 함량의 변화를 나타냈다. 3) 분석된 지질은 총지질, 인지질, monoacylalycerol, 유리지방산, sterol, triacylglycerol, ester cholesterol이였으며 triacylglycerol을 제외하고 후용에서 각 지질의 함량이 전용에서 보다 높았다. 4) trehalose의 함량은 큰 차이는 없었으나 전용에서 다소 높았다. 5) 효소 활성도의 변화는 acid.alkaline phosphatase, GOT, GPT 모두 후용에서 높았으며, GOT는 GPT에 비해 매우 높은 활성을 보였다. 6) 무기염류는 칼슘, 인, 나트륨, 칼륨이 분석되었으며, 칼륨이 가장 높은 함량을 나타냈다. 7) 전용과 후용의 생리적 활성을 비교하면 전용기가 생리적 기능하강기로 나타나 이 시기가 생물학적 방제의 최적기로 이용될 수 있을 것이다.

먼지시료채취 숙련도 시험 점수 분포에 따른 시험소별 부적합 사례 분석

이경로,고상호,김지혜,전수아,이진주,이혜리,황종연,최종우 환경독성보건학회 2019 한국독성학회 심포지움 및 학술발표회 Vol.2019 No.10

밤바구미(Curculio dentipes Roelofs)의 유충.용의 혈단백질에 관한 연구

이경로,신병식 한국곤충학회 1988 Korean journal of entomology Vol.18 No.2

밤바구미의 각 시기에 따른 혈단백질 패턴과 함량을 SDS-polyacrylamide gel electrophoresis법과 spectrophotometer를 사용하여 분리측정하였다. 1. 혈단백질 함량은 월동전 유충에서 최고의 함량을 나타내었다. 월동중 감소하다가 월동후 다시 증가하였으며 종령유충기부터 계속 감소하여 응시기에 최저 함량을 나타냈다. 2. 혈단백질 패턴은 전시기에 걸쳐 최고 230,200 daltons에서 최저 15,900 daltons까지 모두 44개의 밴드가 나타났으며 가장 염색강도가 강한 밴드는 분자량 77,900 doltons으로 모든 시기에서 나타났다. 특히 용시기에서 단백질의 변화가 크게 나타났다 The pattrens and concentration of hemolymph protein in the chestnut weevil, Curculio dentipes (Roelofs) according to development stages were determined by SDS-polyacrylamide gel electrophoresis and spectrophotometric method. The protein contents were found to be the maximum at the nonoverwintering larva and decreased at the wintering larva and the overwintering larva and then reached minimum level at pupa stages. The denatured proteins were separated into 44 bands between the highest M.W. 230,200 daltons and lowest M.W. 15,900 daltons during all stages. The band of M.W. 77,900 daltons appeared during all stages and showed greatest color density. Particulary, at overwintering larva and pupal stages, large variation were observed in protein bands.

밤나무혹벌의 신생태종에 관한 연구(II)

이경로,이종진,신병식 한국곤충학회 1985 Korean journal of entomology Vol.15 No.2

재래종 및 저항성 밤나무에 기생하는 밤나무혹벌의 전 변태기 동안에 단백질의 패턴과 분자량을 SDS-polyacrylamide gel electrophoresis법을 이용하여 측정하였다. 1. 각 변태기중 유충기와 성충기 보다 용시기에서 더많은 단백질 밴드가 분리되었고, 같은 시기에 고분자단백 질의 밴드수가 증가되었다. 2. 전 변태단계에서 분자량 약 90,000~80,000과 50,000~40,000 부위가 2~3개의 주된 단백질 밴드로 분리되었다. 3. 재래종 밤나무에 기생하는 밤나무혹벌의 성충기에서는 다른 두 저항성 밤나무에 기생하는 밤나무혹벌 보다 더 많은 밴드가 분리되었으나, 밴드의 농도는 낮아서 다른 것과 현저한 차이가 나타났다. 4. 유충기의 경우, 재래 종은 축파와 단택에 기생하는 밤나무혹벌의 복합된 단백질 패턴을 보였다. 5. 밤나무혹벌간의 단백질 패턴의 차이는 기주식물에 따른 새로운 밤나무혹벌의 출현을 시사하며, 이 사실은 유전적 변이와 신생태종을 확인하는 기초자료가 된다. During metamorphosis, the protein patterns and major proteins molecular weight of chestnut gall wasp, Dryocosnus kuriphilus Yatsumatsu parasiting in susceptible chestnut and resistant chestnut were determinded by SDS-polyacrylamide gel electrophoresis. During pupal stage, more protein bands than those of the larval stages and adult stages were separated and the number of high molecular weight protein bands was increased at the same stage. Two or three major protein bands were distributed, whose molecular weights are about 80,000 to 90,000 and 40,000 to 50,000 at all developmental stages. A larger number of protein bands than those of two resistant strains were separated at the adult stage of susceptible strain and these protein bands showed remarkable differentation owing to lower color density. In case of larval stages, the susceptible strain showed the pattern of protein mixed with Cheuk Pa ana Dan Tak. It is conspicuous that changes of protein pattern of D. kuriphilus according to the host plants are caused by genetic variation and will he give the basal data in relation to the ecospecies.

매미나방(Lymantria dispar)의 유약호르몬과 유약호르몬 에스테라제의 활성도

이경로,안기흥,이충언,강정호,신병식 한국곤충학회 1995 Entomological Research Vol.25 No.4

매미나방(Lymantria dispar) 유충의 혈림프 유약호르몬(JH)을 영(instar), 일(day), 시간(hr)에 따라 암수 구분하여 Galleria 큐티클 왁스 검사와 Gas liquid chromatography(GLC)로 조사하였고, 이를 조절하는 유약호르몬 특이 에스테라제(JHE)의 활성도를 측정하여 비교하였다. Gallrria 큐티클 검사 결과 JH titer는 암수 모두 4령(IV)에서 가장 높은 활성을 나타내었으며, 수컷은 5령(V)에서 17,000GU/g 암컷은 6령(VI)에서 6,000GU/g으로 최저의 JH titer를 나타내었다. JH titer에서 최고치를 보인 4령 유충의 1일부터 7일까지 일별 JH titer의 변화는 수컷은 4령 2일에서 암컷은 4령 1일에서 가장 높게 나타났다. 일별 JH titer에서 최고의 활성을 나타낸 4령 2일(♂), 1일(♀)의 시간별 JH titer는 암수 모두 12시간에 서 55,000GU/g(♂), 48,000GU/g(♀)으로 가장 높은 활성을 나타내었다. GLC로 분리한 결과 5가지 측정되었으나 JH I, II, III 3종류는 동정되었고, 2가지는 미동정되었다. GLC에 의한 JH titer의 변화는 전체적으로 4령 유충에서 가장 높은 활성을 나타낸 후 감소하여 6령에서는 아주 미미한 양이 검출되었다. 성별 JH titer의 변화는 전체적으로 암컷이 수컷보다 높은 값을 나타냈다. 동정된 JH별 변화에서는 영과 성에 관계없이 JH II가 가장 높은 titer를 나타낸 반면 JH I은 4령에서 0.029ng/m1(♂), 0.0515ng/ml(♀)로 나타났고, JH III는 특이하게 수컷 4령에서 0.0283ng/m1로 낮은 titer를 보였다. 유충의 각 시기별 JHE의 활성도는 2령 수컷에서 0.8n mole/min/ml로 최저이고 5령에서 3.6n mole/min/ml로 최고값을 나타냈다. JH의 활성이 가장 높은 4령의 날짜별 JH 가수분해율은 수컷의 5일에서 최저이고 7일에서 최고인 반면 암컷에서는 1일에서 최저이고 4일에서 최고치를 나타내어 전반적으로 수컷이 더 높은 활성을 나타내었다. JH titer가 가장 높은 4령 2일(♂)과 1일(♀)의 시간별 JH 가수분해율은 수컷에서는 6시간에서 2.3n mole/min/ml의 높은 JHE 활성도를 나타내었고, 암컷에서는 24시간에서 4.7n mole/min/ml로 최고치를 나타내어 역상을 나타내었다. Haemolymph juvenile hormone(JH) titers were examined using Galleria cuticle wax test and gas liquid chromatography(GLC) and juvenile homone specific esterase(JHE) activities, which control JH, measured in both sexes of the gypsy moth, Lymantria dispar, during different larval stages, days and time. Galleria cuticle wax test had the highest JH titer at the 4th instar larvae on both sex(30,000 GU/g(♂), 33.000 GU/g( ♀)), and the lowest JH titer at the 5th instar larvae in male(17,000 GU/g), 6th instar larvae in female(6,000 GU/g). When JH titer was measured from day-1 to day-7 at the 4th instar larvae, it was high at day-2 in male(42,000 GU/g) and day-1 in female(37,000 GU/g), When JH titer was measured according to time, its high level was observed at 12 hour on both sexes(55,000 GU/g(♂) and 48,000(♀)). We found five JHs and three of them were identified as JH I, II, III, but two of them unidentified. 4th instar larvae showed a dramatic change of JH titers and female was me-re extreme than male. JH IIshowed the greatest change of its level regardless of different stages of larvae and sexes. JH I showed 0.029ng/m1( ♂ ), 0.015ng/ml(♀) at 4th instar larvae and specially JH III 0.0238 ng/ml at male 4th instar larvae, which is lower titer. Juvenile hormone specific esterase(JHE) activities of the gypsy moth in the different larval stages were lower at the 2nd instar larvae in male(0.8 mole/min/ml), and highest at the 5th instar larvae(3.6n mole/min/ml). When hydrolysis rate of JH at the 4th instar larvae whose JH titer was highest was measured, in male larvae, it was lowest(0.9n mole/min/ml) at day-5 and highest at day 7, and in female larvae, it was lowest(0.9m mole/min/ml) at day-1 and highest(3.3n mole/ min/ml) at day-4. Hydrolysis rate of JH in day-2(♂) and day-1 at the 4th instar larvae, whose JH titer was highest, was high in JHE activity at 6 hour(2.3 mole/min/ml) in male and 24 hour(4.7n mole/min/ml) in female. In conclusion, JH titer and JHE activity was shown to be inversely proportional.