• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.4
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• pp.759-764
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• 2011

This paper deals with the method of using the amended virtual force field technique to avoidance the front environment(wall, obstacles etc.) in navigating by using the environmental informations recognized by a ultrasonic-ring and pan/tilt CCD camera equipped on a mobile robot. we will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. It is proposed the rusult from the experimental run based on a virtual force field(VFF) method to support the validity of the aforementioned architecture of mobile service robot for local navigation and obstacle avoidance for autonomous mobile robots. We will conclude by discussing some possible future extensions of the project. The results show that the proposed algorithm is apt to identify obstacles in an indoor environments to guide the robot to the goal location safely.

• Proceedings of the Acoustical Society of Korea Conference
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• autumn
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• pp.293-296
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• 2001

1990년대 중반 이후 우리나라 초등학교 교실은 열린교육과 다양성을 추구하는 새로운 열린교실을 표방하고 진행되고 있다. 또한 건축설계에 있어서도 과거의 종합 표준설계에 의하지 않고 각 학교마다 별도의 건축설계에 따라 지어지고 있다. 본 논문의 목적은 현재의 초등학교 교서의 차음환경을 조사하고 새로이 지어진 교사의 교실과 열린교실의 실내 음환경을 조사하여 현재 상황을 분석평가하고 이에 대한 대안을 제시하고자 하는 것이다. 이를 위하여 건축시공연대가 다른 초등학교 3개 학교를 선택하여 단위교실에서의 실내음향인자(RT60, C80, D50, RASTI)와 인접교실과의 차음성능(TL)을 측정하였다. 또한 해당교실의 학생과 교사에 대하여 설문조사를 실시하였다. 각 측정은 외부와 복도에 인접한 창문의 개폐여부와 실내의 위치별로 이루어 졌다. 실험결과, 열린교육에 따라 가변적 교실의 구성은 기존의 교실보다 차음성능이 평균$5\sim6dB$ 낮은 것으로 나타났다. 또한 신축교사의 RASTI값(0.73)이 10년 이상 된 학교(0.70)나 열린교실(0.64)보다 높은 것으로 나타났다. 음성명료도(D50) 역시 일반 신축교사가 열린교실 보다 높게 나타났다. 이것은 실의 기밀과 내부바닥의 마감자재로 비롯되었으며 최근의 열린교실은 음의 차음과 실내명료도에서 열악한 것으로 결론되었다.

• Journal of the Korea Convergence Society
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• v.8 no.1
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• pp.71-76
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• 2017

The purpose of this study was to investigate the indoor air quality of medical institutions and to present the detailed management plan by analyzing the actual situation of management and analyzing the difference according to the place in a convergent. ($PM_{10}$), carbon dioxide ($CO_2$), formaldehyde (HCHO), total aerobic bacteria (TAB) and carbon monoxide (CO) were investigated in 153 hospitals in Busan. As a result, The overall output average did not exceed the maintenance criteria, but the maximum values for each item were 91% for $PM_{10}$, 97% for $CO_2$, 96% for HCHO, and 99% for bioaesol. And It is confirmed that this is very close to the standard. In addition, the results of each place showed different values according to each feature, but there was no significant difference in the results of five measurements. In conclusion, Indoor air in medical institution considering the characteristics should be performed systematic and detailed management of ventilation facilities and energy problems.

• Journal of Advanced Marine Engineering and Technology
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• v.40 no.9
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• pp.836-841
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• 2016

An indoor positioning system using Wi-Fi is essential to produce a radio map that combines the indoor space of two or more dimensions, the information of node positions, and etc. in processing for constructing the radio map, the measurement of the received signal strength indicator(RSSI) and the confirmation of node placement information counsume substantial time. Especially, when the installed wireless environment is changed or a new space is created, easy installation of the node and fast indoor radio mapping are needed to provide indoor location-based services. In this paper, to reduce the time consumption, we propose an algorithm to distinguish the straight and curve lines of a corridor section by RSSI visualization and Sobel filter-based edge detection that enable accurate node deployment and space analysis using cable-type Wi-Fi node installed at a 3 m interval. Because the cable type Wi-Fi is connected by a same power line, it has an advantage that the installation order of nodes at regular intervals could be confirmed accurately. To be able to analyze specific sections in space based on this advantage, the distribution of the signal was confirmed and analyzed by Sobel filter based edge detection and total RSSI distribution(TRD) computation through a visualization process based on the measured RSSI. As a result to compare the raw data with the performance of the proposed algorithm, the signal intensity of proposed algorithm is improved by 13.73 % in the curve section. Besides, the characteristics of the straight and the curve line were enhanced as the signal intensity of the straight line decreased by an average of 34.16 %.

• Spatial Information Research
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• v.17 no.3
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• pp.361-370
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• 2009

As the increasing interests of spatial information for different application area such as disaster management, there are many researches and development of indoor spatial data models and real-time evacuation management systems. The application requires to determine and optical paths in emergency situation, to support evacuees and rescuers. The optimal path in this study is defined to guide rescuers, So, the path is from entrance to the disaster site (room), not from rooms to entrances in the building. In this study, we propose a time-dependent optimal routing algorithm to develop real-time evacuation systems. The network data that represents navigable spaces in building is used for routing the optimal path. Associated information about environment (for example, number of evacuees or rescuers, capacity of hallways and rooms, type of rooms and so on) is assigned to nodes and edges in the network. The time-dependent optimal path is defined after concerning environmental information on the positions of evacuees (for avoiding places jammed with evacuees) and rescuer at each time slot. To detect the positions of human beings in a building per time period, we use the results of evacuation simulation system to identify the movement patterns of human beings in the emergency situation. We use the simulation data of five or ten seconds time interval, to determine the optimal route for rescuers.

• Fire Science and Engineering
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• v.31 no.5
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• pp.117-122
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• 2017

The absence of fire fighters' connection to communication can bring about increased loss of life due to errors and delays in rescue and actions and danger to their own safety. Therefore, when communication infrastructure has been destroyed in an enclosed space, it is necessary to set up an emergency wire or wireless telecommunication environment to fire fighting and to secure safer environment to deal with the disaster by checking the location of fire fighters. In this research, for the establishment communication environment in an enclosed inside using Ultra-Wide Band (UWB) wireless communication network, the performance of communication position determination of a single UWB communication module was evaluated regarding 6 kinds of indoor surroundings. When the communication distance in an indoor environment of each 6 channels bandwidth of UWB communication frequency was measured, the results were as follows: the open space (Ave. 15.5 m, Max. 20 m), the corridor (Ave. 17.33 m, Max 20 m), inside retaining home furnishings (Ave. 15.3 m, Max. 20 m), vertical stairs (Ave. 4.33 m, Max. 6 m), horizontal space with a closed fire door (Ave. 6.5 m, Max. 17 m). It was also found out that the communication function and the distance function were best in the frequency range from 6489.6 to 1081.6 MHz by 7 Ch. Accordingly, the establishment of communication environment in an enclosed space is judged to be possible when UWB communication module is set up at 20 m apart and multiple channels are used.

• Proceedings of the Korean Society of Computer Information Conference
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• 2009.01a
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• pp.185-188
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• 2009

단일 카메라 영상으로 입력되는 환경 정보에 대해서 보도에 대한 길의 소실점과 보도 영역에 대한 정보를 획득하는 방법과 보도 영역에 대해 블록 세그멘테이션을 통하여 장애물과 같은 물체 영역을 구분한다. 소실정과 보도 영역을 획득하기 위한 방법으로 에지영상에서 보도의 외곽선 정보를 추출하도록 한다. 이를 위해 체인코드를 이용하여 특정한 방향으로 향하는 직선 성분을 검출하도록 한다 보도 영역 내에 존재하는 물체의 영역을 구분하기 위해서 영역을 특정 크기를 가지는 블록으로 구분하고 각 블록이 가지는 평균 컬러 정보를 이용하여 영역을 세그멘테이션 한다. 세그멘테이션을 통해 얻은 영역을 통해 보도의 영역과 장애물의 영역을 구분하고 각 장애물의 위치를 계산하다. 알고리즘의 평가를 위해 실내의 복도 환경과 단순한 형태를 가지는 실외 환경에서 획득한 영상을 이용하여 실험하였다.

• 월간 기계설비
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• s.277
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• pp.48-55
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• 2013

국토교통부(장관 서승환)는 수직증축 리모델링 허용 등을 포함한 '공동주택 리모델링 제도개선 방안'(6.5 발표)의 후속조치로 노후 공동주택 거주 주민이 부담 가능한 범위에서 불편사례를 선택적으로 개선할 수 있도록 '맞춤형 리모델링' 활성화를 위한 연구용역을 마무리하고, 조만간 가이드라인을 제작 발표할 계획이라고 밝혔다. 가이드라인에는 주차장 부족, 배관 노후화 등 노후 공동주택 거주 주민들의 주요 불편사항(급 배수관 노후화, 주차장 부족, 난방효율 저하, 승강기 부족 등)을 효과적으로 해소할 수 있도록 단지 동 세대 내에서 각각 시행할 수 있는 총 39가지의 리모델링 아이템에 대한 소개와 공사비 등의 정보가 포함될 예정이다. 먼저, 단지내 리모델링에는 데크 지하주차장 신설, 녹지 보육시설 및 헬스장 등 확충, 노후상가 철거 후 별동 증축 등이 포함되며, 아파트 개별 동 내에서는 급 배수관/전기 통신/소방 등 노후 설비 교체, 승강기 신설, 코어증축(복도${\rightarrow}$계단식 변경) 등이, 세대 내에는 문 창호 및 내장재 교체, 단열 기밀 등 에너지 성능 향상, 실내공간 재배치 등이 포함된다. 특히, 아이템별 이주기간을 재실형과 이주형으로 구분하여 주민 선택의 폭을 한층 더 넓힐 것으로 기대된다.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.1
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• pp.40-47
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• 2010

This paper presents a simultaneous localization and mapping (SLAM) of an indoor hallway environment using Rao-Blackwellized particle filter (RBPF) along with a line segment as a landmark. Based on the fact that fluent line features can be extracted around the ceiling and side walls of hallway using vision sensor, a horizontal line segment is extracted from an edge image using Hough transform and is also tracked continuously by an optical flow method. A successive observation of a line segment gives initial state of the line in 3D space. For data association, registered feature and observed feature are matched in image space through a degree of overlap, an orientation of line, and a distance between two lines. Experiments show that a compact environmental map can be constructed with small number of horizontal line features in real-time.

• Proceedings of the Korean Institute of Interior Design Conference
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• 2003.05a
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• pp.127-130
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• 2003

In the Korean construction market the housing exceeds more than 60％ among the entire objects for remodelling. And among the 50％ of the common residence that needs remodelling, half of them are common houses with hallways. In respect of remodelling the common houses with hallways to those with stairways, This investigation aims at not only increasing the area by simply enlarging it, but also elevating the residential value by improving the environment based on the study of the existing plane with stairways. In order to do so, the satisfaction rate after living in common residence either with stairways or with hallways according to size (10, 20, 30 pyong), public space and interior environment is investigated through questionnaire. Therefore, this study tries to discover and analyze the positive and negative aspects of common residence with hallways.