• 한국HCI학회:학술대회논문집
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• 2007.02a
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• pp.262-267
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• 2007

다자간 분산형 협업 시스템인 Access Grid(AG)는 IP 멀티캐스트 네트워크상에서 여러 사용자들 간에 영상, 음성 및 다양한 데이터의 공유를 통해 상호 의사소통이 가능한 공동 작업환경을 제공하기 위해 개발되었다. 멀티캐스트를 사용함으로써 AG는 대역폭 효율적으로 다수 사용자 사이의 의사소통 환경을 제공하고 있다. 그러나 IP 멀티캐스트의 설정 및 관리상 복잡성으로 인해 이를 지원하지 않는 네트워크가 다수 존재한다. 이는 AG를 이용한 협업 서비스를 이용하는 데에 큰 장애물이 되고 있다, 본 논문에서는 이러한 멀티캐스트 연결성 문제에 대한 해결책으로 응용 계층의 멀티캐스트 터널링 프로토콜인 UMTP (UDP multicast tunneling protocol) 를 확장한 멀티캐스트 연결성 솔루션인 AG Connector를 제안한다.

• Proceedings of the Korea Society of Environmental Toocicology Conference
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• 2002.10a
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• pp.159-159
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• 2002

양서류를 이용한 내분비계장애물질의 환경독성시험기법을 확립하기 위해 Xenopus laevis의 변태 과정에 thyroid계 물질을 처리하여 이들의 효과에 의한 내분비계 장애물질의 판정 기법을 확립하고자 하였다. 올챙이의 발달 단계에 의한 내분비계 장애물질에 대한 민감도를 고려하여, embryo 단계에서 tail resorption 과정의 전단계인 stage 11로부터 30일간(방법1), stage 49로부터 28일간(방법2)와 tail resorption 과정 및 이후 stage 57로부터 17 내지 21일간(방법3)으로 구분하여 시험물질을 노출시켰으며 대조군과 비교하여, 시험물질에 노출된 올챙이의 기형적 변태 정도는 developmental stage 변화 속도, head-tail length 차이, 및 body weight 변화 등을 endpoints로 하였다.

• Journal of the Korean Institute of Landscape Architecture
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• v.43 no.5
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• pp.100-110
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• 2015

With the trend for the construction of barrier-free living environments in accordance with the ever-increasing external activity of the aging population, multi-culture families and socially disadvantaged, there is also a demand for the facilities improvement at parks for their convenience of use. This study analyzed the possibility of Barrier-Free Certification of an existing open space and defined its prototype renovation plan. This study is intended to help develop Borame Park into a barrier-free park by securing a barrier-free line of movement linking the major facilities sites within the park, improving park facilities lest there should be inconvenience in the use of the major facilities, and a guidance system convenient for use by physically and mentally impaired people. The significance of this study lies in the fact that it diagnosed the possibility of the BF Certification of existing urban parks and established a barrier-free park, which is easy for anyone to use. In the course of doing research on this, this study was able to discover the limitations of the BF Certification system, and its related tasks to be solved in the future as follows: The first thing this study shows is that there is a lack of understanding and awareness of the BF Certification system. Basically, there is a need for giving consideration to the development of a barrier-free living environment from the planning and design phase of a park, but in actuality, an examination of the certification is undertaken at the time of the completion of design and construction, which causes a large loss both time-wise and economically. Second, as evaluative items for the BF Certification of a park, applied are detailed evaluation items that fail to reflect the characteristics of an outdoor space whose natural constraints are large, such as geographical highs and lows and existing trees, plants, etc. Third, guidelines for establishment of a barrier-free park must be created in the light of the locational conditions of the park, followed by improvements of its BF Certification evaluation items.

• 재활복지
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• v.17 no.4
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• pp.383-399
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• 2013

The purpose of this study was to comparison the effects of aqua-and-land based obstacle training on balance of chronic stroke patients. Subjects were randomly divided into an aqua group(n=15) and d land group(n=15). Both group received obstacle training for 40 minutes, 3 times a week during 12 weeks. Static balance was assessed by measuring the mean velocity of mediolateral, anteroposterior and sway area with the eyes open using Good Balance System. Dynamic balance was assessed by measuring Functional Reaching Test(FRT) and the Timed Up and Go test(TUG). Following the intervention, both groups showed significant changes static balance(the mean velocity of mediolateral, anteroposterior and sway area) and dynamic balance(FRT and TUG). There were significant difference in the mean velocity of mediolateral, anteroposterior, sway area, FRT and TUG between the two groups after the interventions. The results of this study suggest that the aqua group and land group were increase balance functions of chronic stroke patients. The aqua group was significantly higher than the land group for patients with chronic stroke patients. We hope that aquatic training can be useful for patients with chronic stroke patients to improve balance functions and the aqua training research for improve balance functions will be conducted continuously.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.9 no.2
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• pp.45-50
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• 2009

The environment exploration is an essential process for indoor robots such as clean robot and security robot. Apartment house and office building has common frame structure, but internal arrangement of each room may be slightly different. So, it is more convenient to use a common frame map than to build a new map at every time the arrangement is changed. In this case, it is important to recognize invariant features such as wall, door and window. In this paper, an indoor mobile robot is implemented, and by using the laser scanner data and line segment histogram with respect to segment orientation and distance, an environment exploration method is presented and tested. This robot is fitted with a laser scanner, gyro sensor, ultra sonic sensor and IR sensor, and programed with C language.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.8
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• pp.936-942
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• 2019

Autonomous driving of drone indoor must move along a narrow path and overcome other factors such as lighting, topographic characteristics, obstacles. In addition, it is difficult to operate the drone in the hallway because of insufficient texture and the lack of its diversity comparing with the complicated environment. In this paper, we study an autonomous drone navigation using Convolution Neural Network(CNN) in indoor environment. The proposed method receives an image from the front camera of the drone and then steers the drone by predicting the next path based on the image. As a result of a total of 38 autonomous drone navigation tests, it was confirmed that a drone was successfully navigating in the indoor environment by the proposed method without hitting the walls or doors in the hallway.

• Journal of Internet Computing and Services
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• v.23 no.4
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• pp.57-64
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• 2022

If the inside of a building collapses due to a disaster such as fire, collapse, or natural disaster, the physical security inside the building is likely to become ineffective. Here, physical security is needed to minimize the human casualties and physical damages in the collapsed building. Therefore, this paper proposes an algorithm to minimize the damage in a disaster situation by fusing existing research that detects obstacles and collapsed areas in the building and a deep learning-based object detection algorithm that minimizes human casualties. The existing research uses a single camera to determine whether the corridor environment in which the robot is currently located has collapsed and detects obstacles that interfere with the search and rescue operation. Here, objects inside the collapsed building have irregular shapes due to the debris or collapse of the building, and they are classified and detected as obstacles. We also propose a method to detect rescue requesters-the most important resource in the disaster situation-and minimize human casualties. To this end, we collected open-source disaster images and image data of disaster situations and calculated the accuracy of detecting rescue requesters in disaster situations through various deep learning-based object detection algorithms. In this study, as a result of analyzing the algorithms that detect rescue requesters in disaster situations, we have found that the YOLOv4 algorithm has an accuracy of 0.94, proving that it is most suitable for use in actual disaster situations. This paper will be helpful for performing efficient search and rescue in disaster situations and achieving a high level of physical security, even in collapsed buildings.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2019.11a
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• pp.87-88
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• 2019

최근 기계학습 기술의 급속한 발전에 힘입어 자율주행을 위한 객체 인식 및 처리 기술 역시 비약적으로 발전하고 있다. 그러나 이러한 기계학습의 성능은 모델의 구조와 학습용 데이터의 품질에 영향을 받는다. 특히 주행환경을 잘 표현하는 학습데이터가 중요한데 전혀 새로운 도로, 주행환경, 장애물, 정적 혹은 동적 객체 등을 마주하면 정확도와 안정성에서 부정적인 영향을 받을 수 있는 것이다. 해외의 주행 데이터들에 크게 의존하고 있는 우리나라의 현실에 비춰 볼 때 국내 환경에 맞는 학습데이터를 쉽고 효율적으로 확보/관리/분석할 수 있게 하는 환경의 구축이 시급하다. 따라서 본 논문에서는 자율주행을 위한 기계학습 데이터를 효과적으로 관리하고 분석하기 위한 소프트웨어를 설계하고 개발하였다. 구체적으로는 수집된 영상들을 관리하는 기능, 영상에 존재하는 노이즈 제거 및 화질 개선 처리 기능, 학습 및 검증을 위한 메타 정보 태깅 기능, 태깅 정보의 통계적 분석 기능들을 포함한다. 개발한 소프트웨어는 우리나라에서 자체 촬영한 자율주행 학습 영상들에 대해 딥러닝 모델들을 학습하고 검증하는데 활용할 예정이다.

• Proceedings of the KIPE Conference
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• 2007.07a
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• pp.452-454
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• 2007

PSP를 이용한 의자로봇 시스템은 거동이 불편한 노약자의 이동을 돕기 위하여 제작된 지능형 이동로봇이다. 원하는 곳으로 이동이 가능한 지능형 로봇은 안정적인 움직임을 위해 실시간 장애물 회피 및 적절한 경로 계획이 필요하다. 본 논문에서 구현한 의자로봇은 IR센서와 초음파 센서를 이용하여 환경 정보를 얻어오고, 환경 지도 작성 및 경로 계획을 통해 목표 지점으로 이동하도록 하였다. 또 구동부의 부드러운 움직임을 위하여 PID제어기를 사용하였다. 서비스 로봇은 개발에 용이하고 사용자가 쉽게 제어 할 수 있는 인터페이스 장치가 필요하다. PSP는 여러 개의 버튼을 가졌고, 디스플레이를 위한 LCD 있다. 또 무선랜 환경에서 사용할 수 있기 때문에 PSP를 이용한 제어 방법을 구현하였다. PSP를 이용한 제어 방법에는 두 가지 모드가 존재하는데 하나는 의자 로봇의 지능을 이용한 이동방법이고 또 하나는 사용자가 직접 제어하는 방법이다. 위의 두 가지 방법으로 실내 환경에서 주행 테스트를 했으며, 성공적으로 동작함을 확인하였다.

• Journal of KIISE:Computing Practices and Letters
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• v.14 no.3
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• pp.281-285
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• 2008

Wireless sensor networks are closely related with the geometric environment in which they are deployed. We consider the probable case when a routing protocol runs on an environment with many complex obstacles like downtown surroundings. In addition, there are no unrealistic assumptions in order to increase practicality of the protocol. Our goal is to find a routing protocol for maximizing network lifetime by using only connectivity information in the complex sensor network environment. We propose a topology-based routing algorithm that accomplishes good performance in terms of network lifetime and routing complexity as measures. Our routing algorithm makes routing decision based on a weighted graph as topological abstraction of the complex network. The graph conduces to lifetime enhancement by giving alternative paths, distributing the skewed burden. An energy estimation method is used so as to maintain routing information without any additional cost. We show how our approach can be used to maximize network lifetime and by extensive simulation we prove that out approach gives good results in terms of both measures-network lifetime and routing complexity.