• The Journal of Korea Robotics Society
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• v.13 no.4
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• pp.220-229
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• 2018

In the midst of disaster, such as an earthquake or a nuclear radiation exposure area, there are huge risks to send human crews. Many robotic researchers have studied to send UGVs in order to replace human crews at dangerous environments. So far, two-dimensional camera information has been widely used for teleoperation of UGVs. Recently, three-dimensional information based teleoperations are attempted to compensate the limitations of camera information based teleoperation. In this paper, the 3D map information of indoor and outdoor environments reconstructed in real-time is utilized in the UGV teleoperation. Further, we apply the LTE communication technology to endure the stability of the teleoperation even under the deteriorate environment. The proposed teleoperation system is performed at explosive disposal missions and their feasibilities could be verified through completion of that missions using the UGV with the Explosive Ordnance Disposal (EOD) team of Busan Port Security Corporation.

• Journal of Radiation Protection and Research
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• v.16 no.2
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• pp.41-54
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• 1991

This paper aimed to analyse dose sensitivity to the controllable parameters of indoor radon $(^{222}Rn)$ and its decay products (Rn-D) by applying the input~output linear system theory. Physical behaviors of $^{222}Rn\;&\;Rn-D$ were analyzed in terms of $(^{222}Rn)$ gas -generation, -migation and -infiltration to indoor environments, and the performance output-function, i. e. mean dose equivalent to Tracho-Bronchial (TB) lung region, was assessed to the following extented ranges of the controllable paramenters; a) the ventilation rate $constant({\lambda}_v)\;:\;0{\sim}50[h^{-l}].\;b)$ the attachment rate $constant({\lambda}_a)\;:\;0{\sim}500[h^{-l}].\;c)$ the unattached-deposition rate constant (${\lambda}^u_d)\;:\;0-50[h-l]$. A linear input-output model was reconstructed from the original models in literatures, as follows, which was modified into the matrices consisting of 111 nodal equations; a) indoor $^{222}Rn\;&\;Rn-D$ Behaviour; Jacobi-Porstendoerfer-Bruno model.

• Journal of Biomedical Engineering Research
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• v.39 no.6
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• pp.243-249
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• 2018

The indoor radon concentration was measured in the lecture room of the university and the radon concentration was converted to the amount related to the radon exposure using the dose conversion convention and compared with the reference levels for the radon concentration control. The effect of indoor radon inhalation was evaluated by estimating the life effective dose and the risk of exposure. To measure the radon concentration, measurements were made with a radon meter and a dedicated analysis Capture Ver. 5.5 program in a university lecture room from January to February 2018. The radon concentration measurement was carried out for 5 consecutive hours for 24 hours after keeping the airtight condition for 12 hours before the measurement. Radon exposure risk was calculated using the radon dose and dose conversion factor. Indoor radon concentration, radon exposure risk, and annual effective dose were found within the 95% confidence interval as the minimum and maximum boundary ranges. The radon concentration in the lecture room was $43.1-79.1Bq/m^3$, and the maximum boundary range within the 95% confidence interval was $77.7Bq/m^3$. The annual effective dose was estimated to be 0.20-0.36 mSv/y (mean 0.28 mSv/y). The life-time effective dose was estimated to be 0.66-1.18 mSv (mean $0.93{\pm}0.08mSv$). Life effective doses were estimated to be 0.88-0.99 mSv and radon exposure risk was estimated to be 12.4 out of 10.9 per 100,000. Radon concentration was measured, dose effective dose was evaluated using dose conversion convention, and degree of health hazard by indoor radon exposure was evaluated by predicting radon exposure risk using nominal hazard coefficient. It was concluded that indoor living environment could be applied to other specific exposure situations.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.21 no.3
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• pp.59-66
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• 2021

Humans mainly recognize surrounding objects using visual and auditory information among the five senses (sight, hearing, smell, touch, taste). Major research related to the latest object recognition mainly focuses on analysis using image sensor information. In this paper, after emitting various chirp audio signals into the observation space, collecting echoes through a 2-channel receiving sensor, converting them into spectral images, an object recognition experiment in 3D space was conducted using an image learning algorithm based on deep learning. Through this experiment, the experiment was conducted in a situation where there is noise and echo generated in a general indoor environment, not in the ideal condition of an anechoic room, and the object recognition through echo was able to estimate the position of the object with 83% accuracy. In addition, it was possible to obtain visual information through sound through learning of 3D sound by mapping the inference result to the observation space and the 3D sound spatial signal and outputting it as sound. This means that the use of various echo information along with image information is required for object recognition research, and it is thought that this technology can be used for augmented reality through 3D sound.

• Proceedings of the SAREK Conference
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• 2006.06a
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• pp.29-34
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• 2006

Although the importance of good conservation of historic sites including ancient royal tombs is well aware, still not much attention has been paid for the facilities and systems to preserve those historic sites, which includes precious artifacts as wall paints and carved works, etc. Even the level of general understanding about the environment of the underground space of tombs is not satisfactory. In Korea, researchers have recently begun addressing the importance of maintaining proper environment for underground space as of ancient tombs and are making efforts to develop suitable HVAC(heating, ventilating and air-conditioning) systems for them. In this study, an HVAC system for a tomb ($D{\times}W{\times}H=1.3m{\times}3.0m{\times}1.2m$) was installed to maintain suitable indoor conditions for conservation of tomb. The temperature and humidity inside the tomb were measured to represent the performance of the installed duct-type HVAC system. Vibration levels due to the installed an HVAC system are alive investigated experimentally. According to the measured data, the level of vibration inside the present model tomb with the duct-type unit showed significantly lower values than the case with the indoor unit inside.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.189-198
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• 2021

In this paper, we introduce the software/hardware system that can reliably calculate the distance from sensor to the model regardless of point cloud density. As the 3d point cloud map is widely adopted for SLAM and computer vision, the accuracy of point cloud map is of great importance. However, the 3D point cloud map obtained from Lidar may reveal different point cloud density depending on the choice of sensor, measurement distance and the object shape. Currently, when measuring map accuracy, high reflective bands are used to generate specific points in point cloud map where distances are measured manually. This manual process is time and labor consuming being highly affected by Lidar sparsity level. To overcome these problems, this paper presents a hardware design that leverage high intensity point from three planar surface. Furthermore, by calculating distance from sensor to the device, we verified that the automated method is much faster than the manual procedure and robust to sparsity by testing with RGB-D camera and Lidar. As will be shown, the system performance is not limited to indoor environment by progressing the experiment using Lidar sensor at outdoor environment.

• 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.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.419-428
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• 2011

This paper suggests a judgement method for an inclined plane before entrance of it and the detection of obstacle position. Main idea is started from the assumption that obstacle is always on the bottom plane, and corner appears at this position. The process to detect the obstacle consists of three steps. First the 3D data using stereo matching is acquired to detect an obstacle. Second a bottom plane is extracted by using limit condition. Last the obstacle position is found by using Harris corner detection. Obstacle position detection on an inclined plane was verified by outdoor and indoor experiment. In error analysis, it is confirmed that an average error of obstacle detection in outdoor was larger than the error in indoor but the error are within about 0.030 m. This method will be applied to unmanned vehicles to navigate under various environment.

• KIEAE Journal
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• v.3 no.3
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• pp.43-50
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• 2003

Nowdays the apartment is a main type of modernized residential buildings. According to the improvement of construction techniques and functions of windows and doors, recent apartments are enhanced air tightness of windows, doors and building envelopes. As Infiltration is decreased and natural ventilation is reduced, energy could be saved in winter. However, indoor air quality is bad. The air Infiltration of a building could be enlarged by physical actions, such as building designs, constructions and reduction of air tightness which is caused by aging. This research analyzes and measures with KNS-4000P (Sapporo air tightness measurement) the air tightness of the high rise apartments which is recently constructed and not occupied yet. With depressurization method, the KNS-4000 installed on the window and the indoor air-leakage was measured. At that time, Air come out from the edge of the windows and doors because of the pressure differences between indoor and outdoor. We measure the amount of the air as effective air leakage areas. This method of depressurization takes less time to measure than other methods and is less affected from other conditions. We measured infiltration of total 56 household, 29 households S apartment (total floor area : $64.42m^2$) in Balan and 29 households D apartment(total floor area : $78.21m^2$) in Chonan. As a result of the field measurements at October 2003, normalized leakage area of D apartment in Cheonan was $2.05cm^2/m^2{\sim}3.49cm^2/m^2$ (average: $2.77cm^2/m^2$) and normalized leakage area of S apartment in Balan is $1.23cm^2/m^2{\sim}1.68cm^2/m^2$ (average: $1.5cm^2/m^2$).

• Journal of the Korea Society for Simulation
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• v.19 no.2
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• pp.1-8
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• 2010

With recent development of computer hardware and 3D graphic technique, a lot of people have concern for something to express as the 3D graphic that look the real environment. Because the request of users have increased, the 3D simulation is developed and popularized in the many field. In this paper, we design and implement the simulation system that humans evacuate a building fires using the 3D graphic techniques. In this paper, we use the A* algorithm to humans have the artificial intelligence at evacuating a building fires, calculate the evacuation speed of each human considering temperature damage and smoke damage. In this paper, we applied the real building to demonstrate the effect of proposed evacuation simulation. Experimental results showed that the evacuation speed is affected by the temperature condition and the smoke density.