• KSCI Review
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• v.14 no.1
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• pp.241-248
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• 2006

The recognition of a relatively big and rarely movable object. such as refrigerator and air conditioner, etc. is necessary because these objects can be crucial global stable features of Simultaneous Localization and Map building(SLAM) in the indoor environment. In this paper. we propose a novel method to recognize these big objects using a sequence of 3D scenes. The particles representing an object to be recognized are scattered to the environment and then the probability of each particles is calculated by the matching test with 3D lines of the environment. Based on the probability and degree of convergence of particles, we can recognize the object in the environment and the pose of object is also estimated. The experimental results show the feasibility of incremental object recognition based on particle filtering and the application to SLAM

• Journal of Korean Public Health Nursing
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• v.14 no.1
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• pp.26-40
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• 2000

This study was conducted to find out residential environment, mood states, ADL(Activity Daily Living) and nursing need of the elderly who live alone. The questionnaire survey was conducted on 154 single household elderly over 65years who live n D-city, Kangwon Province. The data were collected between September 1. 1999 and October 17, 1999 and analyzed by means of SPSS package. The results were as follows; 1. The percentage of the subjects who owned their house was no were than $13\%$., which showed that they still belonged to the economically vulnerable class. As for their residential environment, the average indoor temperature and humidity level were $16.45^{\circ}C\;and\;44.62\%$ respectively during the daytime between September and October, which proved to range within the standard scope. The average indoor illumination level was, however, 43.61 Lux, which showed that their illumination environment was very poor. 2. The average score of their mood states was 3.31. which turned out to be rather low. 3. The mean score of ADL was 1.69, which showed that they didn't have any serious inconveniences in their ordinary lives. 4. The mean score of their nursing need was 275, which proved to be close to the normal level. 5. The higher the room humidity was, the higher their nursing need increased. The higher the degree of illumination level was, the lower the degree of their nursing need was and the higher the level of ADL was. 6. The major factors influencing their moon status were the frequency of their contact with children and room humidity. These two factors could account for $22\%$ of the total mood status. These results suggest that the residential environment should be necessarily considered in the psychological nursing intervention for the elderly who live alone and they should be urgently supported in terms of health policy so that they can maintain the optimum level of illumination during the daytime.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.9 s.174
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• pp.85-92
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• 2005

This paper describes the recognition method of small-obstacles using a camera for a mobile robot in indoor environment. The technique of image processing using a camera has been widely used for an automaton of industrial system, an inspection of inferior goods, a lookout of an invader, and a vision sensor of intelligent robot. Mobile robot could meet small-obstacles such as a small plastic bottle of about 0.5 l in quantity, a small box of $7{\times}7{\times}7cm^3$ in volume, and so on in its designated path, and could be disturbed by them in the locomotion of a mobile robot. So, it is necessary to research on the recognition of small-obstacles using a camera and program. In this paper, 2-D image processing algorism and method fur recognition of small-obstacles using a camera for a mobile robot in indoor environment was developed. The characteristic test of the developed program to confirm the recognition of small-obstacles was performed. It is shown that the developed program could judge the size and the position of small-obstacles accurately.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.580-585
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• 2005

A QRT(Quad-Rotor Type) hovering robot system is developed for quick detection and observation of the circumstances under calamity environment such as indoor fire spots. The UAV(Unmanned Aerial Vehicle) is equipped with four propellers driven by each electric motor, an embedded controller using a DSP, INS(Inertial Navigation System) using 3-axis rate gyros, a CCD camera with wireless communication transmitter for observation, and an ultrasonic range sensor for height control. The developed hovering robot shows stable flying performances under the adoption of RIC(Robust Internal-loop Compensator) based disturbance compensation and the vision based localization method. The UAV can also avoid obstacles using eight IR and four ultrasonic range sensors. The VTOL(Vertical Take-Off and Landing) flying object flies into indoor fire spots and sends the images captured by the CCD camera to the operator. This kind of small-sized UAV can be widely used in various calamity observation fields without danger of human beings under harmful environment.

• Journal of Korea Port Economic Association
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• v.19 no.1
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• pp.139-159
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• 2003

This study deals sith some problems of foreign direct investment and seeks for the ways of activating foreign direct investment (hereafter F.D.I.) by analyzing the Korean economic structure that is faced with the neo-protectivism and nationalism of the advanced or foreign countries currently. During a transformational process in the transitional period of world trade environment, it is necessary for Korea not only to learn the higher technology for advanced countries, but also to apply techonology to their economic structure in order to enter into competition with the advanced countries. Based on the experiences and accomplishments from their investments, Korean enterprises should turn their business into F.D.I. and act appropriately in order to keep the balance between indoor and outdoor investment. Looking through the ways to activate F.D.I., we may make conclusions as follows: 1. Government policy transparency 2. Prudential Macro Economic policy 3. International policy coorperation system 4. Solidification of Foreign Commercial intercourse to Developing countries 5. Globalixation base of domestic coorperation 6. High efficiency- low cost of business coorperation enterprise 7. Attacktive investiestment strategies on conclusive competive advantage 8. Multilateral investment Area 9. New recognixation on marketing investment etc. F.D.I. strategies

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.210-214
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• 2008

It is actually impossible to model and store all objects which exist in real home environment into robot's database in advance. To resolve this problem, this paper proposes new object modeling method that can be available for robot self-modeling, which is capable of estimating whole model's shape from partial surface data using Generic Model. And this whole produce is conducted to cylindrical objects like cup, bottles and cans which can be easily found at indoor environment. The detailed process is firstly we obtain cylinder's initial principle axis using points coordinates and normal vectors from object's surface after we separate cylindrical object from 3D image. This 3D image is obtained from 3D sensor. And second, we compensate errors in the principle axis repeatedly. Then finally, we do modeling whole cylindrical object using cross sectional principal axis and its radius To show the feasibility of the algorithm, We implemented it and evaluated its accuracy.

• Journal of Environmental Health Sciences
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• v.44 no.3
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• pp.283-292
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• 2018

Objectives: This study was conducted to identify hazardous factors that reflect the characteristics of the academy and to provide basic data of environmental safety standard. Methods: Heavy metals, volatile organic compounds, formaldehyde, pesticides and phthalates were measured in 20 academies, which were supplementary, music, art and physical education institutes. Results: In case of heavy metals, the 12 locations were detected for lead (Pb) over the standard value, and 15 locations were exceeded for the total heavy metal. In six locations, the concentrations of volatile organic compounds were exceeded the standard value of $400{\mu}g/m^3$, and two locations for formaldehyde were exceeded the standard value of $100{\mu}g/m^3$. The most commonly detected agents in the air dust were chlorpyrifos and diazinon. The concentrations of DEHP, DINP, and DBP were detected and exceeded in several academies, The risk assessment results showed that HCHO as carcinogen had a safety level of 10-7 to 10-6, and DEHP and DINP as non-carcinogens had a safety level as assessed to be under than 0.1. Conclusions: Through the investigation of long-term environmental and health effects related laws on academies, indoor air quality management might be needed because there were cases of exceeding standard.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.753-756
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• 1991

This paper aimed to analyse dose sensitivity to the controllable parameters of in-door 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 ranges of the controllable parameters; a) the ventilation rate constant $({\lambda}_v)$ : $0{\sun}500[h^{-1}]$. b) the attachment rate constant$({\lambda}_a)$ : 0-500 $[h^{-1}]$. c) deposition rate constant $({\lambda}{_{d}^{u}})$: 0-50$[h^{-1}]$. 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- Porstendorfer- Bruno model. b) lung dosimerty : Jacobi-Eisfeld model. Some of the major findings, which identify the effectiveness of this model, were as follows. a) ${\lambda}_v$ is most effective, dominant controllable parameters in dose reduction, if mechanical ventilation is applied. b) ${\lambda}_v$, depending on the air particle-concentration, reduces the dose somewhat within ${\lambda}_v$<1 $h^{-1}R range. However, the dose increases conversely, ${\lambda}_v$>1 $h^{-1}R range range. c) ${\lambda}{_{d}^{4}}$ reduces the dose linearly as ${\lambda}_v$ dose. Such dose(z-axis) sentivities are shown with three-dimensional plots whoes x,y-axes are combined 2out the 3 parameter${\lambda}_v{\lambda}_s,\;{\lambda}_d^s$.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.10 no.1
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• pp.133-141
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• 1999

In this paper, we present an indoor propagation prediction model which is based on a three-dimensional ray-tracing technique. In this model, instead of considering all obstacles such as furnitures and fixtures, etc., only main obstacles to the propagation such as walls, ceiling and floors are modeled as slabs with finite thickness and conductivity, and the significant phenomena of propagation are considered, so we can calculate simply and predict accurately the propagation losses. The propagating rays are considered to be reflected and transmitted specularly at the boundaries of obstacles, and diffracted at edges. The reflection and transmission losses on flat obstacles are calculated by using ray tracing method, and the diffraction losses at edges are calculated by using the uniform theory of diffraction (UTD) for finite conductivity media. The results simulated for some cases by this propagation model good agree with the measured value of pathloss.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2009.11a
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• pp.269-272
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• 2009

The environment of Ubiquitous in terms of improvement is being expanded to various fields and time enabled system. Thus, a real-time spatial information management system has been developed by integrating a human movement detection system into a SICS(Spatial Information Control System) engine that can integrally manage inside spatial information extracted from 3D CAD and outside spatial information of GIS. The add-on program was developed to extract spatial information necessary for the SICS engine from 3D CAD information, and a human movement detection system was developed. Test bed was operated for 2weeks and indoor human flow information was found out by zone. Also, the direction of future research was decided through a test bed.