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A Study on Precision Positioning Methods for Autonomous Mobile Robots Using VRS Network-RTK GNSS Module (VRS 네트워크-RTK GNSS 모듈을 이용한 자율 이동 로봇의 정밀 측위방법에 관한 연구)

  • Dong Eon Kim;YUN-JAE CHOUNG;Dong Seog Han
    • Journal of the Korean Association of Geographic Information Studies
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    • v.27 no.3
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    • pp.1-13
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    • 2024
  • This paper proposes a cost-effective system design and user-friendly approach for the key technological elements necessary to configure an autonomous mobile robot. To implement a high-precision positioning system using an autonomous mobile robot, we established a Linux-based VRS (virtual reference station)-RTK (real-time kinematic) GNSS (global navigation satellite system) system with NTRIP (Network Transport of RTCM via Internet Protocol) client functionality. Notably, we reduced the construction cost of the GNSS positioning system by performing dynamic location analysis of the established system, without utilizing an RTK replay system. Dynamic location analysis involves sampling each point during the trajectory following of the autonomous mobile robot and comparing the location precision with ground-truth points. The proposed system ensures high positioning performance with fast sampling times and suggests a GPS waypoint system for user convenience. The centimeter-level precision GNSS information is provided at a 30Hz sampling rate, and the dead reckoning function ensures valid information even when passing through tall buildings and dense forests. The horizontal position error measured through the proposed system is 6.7cm, demonstrating a highly precise dynamic location measurement error within 10cm. The VRS network-RTK Linux system, which provides precise dynamic location information at a high sampling rate, supports a GPS waypoint planner function for user convenience, enabling easy destination setting based on GPS information.

Cost-aware Optimal Transmission Scheme for Shared Subscription in MQTT-based IoT Networks (MQTT 기반 IoT 네트워크에서 공유 구독을 위한 비용 관리 최적 전송 방식)

  • Seonbin Lee;Younghoon Kim;Youngeun Kim;Jaeyoon Choi;Yeunwoong Kyung
    • Journal of Internet of Things and Convergence
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    • v.10 no.4
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    • pp.1-8
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    • 2024
  • As technology advances, Internet of Things (IoT) technology is rapidly evolving as well. Various protocols, including Message Queuing Telemetry Transport (MQTT), are being used in IoT technology. MQTT, a lightweight messaging protocol, is considered a de-facto standard in the IoT field due to its efficiency in transmitting data even in environments with limited bandwidth and power. In this paper, we propose a method to improve the message transmission method in MQTT 5.0, specifically focusing on the shared subscription feature. The widely used round-robin method in shared subscriptions has the drawback of not considering the current state of the clients. To address this limitation, we propose a method to select the optimal transmission method by considering the current state. We model this problem based on Markov decision process (MDP) and utilize Q-Learning to select the optimal transmission method. Through simulation results, we compare our proposed method with existing methods in various environments and conduct performance analysis. We confirm that our proposed method outperforms existing methods in terms of performance and conclude by suggesting future research directions.

Development of validated Nursing Interventions for Home Health Care to Women who have had a Caesarian Delivery (조기퇴원 제왕절개 산욕부를 위한 가정간호 표준서 개발)

  • HwangBo, Su-Ja
    • Journal of Korean Academy of Nursing Administration
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    • v.6 no.1
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    • pp.135-146
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    • 2000
  • The purpose of this study was to develope, based on the Nursing Intervention Classification (NIC) system. a set of standardized nursing interventions which had been validated. and their associated activities. for use with nursing diagnoses related to home health care for women who have had a caesarian delivery and for their newborn babies. This descriptive study for instrument development had three phases: first. selection of nursing diagnoses. second, validation of the preliminary home health care interventions. and third, application of the home care interventions. In the first phases, diagnoses from 30 nursing records of clients of the home health care agency at P. medical center who were seen between April 21 and July 30. 1998. and from 5 textbooks were examined. Ten nursing diagnoses were selected through a comparison with the NANDA (North American Nursing Diagnosis Association) classification In the second phase. using the selected diagnoses. the nursing interventions were defined from the diagnoses-intervention linkage lists along with associated activities for each intervention list in NIC. To develope the preliminary interventions five-rounds of expertise tests were done. During the first four rounds. 5 experts in clinical nursing participated. and for the final content validity test of the preliminary interventions. 13 experts participated using the Fehring's Delphi technique. The expert group evaluated and defined the set of preliminary nursing interventions. In the third phases, clinical tests were held at in a home health care setting with two home health care nurses using the preliminary intervention list as a questionnaire. Thirty clients referred to the home health care agency at P. medical center between October 1998 and March 1999 were the subjects for this phase. Each of the activities were tested using dichotomous question method. The results of the study are as follows: 1. For the ten nursing diagnoses. 63 appropriate interventions were selected from 369 diagnoses interventions links in NlC., and from 1.465 associated nursing activities. From the 63 interventions. the nurses expert group developed 18 interventions and 258 activities as the preliminary intervention list through a five-round validity test 2. For the fifth content validity test using Fehring's model for determining lCV (Intervention Content Validity), a five point Likert scale was used with values converted to weights as follows: 1=0.0. 2=0.25. 3=0.50. 4=0.75. 5=1.0. Activities of less than O.50 were to be deleted. The range of ICV scores for the nursing diagnoses was 0.95-0.66. for the nursing interventions. 0.98-0.77 and for the nursing activities, 0.95-0.85. By Fehring's method. all of these were included in the preliminary intervention list. 3. Using a questionnaire format for the preliminary intervention list. clinical application tests were done. To define nursing diagnoses. home health care nurses applied each nursing diagnoses to every client. and it was found that 13 were most frequently used of 400 times diagnoses were used. Therefore. 13 nursing diagnoses were defined as validated nursing diagnoses. Ten were the same as from the nursing records and textbooks and three were new from the clinical application. The final list included 'Anxiety', 'Aspiration. risk for'. 'Infant behavior, potential for enhanced, organized'. 'Infant feeding pattern. ineffective'. 'Infection'. 'Knowledge deficit'. 'Nutrition, less than body requirements. altered', 'Pain'. 'Parenting'. 'Skin integrity. risk for. impared' and 'Risk for activity intolerance'. 'Self-esteem disturbance', 'Sleep pattern disturbance' 4. In all. there were 19 interventions. 18 preliminary nursing interventions and one more intervention added from the clinical setting. 'Body image enhancement'. For 265 associated nursing activities. clinical application tests were also done. The intervention rate of 19 interventions was from 81.6% to 100%, so all 19 interventions were in c1uded in the validated intervention set. From the 265 nursing activities. 261(98.5%) were accepted and four activities were deleted. those with an implimentation rate of less than 50%. 5. In conclusion. 13 diagnoses. 19 interventions and 261 activities were validated for the final validated nursing intervention set.

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Nutritional Characteristics and Stability in Cell of the Yac-Sun Tea for Caronary Heart Disease (관상동맥 질환의 예방을 위한 약선차의 식품영양학적 구성 및 안전성 평가)

  • Kim, Woon-Ju;Cho, Hwa-Eun;Park, Sung-Hye
    • Journal of Physiology & Pathology in Korean Medicine
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    • v.21 no.1
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    • pp.219-225
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    • 2007
  • This study was performed to provide basic ideas as understanding and application for oriental medicinal cuisine (Yak-Sun). To develop medicinal cuisine, it is necessary to grasp the theoretical system. And to develop medicinal cuisine for health enhancement, it is also required not only to consider constitutions but also to suggest the need of knowledge for moderation in terms of regimen along with the theory of oriental medicine. Also to develop medicinal cuisine according to the perspective of oriental medicinal theory, what should be taken into account is not only the understanding of the characteristics of food materials, but also the properties of them that the theory of oriental medicine. Lastly the scientific effect of the medicinal cuisine which is developed according to the oriental medicinal theory. And it is believed to De essential for the government to make effects to set a standard and laws to validate the medicinal effects and the process of assessment so that the systematic development can be encouraged, and to prepare guidance to food development for national health improvement. This research was planned and executed to evaluate how the composition of Yak-sun(oriental diet therapy) can effect health conditions of people who are suffering from diet-related diseases like cardiovascular related disease. by taking Yak-sun in a form of nutritional supplement with our daily meals. We produced Yak-sun tea with Mansam, Hwanggi, Tanggi and Paekchak and observed nutritional composition. We concluded that we could apply the components not only in a form of tea, but also in other forms of various food. The information we received from this conclusion will be a basic information on how we can apply oriental medicinal resources into other food and will also be a steppingstone for medicinal herbs to step foot in the field of functional food research, which already draws sizable attention world-wide.

Philosophic Investigation of the 'Ghi(氣)' Phenomena ('기(氣)' 현상에 대한 철학적 고찰)

  • Lee, Hyun-Ju
    • Journal of East-West Nursing Research
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    • v.3 no.1
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    • pp.50-67
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    • 1998
  • When recognition of the Ghi(氣) which exist in all things, is changed on the aspects of the science of nursing, the view of health and nursing will be more efficient and can be developed as the proper concept for Korean culture. I think it is nessary to confirm which philosophical basis of the will be applicable to nursing and how to it has to be developed. Therefore I can for the research of the Ghi phenomena to attain the Thoughts of philosophy that is appropriate to expound those phenomena. And I attempt to induct "the fusion of horizons" to unify the view of the I world between Korea and the West. The Ghi is very energetic and omnipresent among the universe, Nature, and the human being. So it can organize all the primary elements of mental and I physical function of human as like life, mind, breath, feeling, energy, etc. A general concept of the Ghi is described as follows ; (1) The Ghi is the origin and essence to organize the universe, Nature, and the human being. (2) It is the perpetually movable thing. (3) And there are continuous transmission between the Ghi of the universe and the human through 'body, mind, and soul. For review on the philosophic basis of the Ghi, I studied out the identity of the doctrine of Li and Ch'i(理氣論) in the field of philosophy of Korea and the West. In Korea, the concept of the Vigor is based on Ch'i monolism(기일원론) and Li Ch'i dualism (이기이원론) of Yul-gok Lee's, Toi-kye Lee's, Hwa-dam's, and/or Hekang's. These are indispensable for the view of the world of Korea as Metaphysical ideology, Concrete science, Materialism, Ontology, and Epistemology. From the viewpoint of the philosophy of the West, the doctrine of Li and Ch'i(이기론) of Korea is identical with the doctrine of Li and Ch'i(이기론) of Joo-ja, Idea of Plato, Metaphysics of Aristotle, World Spirit(Weltgeist) of Hegel, and Existentialism of Heidegger. In the nursing theory of the West, some of them referred to the Ghi as like Energy field theory of Rogers and Energy exchange of Neuman. Though there are different in terminology, "energy" and the "Ghi" are induced comparable therapeutic action between the human and the environments. With the nursing theory of Korea, I have made an attempt to compare the Ghi with metaparadigm of nursing-the human being, the environment, the health, and the nursing. For the most part, the alternative therapy is resonable to the frame of the nursing theory of Korea. It is easy to apply alternative therapy on the every spot of nursing. So this therapy could be a kind of forms as nursing therapy in the nursing centers where take the duties of supporting in local societies. In result, independent nursing intervention will be activated by the nurse who puts up with the major parts. It is available to apply this therapy to palliation of pain, insomnia of infant, Sanhujori (산후조리), pain of menstruation, arthritis. And the alternative therapy makes it possible to propose the nursing model which represent originality, tradition, and history of the nursing of Korea. Additionally, in the field of the nursing, it is indispensable to choose a suitable methodology which is considered whether it is matched with a theory of philosophy in the boundary and object of the research. Because there are many way to get the knowledge of nursing related to the Ghi. In the science of nursing, context of sociocultural background and frame are required to understand the person who need to take care of (nursing client). But the value systems of the West and the East are distinctive each other as well as the behavior of health persuance. Therefore it is the basic research data of great worth to review philosophical the Ghi phenomena which is well known to Korean.

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A Study of School Health Nursing Activity Performed Teachers Holding Additonal school Health (양호겸직교사의 학교보건간호 업무활동에 관한 조사연구)

  • Jung, Chan Gyoo;Chung, Yeon Kang
    • Journal of the Korean Society of School Health
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    • v.2 no.1
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    • pp.108-130
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    • 1989
  • The purpose of this study is to provide the basic data for the development of school health nursing activities by surveying realities of school health nursing activities in schools lacking in a school nurse performed by teachers holding additional school health. The subjects for the study was selected from teachers holding additional school health who participated in the annual training course for teachers holding additional school health in 1988 organized by Province Education Council. 105 teachers holding additonal school health from Kyung-gi Province, 85 from Chung-buk province, 50 from Chun-buk Province, answered the questionaire. The results can be epitomized as follows. 1. General characteristics of Teachers Holding Additional School Health. The majority of the subjects are female (94.3%) and 64.1% of the subjects are in their twenties, 79.5% of them graduated from four-year teacher's college, 54.5% of them are unmarried, 74.5% has less than one-year experience as a teacher holding additional school health. 2. General characteristics of schools 92.4% of schools are national, of public schools, and 91.9% are located in country, elementary schools are 64%, junior high schools are 35.4%. The annual school nursing budget is unknow to 89.2% of them. The school nursing organization is non- existent to 85.6%. 82.4% of the school nursing clinics occupy their place solely, or jointly. 3. Status of School Health Nursing Activities In the questionaire, School Health Nursing Activities arc divided into Health Program planning and Evaluation (4 items), Clinic Management (4 items), Health Education (4 items), Management of School Environment 98 items), Operating of School Health Organization (1 item) and Health Care Service (25 items). The answers to each item measured by the Likert-type scale reveals that in the activities of techcrs holding additional school health the practice rate in Management of School Environment is 55%, 47% in Health Education, 45% in Health Program Planning and Evaluation, 32% in Health Care Service, 27% in Operating of School Health Organization, and 27% in Clinic Management. 4. The Relation between Influencing variables and School Health Nursing Activities. The results are as follows. (1) Health Program Planning and Evaluation: religion, marital status ($P<0.05^{**}$) (2) Clinic Management: age, school health organization ($P<0.05^{**}$) (3) Health Education: age ($P<0.01^*$), religion ($P<0.05^{**}$), business except for school nursing ($P<0.05^{**}$), form of operation ($P<0.05^{**}$), the number of clinic client a month ($P<0.05^{**}$). (4) Management of School Health Environment: age, marital status, business except for school nursing ($P<0.05^{**}$), presence of the annual school health nursing budget ($P<0.01^*$), school health organization ($P<0.05^{**}$). (5) Operating of School Health Organization: There is a statistical significance in Education, Interest in School Nursing ($P<0.05^{**}$). 5. The Regional Relationship of School Health Nursing Activity. There is a statistically significal difference in Health Education ($P<0.05^{**}$) and Health Care Service ($P<0.01^*$) of elementary school located in Kyung-gi, Chung-buk, Chun-buk Province. There is a statistically significant difference Health Program Planning and Evaluation of junior high Schools located in Kyung-gi, Chung-buk, Province ($P<0.05^{**}$). 6. The Correlation in School Health Nursing Activities. The analysis of the correlation in the 6 fields of school Health Nursng Activities shows that there is a statistically significant difference between Clinic Management and health Education, Clinic Management and Operating of School Health Organization, and between management of School Environment and operating of School Health Organization ($P<0.05^{**}$). The conclusions are as follows The 40.5 percent of schools should arrange nurse teachers by regulation 38, relative to the application of the Law of Education. But, in reality, teachers who have nothing to do with nursing, hold school health as an additional job. And it is very difficult to expect the qualititive health management of school faculty and students. In the 85.6 percent of schools, there is no organization for school health. And also, persons in charge of pracitcal affairs perform the school health activity without any knowledge about annual school health nursing budget. In the school health nursing activity of teacheres holding additional school health, operating of school, health organization and clinic management are the most difficult to get the cooperation from the persons relate to school and communities. There are a lot of problems in performing the school health nursing activity without any disposition of school health teachers, therefore, it is necessary to supplement school health teachers who had a professional training in order to make efficient the school health nursing management for children who are about to attend a school.

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Development of a Real-Time Mobile GIS using the HBR-Tree (HBR-Tree를 이용한 실시간 모바일 GIS의 개발)

  • Lee, Ki-Yamg;Yun, Jae-Kwan;Han, Ki-Joon
    • Journal of Korea Spatial Information System Society
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    • v.6 no.1 s.11
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    • pp.73-85
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    • 2004
  • Recently, as the growth of the wireless Internet, PDA and HPC, the focus of research and development related with GIS(Geographic Information System) has been changed to the Real-Time Mobile GIS to service LBS. To offer LBS efficiently, there must be the Real-Time GIS platform that can deal with dynamic status of moving objects and a location index which can deal with the characteristics of location data. Location data can use the same data type(e.g., point) of GIS, but the management of location data is very different. Therefore, in this paper, we studied the Real-Time Mobile GIS using the HBR-tree to manage mass of location data efficiently. The Real-Time Mobile GIS which is developed in this paper consists of the HBR-tree and the Real-Time GIS Platform HBR-tree. we proposed in this paper, is a combined index type of the R-tree and the spatial hash Although location data are updated frequently, update operations are done within the same hash table in the HBR-tree, so it costs less than other tree-based indexes Since the HBR-tree uses the same search mechanism of the R-tree, it is possible to search location data quickly. The Real-Time GIS platform consists of a Real-Time GIS engine that is extended from a main memory database system. a middleware which can transfer spatial, aspatial data to clients and receive location data from clients, and a mobile client which operates on the mobile devices. Especially, this paper described the performance evaluation conducted with practical tests if the HBR-tree and the Real-Time GIS engine respectively.

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Probability-based Pre-fetching Method for Multi-level Abstracted Data in Web GIS (웹 지리정보시스템에서 다단계 추상화 데이터의 확률기반 프리페칭 기법)

  • 황병연;박연원;김유성
    • Spatial Information Research
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    • v.11 no.3
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    • pp.261-274
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    • 2003
  • The effective probability-based tile pre-fetching algorithm and the collaborative cache replacement algorithm are able to reduce the response time for user's requests by transferring tiles which will be used in advance and determining tiles which should be removed from the restrictive cache space of a client based on the future access probabilities in Web GISs(Geographical Information Systems). The Web GISs have multi-level abstracted data for the quick response time when zoom-in and zoom-out queries are requested. But, the previous pre-fetching algorithm is applied on only two-dimensional pre-fetching space, and doesn't consider expanded pre-fetching space for multi-level abstracted data in Web GISs. In this thesis, a probability-based pre-fetching algorithm for multi-level abstracted in Web GISs was proposed. This algorithm expanded the previous two-dimensional pre-fetching space into three-dimensional one for pre-fetching tiles of the upper levels or lower levels. Moreover, we evaluated the effect of the proposed pre-fetching algorithm by using a simulation method. Through the experimental results, the response time for user requests was improved 1.8%∼21.6% on the average. Consequently, in Web GISs with multi-level abstracted data, the proposed pre-fetching algorithm and the collaborative cache replacement algorithm can reduce the response time for user requests substantially.

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A Case Study of Software Architecture Design by Applying the Quality Attribute-Driven Design Method (품질속성 기반 설계방법을 적용한 소프트웨어 아키텍처 설계 사례연구)

  • Suh, Yong-Suk;Hong, Seok-Boong;Kim, Hyeon-Soo
    • The KIPS Transactions:PartD
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    • v.14D no.1 s.111
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    • pp.121-130
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    • 2007
  • in a software development, the design or architecture prior to implementing the software is essential for the success. This paper presents a case that we successfully designed a software architecture of radiation monitoring system (RMS) for HANARO research reactor currently operating in KAERI by applying the quality attribute-driven design method which is modified from the attribute-driven design (ADD) introduced by Bass[1]. The quality attribute-driven design method consists of following procedures: eliciting functionality and quality requirements of system as architecture drivers, selecting tactics to satisfy the drivers, determining architectures based on the tactics, and implementing and validating the architectures. The availability, maintainability, and interchangeability were elicited as duality requirements, hot-standby dual servers and weak-coupled modulization were selected as tactics, and client-server structure and object-oriented data processing structure were determined at architectures for the RMS. The architecture was implemented using Adroit which is a commercial off-the-shelf software tool and was validated based on performing the function-oriented testing. We found that the design method in this paper is an efficient method for a project which has constraints such as low budget and short period of development time. The architecture will be reused for the development of other RMS in KAERI. Further works are necessary to quantitatively evaluate the architecture.

Analysis of Church based parish nursing activities in Teagu city (목회간호사의 업무활동분석)

  • Kim, Chung-Nam;Park, Jeong-Sook;Kwon, Young-Sook
    • Research in Community and Public Health Nursing
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    • v.7 no.2
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    • pp.384-399
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    • 1996
  • The concept of parish nursing began in the late 1960s in the United States when increasing numbers of churches employed registered nurses (RNs) to provide holistic, preventive health care to the members of their congregations. Parish nursing role was developed in 1983 by Lutheran chaplain Granger Westberg, and provides care to a variety of church congregation of various denominations. The parish nurse functions as health educator, counselor, group facilitator, client advocate, and liaison to community resources. Since these activities are complementary to the population-focused practice of community health' CNSs, parish nurses either have a strong public health background or work directly with both baccalaureate-prepared public health nurses and CNSs. In a Midwest community in U.S.A., the Healthy People 2000(1991) objectives are being addressed in health ministries through a coalition between public health nurses and parish nurses. Parish nursing is in the beginning state in Korea and up untill now, there has been no research was conducted on concrete role of korean parish nurses. The main purpose of this study was to identify, classify and analyze activities of parish nurses. The other important objective of this study was to establish an effective approach and direction for parish nursing and provide a database for korean parish nursing model through analysis and' classification of the content of the nursing record which included nursing activities. This study was a descriptive survey research. The parish nurses were working in churches where the demonstration project developed on parish nursing. The study was done on all nursing records which were working in churches where the demonstration project developed on parish nursing. The study was done on all nursing records which were documented by parish nurses in three churches from March, 1995 to February, 1996. Namsan, Taegu Jeei and Nedang presbyterian churches in Taegu and Keimyung nursing college incooperated together for the parish nursing demonstration project. The data analysis procedure was as follows: First, a record analysis tool was developed and second, the data was collected, coded and analyzed, the classification for nursing activities was developed through a literature review, from which the basic analysis tool was produced and cotent validity review was also done. The classification of the activities of parish nurses showed 7 activitity categories. 7 activity categories consisted of visitation nursing, health check-ups, health education, referring, attending staff meetings, attending inservices and seminar, volunteers coordinating. The percentage of activities were as follows: Visitation nursing(A: 51.6%, B: 55%, C: 42.6%) Health check-ups(A: 13.5%, B: 12.1%, C: 22.3%) Health education(A: 13.5%, B: 13.2%, C: 18.2%) Referring(A: 1.4%, B: 4.2%, C: 2.4%) Attending staff meeting(A: 18.8%, B: 13.0%, C: 12.2%) Attending inservices and seminar(A: 1.5%, B: 2.2%, C: 2.1%) Volunteers coordinating(A: 0.3%, B: 0.4%, C: 0.0%) To establish and develope parish nursing delivery network in Korea, parish nurses role, activities and boundaries of practice should be continuously monitored and refined every 2 years. Also, It is needed to develope effective nursing recording system based on the need assessment research data of various congregation members. role, activities and boundaries of practice and arrangement of the working structure, continuing education, cooperation with community resources and structuring and organizing parish nursing delivery network. Also, It is needed to develope effective nursing recording system based on the need assessment research data of various congregation members.

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