• Journal of Construction Engineering and Project Management
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• 제6권2호
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• pp.30-39
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• 2016

This research presents the development of a self-governing mobile robot navigation system for indoor construction applications. This self-governing robot navigation system integrated robot control units, various positioning techniques including a dead-reckoning system, a UWB platform and motion sensors, with a BIM path planner solution. Various algorithms and error correction methods have been tested for all the employed sensors and other components to improve the positioning and navigation capability of the system. The research demonstrated that the path planner utilizing a BIM model as a navigation site map could effectively extract an efficient path for the robot, and could be executed in a real-time application for construction environments. Several navigation strategies with a mobile robot were tested with various combinations of localization sensors including wheel encoders, sonar/infrared/thermal proximity sensors, motion sensors, a digital compass, and UWB. The system successfully demonstrated the ability to plan an efficient path for robot's movement and properly navigate through the planned path to reach the specified destination in a complex indoor construction site. The findings can be adopted to several potential construction or manufacturing applications such as robotic material delivery, inspection, and onsite security.

• 전자공학회논문지A
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• 제32A권9호
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• pp.142-151
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• 1995

The trend of compact size, light weight, low power consumption in the portable telecommunication equipments demands large scale integration and low voltage operation of chips and the minimization of the number of the components in the telecommunication terminal. According to the trend, existing chip components are modulized and are integrated as a part into a bigger chip. This paper is about the development of the peripheral units of micro-controller for mobile telecommunication terminal. Peripherals consist of DMA controller, Interrupt controller, timer, watchdog timer, clock generator, and power management unit. They are designed to be integrated with EU(Execution Unit) and BIU(Bus Interface Unit) into a 16 bit micro-controller which will be used as a core of an ASIC for next generation digital mobile telecommunication terminal. At first, whole block of the micro-controller was described by VHDL behavioral model and simulated to verify its overall operation. Then, watchdog timer, clock generator and power management unit were directly synthesized by using VHDL synthesis tool. Rest of the pheriperal units were designed and simulated by using Compass Design Tool.

• 대한조선학회 특별논문집
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• 대한조선학회 2008년도 특별논문집
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• pp.68-75
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• 2008

This paper describes the design and implementation of a low cost inertial navigation system(INS) using an inertial measurement unit(IMU), a digital compass, GPS, and an embedded system. The system has been developed for a transporter that load and unload ship blocks in a shipbuilding yard. When the transporter would move from place to place, they would periodically pass under obstructions that would obscure the GPS signal. This increases the error when estimating the position. Thus the INS has been used to improve position accuracy. INS is also capable of providing continuous estimates of the transporter's position and orientation. Even though IMU is typically very expensive, this INS is made of "low cost" components and the indirect Kalman filtering algorithm.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2013년도 추계학술대회
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• pp.1048-1050
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• 2013

모바일 기기와 스마트폰은 급속하게 중앙의 컴퓨터와 통신 네트워크 기기로 변화하고 있다. 최근에는 스마트폰은 프로그램이 가능하며 가속도, 전자나침판, 자이로스코프, GPS, 마이크, 카메라와 같은 저가의 고성능 내장형 센서들과 함께 출시되고 있다. 본 논문에서는 무선 가스 센싱 서비스 구조를 분석하고 스마트폰과 웹 서버를 이용한 가스 센서 모니터링 서비스를 개발한다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.251-256
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• 2006

In the work package 'Integrated Positioning' of the research project NAVIO (Pedestrian Navigation Systems in Combined Indoor/Outdoor Environements) we are dealing with the navigation and guidance of visitors of our University. Thereby start points are public transport stops in the surroundings of the Vienna University of Technology and the user of the system should be guided to certain office rooms or persons. For the position determination of the user different location sensors are employed, i.e., for outdoor positioning GPS and dead reckoning sensors such as a digital compass and gyro for heading determination and accelerometers for the determination of the travelled distance as well as a barometric pressure sensor for altitude determination and for indoor areas location determination using WiFi fingerprinting. All sensors and positioning methods are combined and integrated using a Kalman filter approach. Then an optimal estimate of the current location of the user is obtained using the filter. To perform an adequate weighting of the sensors in the stochastic filter model, the sensor characteristics and their performance was investigated in several tests. The tests were performed in different environments either with free satellite visibility or in urban canyons as well as inside of buildings. The tests have shown that it is possible to determine the user's location continuously with the required precision and that the selected sensors provide a good performance and high reliability. Selected tests results and our approach will be presented in the paper.

• 한국컴퓨터정보학회논문지
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• 제15권1호
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• pp.111-118
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• 2010

본 논문에서 제안한 방법은 지향성 안테나를 이용한 위치인식 기법이다. 여기서 앵커 노드는 GPS모듈, 섹터안테나, 그리고 디지털 나침반을 이용하여 각 섹터의 방위각을 전송 할 수 있는 능력을 가지고 있다고 가정한다. 기존의 센서네트워크에서 위치인식 알고리즘은 대부분이 센서 노드들이 고정되어 있는 환경에서 위치 값을 알고 있는 앵커 노드의 최소 3개의 위치 값을 알아야 센서의 위치추정을 하였다. 하지만 본 논문에서는 센서 노드를 부착하고 계속적으로 움직이는 노드들의 위치를 추정하는 위치인식 알고리즘들을 제안하였다. 제안한 알고리즘은 Matlab을 이용하여 시뮬레이션하였다. 시뮬레이션한 결과는 제안한 기법이 다른 기법 (MCL, DV-distance)들 보다 우수함을 보여주었다.

• 디지털융복합연구
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• 제17권12호
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• pp.399-412
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• 2019

본 연구는 일반간호사가 간호대학생의 임상실습을 지도한 경험을 탐색하기 위해 경남지역에 위치한 3개 종합병원에 근무하는 일반간호사 8명을 대상으로 심층면담을 실시하였다. 본 연구는 면담을 통해 수집된 자료를 주제분석 방법으로 분석한 질적 연구이다. 본 연구에서 일반간호사가 간호대학생의 임상실습을 지도한 경험은 3개 주제와 8개 범주, 25개 하위범주로 구조화되었다. 3개의 주제는 '학생과 함께 성장하기', '나침판 없이 학생 가르치기', '역할 속에서 균형 잡기'였다. 본 연구결과를 근거로 일반간호사에게 간호대학생의 임상실습을 위임하기 위해서는 임상실습지도에 필요한 지침과 교육 프로토콜을 개발하여 교육할 것과 간호대학생의 임상실습지도를 전담하는 임상실습 전담 교육간호사의 도입을 제안한다.

• 한국전문물리치료학회지
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• 제29권3호
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• pp.225-234
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• 2022

Background: Trunk movements are an important factor in activities of daily living; however, these movements can be impaired by stroke. It is difficult to quantify and measure the active range of motion (AROM) of the trunk in patients with stroke. Objects: To determine the reliability and validity of measurements using a digital goniometer (DG) and smart phone (SP) applications for trunk rotation and lateral flexion in stroke patients. Methods: This is an observational study, in which twenty participants were clinically diagnosed with stroke. Trunk rotation and lateral flexion AROM were assessed using the DG and SP applications (Compass and Clinometer). Intrarater reliability was determined using intraclass correlation coefficients (ICCs) with 95% confidence intervals. Pearson correlation coefficient was used to determine the validity of the DG and SP in AROM measurement. The level of agreement between the two instruments was shown by Bland-Altman plot and 95% limit of agreement (LoA) was calculated. Results: The intrarater reliability (rotation with DG: 0.96-0.98, SP: 0.98; lateral flexion with DG: 0.97-0.98, SP: 0.96) was excellent. A strong and significant correlation was found between DG and SP (rotation hemiplegic side: r = 0.95; non-hemiplegic side: r = 0.90; lateral flexion hemiplegic side: r = 0.88; non-hemiplegic side: r = 0.78). The level of agreement between the two instruments was rotation (hemiplegic side: 23.02° [LoA 17.41°, -5.61°]; non-hemiplegic side: 31.68° [LoA 23.87°, -7.81°]) and lateral flexion (hemiplegic side: 20.94° [LoA 17.48°, -3.46°]; non-hemiplegic side: 27.12° [LoA 18.44°, -8.68°]). Conclusion: Both DG and SP applications can be used as reliable methods for measuring trunk rotation and lateral flexion in patients with stroke. Although, considering the level of clinical agreement, DG and SP could not be used interchangeably for measurements.

• 건축역사연구
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• 제20권1호
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• pp.117-133
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• 2011

This thesis is a study on the oldest feng-shui book "Janggyeong(葬經)". Specially, it is a focus on the feng-shui orientation method so called Sasepalryongbub(四勢八龍法) in that book. This method is to identify fortune and misfortune with the directions to be measured by a feng-shui compass. Sa(四) of Sase(四勢) is the four pieces of direction of dividing 12 parts for 360 degree circle. To divide for 12 parts is related with 12-Jiji(地支). Sa mean In(寅), Sin(申), Sa(巳), and Hae(亥). Se of Sase means a large stem of mountain. Generally, Sase are the big mountain stems of the four directions as In, Sin, Sa, and Hae. Pal(八) of Palryong(八龍) mean the 8 parts of equal division for 360 degree. It is related with Palgoe(八卦) that divide for 8 parts equally. Palgoe are Jin(震), Li(離), Gam(坎), Tae(兌), Geon(乾), Gon(坤), Gan(艮), and Son(巽). Ryong(龍) of Palryong(八龍) is a stem of mountain that is measured with 8 parts of equal division feng-shui compass. Sasepalryongbub make a connection between Sase and Palryong. When they are connected, it is a good fortune like as In(寅) and Li(離), Sin(申) and Gam(坎) or Gon(坤) or Gan(艮), Sa(巳) and Tae(兌) or Geon(乾), Hae(亥) and Jin(辰) or Son(巽). It is based on two theories. The one is 12-Unseongron(運星論), the other is one of Ohaengron(五行論) as Samhap-Ohaeng(三合五行). 12-Unseongron begins from dividing all human life affairs with 12 steps. Saeng(生), Wang(旺), Myo(墓) are the very important things among 12 steps. Saeng means starting, Wang means flourishing, Myo means keeping. Samhap-Ohaeng is made with Jiji of Saeng, Wang and Myo steps about 12-Unseongron. Saeng is the most important thing among of Saeng, Wang and Myo in Sasepalryongbub which means birth. Saeng of Jiji direction can help Palgoe direction as a counterpart. Like this, the good relation of Sase and Palryong is that Jiji direction can help Palgoe direction. For example, there are In(寅) of Jiji and Li(離) of Palgoe, can be explained as these kinds of the good relations. In view of Samhap-Ohaeng, In of Jiji is regared as Saeng of fire(火). This fire- Saeng-In as Jiji can help fire- Li as Palgoe. It can be said as a good condition that Sase and Palryong be connected like this case. This is the main content of Sasepalryongbub as being treated in this study.

• 대한원격탐사학회지
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• 제36권6_2호
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• pp.1615-1627
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• 2020

본 연구의 목적은 해외 테스트베드 지역에서 제작된 아리랑 3호 DSM의 성능을 비교 분석하는 것이다. 이를 위하여 미국 샌프란시스코 지역을 촬영한 아리랑 3호 in-track(동일 궤도) stereo(입체) 영상을 수집하였다. 촬영된 영상의 스테레오 기하 요소는(B/H, convergence angle 등) 모두 안정적 범위에 있음을 확인하였다. 지상기준점을 이용한 정밀 센서모델링과 DSM 자동 생성 기법을 적용하여, 1 m 해상도의 DSM을 제작하였다. 평가 및 보정을 위한 참조 자료는 Airbus에서 상용 판매하고 있는 1 m 해상도의 Elevation1 DSM 제품과 Compass Data Inc.에서 실측한 0.01 m 이내 정확도의 지상점이다. 아리랑 3호의 정밀 센서 모델링 정확도는 수평 및 수직 방향으로 0.5 m (RMSE) 이내를 나타냈다. 생성된 DSM과 참조 DSM 사이의 difference map을 작성하였을 때, 평균과 표준 편차는 각각 0.61 m와 5.25 m로 유사한 정확도를 나타냈으나, 일부 지역에서는 100 m 이상의 큰 차이를 나타냈다. 이러한 지역은 초 고층 건물의 밀집지역의 폐색 지역에서 주로 나타났다. 향후, 아리랑 3호 tri-stereo 영상의 활용과 다양한 후처리 기법이 개발된다면 보다 향상된 품질의 DSM 생성이 가능할 것으로 판단된다.