• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.29-39
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• 2007

We present an implementation of particle filter algorithm for global localization and kidnap recovery of mobile robot. Firstly, we propose an algorithm for efficient particle initialization using sonar line features. And then, the average likelihood and entropy of normalized weights are used as a quality measure of pose estimation. Finally, we propose an active kidnap recovery by adding new particle set. New and independent particle set can be initialized by monitoring two quality measures. Added particle set can re-estimate the pose of kidnapped robot. Experimental results demonstrate the capability of our global localization and kidnap recovery algorithm.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.3
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• pp.2123-2130
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• 2015

For such automatic monitoring robot or a robot cleaner that is utilized indoors, if it deviates from someone by replacement or, or of a mobile robot such as collisions with unexpected object direction or planned path, based on the planned path There is a need to come back to, it is necessary to tough self-position estimation ability of mobile robot in this, which is also associated with resolution of the kidnap problem of conventional mobile robot. In this study, the case of a mobile robot, operates indoors, you want to take advantage of the low cost of the robot. Therefore, in this paper, by using the acquisition device to an external image information such as the CCTV which is installed in a room, it acquires the environment image and take advantage of marker recognition of the mobile robot at the same time and converted it absolutely spatial coordinates it is, we are trying to solve the self-position estimation of the mobile robot in the room and kidnap problem and actual implementation methods potential field to try utilizing robotic systems. Thus, by implementing the method proposed in this study to the actual robot system, and is promoting the relevant experiment was to verify the results.

• Convergence Security Journal
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• v.9 no.1
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• pp.11-17
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• 2009

The object of this paper is to design a school-zone safety management system based on context-aware, integrated with computing technology. When it occurs to kidnap of elementary school students, the monitoring device creates context information through a combination object extraction and context-aware technology and alarm administrator about an emergency situation. In addition, the proposed system that requires a human perspective, a railroad crossing, statistics research of traffic, and a variety of applications such as factory automation systems can be used to be the best choice.

• Convergence Security Journal
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• v.13 no.5
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• pp.215-222
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• 2013

This study aims to provide future direction recognizing the educational importance and to present the way ahead that practices correctly for improving an educational role on security sector to prevent child missing. Therefore, it was conducted with questionnaire that is "Research on participation grade of education to prevent child missing and the actual condition" made by researcher of this study which is on 363of parents of pre-chirdren of 6,7 and 8years old in a kindergarten and an elementary school where is located in metropolitan area. It operated to take processing enterprise statistics using SPSS/WIN 12.0 for getting data, and analyzed frequency and t-verification.It investigated correct selection of an education specialist on preventive education and participation grade of education to prevent missing on home, how often, how it is conducted, then what requirement for educationto prevent child missing and participation grade is, whether difference is in accordance with gender of parentsand gender of child.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.10a
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• pp.437-440
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• 2007

Recently embedded system developed a lot. Physically, embedded systems range from portable devices such as digital watches and MP3 players, to large stationary installations like traffic lights, factory controllers, or the systems controlling nuclear power plants. This paper focuses on implementation of portable device which is applicable to the child-kidnap or missing child prevention system in residential area or public area. To be specific, this device is to transmit video data which comes from the camera in the device into the host PC via WLAN. Embedded hardware platform consists of s3c2440 with ARM9 core, WindowsCE OS and other sensors. OS enables the platform to do multitasking jobs which are handling GPS data, taking video, capturing audio via microphone in the device and transfer all kind of realtime data to the host PC.

• Journal of Korean Society for Geospatial Information Science
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• v.25 no.2
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• pp.31-37
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• 2017

Recently, governmental authority and local government are looking for a method of utilizing location information of smart phone for urgent rescue in fire and kidnap situation. Under this background, in this study, a method of rapidly collecting, constructing location determination based Wi-Fi AP data utilizing location information of smart phone and mobile mapping system was suggested in order to construct precise positioning information that could be utilized under urgent situation. By performing compensation work for GPS/INS/DMI through collected outcome, position of collected vehicle was acquired. In addition, source data integrating Wi-Fi information and collected position by coupling based on Wi-Fi AP collector and GPS time was constructed and Wi-Fi radiomap was constructed by removing Wi-Fi signal noise that reduces precise position performance. As a result of performing location determination performance assess ment by selecting 10 test positions by each local government, result value of 25.46cm for total local government average and 27.76m for SD could be obtained. It is considered that this result could be utilized as a technology of being able to supplement or substituting GPS location determination technology that is impossible in plocation determination of mobile communication company's base station (200m~2km) and indoor being used at present.

• Korean Security Journal
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• no.51
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• pp.81-100
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• 2017

Recently, Crime patterns in our society are diversifying as followed on the urbanization of population and the influx of immgrants. Existing murder, kidnap, sexual assault, etc. Especially, the crimes such as school violence, dating violence, domestic violence, violent abuse and even social hatred a crime, motiveless crime are spreading into every phase of national life. Due to the social situation, the sharp increase in demand for personal protection, the scale of private security industry has been constantly expanded. Following this trend, the personal protective regulations in Security Industry Act has been revised several times since the it was enacted in 1995. However, despite the fact that the legal and institutional aspects should have been amended and improved systematically according to the industrial development, the regulations adopted initially adopted has been maintained so far, which have resulted in various problems as they could not coincide with the purpose of private security, being divorced from the reality of private security industry and social changes. Especially, in the case of personal protection service and facility security service, the legal requirements of both services are identical with each other in terms. Such legal systems may cause confusion to security businesses and employees, or the police managing and supervising them, regarding the scope and duties of security services. In order to improve such problems, the regulations of permission requirement that the personal protective regulations in Security Industry Act should be revised system. In this study, relevant personal protection provisions prescribed in the Security Industry Act have been reviewed critically in this paper. And also the regulations were review of those personal protection provisions enacted in security industry Act, so that the improvement plan for the personal protection provisions that are apposite to the cases in this country could be suggested in order to amend the current laws and provide real grounds for the law enforcement.

• The Journal of the Korea Contents Association
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• v.19 no.9
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• pp.92-100
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• 2019

The purpose of this study is to analyze the 2019 Revised Nuri Curriculum and the 2015 Revised Curriculum for the comparative analysis of disaster safety education contents in the national level curriculum. The main results of this study are as follows: First, the content of disaster safety education for preschoolers in the 2019 Revised Nuri Curriculum was clarified as 'Knowing how to react in case of accident, fire, disaster, abuse, kidnap etc.' in 'Living safety' category of physical exercise and health sections. Second, in the 2015 Revised Curriculum, disaster safety education contents for elementary school students were found to have the difference between school year in same elementary school curriculum. For first and second graders, 'Disaster safety' was cleary presented in one of major categories of 'Living safety', which was newly created at the creative activity in the Revised 2015 Curriculum. On the other hand, for third to sixth graders, safety education is dispersed in the related subjects such as physical education, science, practical courses or in the creativity activity. Third, the safety contents in the Revised 2015 Curriculum for middle school and high school were also found to be dispersed in social studies, physical education, science, technology-home economics and creativity activity. The results of this study showed that the contents of disaster safety education in the national curriculum did not have continuity and systemicity from kindergarten to high school. Therefore, efforts should be made to ensure continuity and systemicity of disaster safety education contents when the national curriculum is revised in the future.