• 로봇학회논문지
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• 제7권2호
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• pp.120-128
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• 2012

The loop closure problem is one of the most challenging issues in the vision-based simultaneous localization and mapping community. It requires the robot to recognize a previously visited place from current camera measurements. While the loop closure often relies on visual bag-of-words based on point features in the previous works, however, in this paper we propose a line-based method to solve the loop closure in the corridor environments. We used both the floor line and the anchored vanishing point as the loop closing feature, and a two-step loop closure algorithm was devised to detect a known place and perform the global pose correction. We propose an anchored vanishing point as a novel loop closure feature, as it includes position information and represents the vanishing points in bi-direction. In our system, the accumulated heading error is reduced using an observation of a previously registered anchored vanishing points firstly, and the observation of known floor lines allows for further pose correction. Experimental results show that our method is very efficient in a structured indoor environment as a suitable loop closure solution.

• 대한인간공학회지
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• 제31권1호
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• pp.23-32
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• 2012

Objective: This research proposes a methodology, which validates a grasp of the customers' emotions in the service design area. Background: As the era of service design has taken its approach, the need for a deliberate design that would reflect the customer's experience had emerged in the area of service. Therefore, a variety of methodologies has been adopted in the field of service design with the purpose of discovery of the customers' needs. Even though the importance of an emotion-sentient research of a service experience increases, its research progress remains to be inadequate in comparison to all the other areas. Method: Having had taken some resources from the emotional studies under other areas of expertise as a base, the concept of volatility of emotions has been introduced as the core element of this research, further followed by an elaboration of its special characteristics. The observation technique under Stakeholder's system: SOMC(Simultaneous Observation Method based on Cooperation) has been proposed in this study as it presents an effective way to grasp the concept of volatile emotions in contrast to the previously existent types of methodologies. Results: The SOMC rather supplements the existing research methods than substitutes the previous ones. In other words, although the existing research system allowed emotion detection, it was difficult to capture the change of momentary and fickle emotions. On the opposite, the SOMC provides a condition allowing a sufficient grasp of the customer's emotions and facilitates emotional capture. Conclusion: For that reason, it is hoped that this piece of research represents a valuable and effective approach in terms of grasping the true needs of the customers on the emotional level, which will in its turn contribute to the improvement of the service quality in the midst of a complicated service condition. Application: Moreover, the purpose of this research is that in its outcome it may serve as a sufficient contribution to the area of emotional studies within the field of service design.

• 한국수자원학회논문집
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• 제53권6호
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• pp.417-425
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• 2020

홍수와 같은 수문 재해를 예측하고 예방하기 위해서는 강우량을 정확하게 추정해야한다. 본 연구에서는 전파강수계의 다중 고도 관측 데이터를 사용한 면적 평균 강우량 추정 방법을 개발하였다. 소형 전파강수시스템은 K 대역 이중 편파 기술을 사용하여 매우 짧은 거리를 관측하는 소형 레이더이다. 면적 평균 강우 추정 방법은 관측 거리와 시간이 매우 짧기 때문에 관측 범위에서 강우 변동이 작다는 가정을 기반으로 한다. 제안된 방법은 지상우량계 및 파시벨우적계와 같은 지상 장비와 비교하여 평가되었다. 비교 평가된 강우 사상들에 대해 전파강수계로부터 추정된 평균강우와 지상장비로부터 관측된 강우량이 잘 일치함을 보여준다.

• 대한전자공학회논문지SP
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• 제40권6호
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• pp.90-97
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• 2003

본 논문은 FSVQ(first section vector quantization)와 퍼지 개념을 이용한 HMM(hidden Markov model)에 기초를 둔 음성인식을 제안한다. 제안된 연구 방법에서는 첫 번째 구간의 코드북(codebook)을 만든 후, 첫 번째 구간의 코드북으로부터, 퍼지 개념을 도입하여 확률값이 큰 순서에 의해 다중 관측열을 구한다. 그 다음, 코드북으로부터 첫 번째 구간의 관측열을 학습시키고 인식할 때에도 같은 개념으로 첫 번째 구간에서의 확률 값이 가장 높은 단어를 인식된 단어로 선택한다. 인식 대상 어휘로는 전철역명을 선택하였으며, 특징 파라메타로는 LPC ？스트럼을 사용하였다. 제안된 방법에 의한 인식 실험을 수행하는 것 이외에도 비교를 위하여 이전에 실험한 몇 가지 방법의 인식 실험을 같은 조건하에서 같은 데이터로 수행한다. 실험 결과, 본 연구에서 제안한 FSVQ와 퍼지 개념을 이용한 HMM에 기초를 둔 방법이 다른 음성 인식방법들보다 인식률이 우수함을 입증하였다.

• 한국게임학회 논문지
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• 제16권6호
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• pp.131-142
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• 2016

소프트웨어 교육이 초중등 정규 교과목으로 편재됨에 따라 코딩 교육용 로봇을 활용한 코딩 교구 시장이 나타나고 있다. 하지만 현재 로봇용 코딩 교구 시장은 로봇의 부정확한 움직임 제어 때문에 코딩교육의 본질을 벗어나 장난감으로서의 기능에만 충실한 경우가 많다. 이 점에 착안하여 본 연구에서는 6개의 라인센서의 관찰 정보를 바탕으로 로봇의 전진 이동, 회전 이동을 보정하는 방안을 제시한다. 본 방안의 효용성을 검증하기 위해 보드 게임과 유사한 코딩 학습용 테스트베드를 구축하고 코딩을 통해 로봇을 제어할 수 있는 모바일 앱을 활용하여 로봇의 실제 움직임 정확도를 측정하였다. 측정결과에 따르면 다양한 명령어를 수행한 결과 거리측면에서는 최대 1.57cm, 각도측면에서는 2.38도의 오차를 보고하고 있다. 이 결과를 바탕으로 본 논문에서 제안한 방식을 활용하면 향후 코딩교구 시장에서의 로봇의 활용도가 더욱 커질 것으로 기대된다.

• 한국초등과학교육학회지:초등과학교육
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• 제28권3호
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• pp.331-339
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• 2009

The purpose of this study is to make a list of scientific terms to decrease students' difficulties of science learning. By using inductive method, database has established from elementary school science textbooks and laboratory observation books. All terms from physics area of science textbooks and laboratory observation books at the levels of grade 3 to 6 were analyzed based on the Standard Korean Dictionary (1999) and Book of Physics Terminology (2005). As a result, we made a list of 204 scientific terms by grade level. Those were 51 words for grade 3, 55 words for grade 4, 56 words for grade 5, and 42 words for grade 6. And there were some incongruities among textbooks, the Standard Korean Dictionary and the Book of Physics Terminology.

• 대한한방소아과학회지
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• 제15권1호
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• pp.165-182
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• 2001

In oriental medicine, diagnostic method was the four examination(四診) which was composed of inspection(望診), inquiring(問診), listening and smelling(聞診), palpation(切診). Inspection of skin color(望色) indicated the observation of patient's complexion(色診). In oriental medical theory, complexion of face was related to meridians(經絡) and zang-fu(贓腑). The change of complexion was reflected the ups and downs of qi(氣) and blood(血), the relative seriousness of an illness. especially, observation of complexion was essential in children, because of diagnostic difficulty and positive change according to each disease. The purpose of this study was to construct for standard measurement and invent for computerizing diagnostic system which was based on observation of complexion. It was objectively measured complexion using spectrophotometer and chroma meter. Measurement of complexion should make an offer the index of diagnosis.

• 음성과학
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• 제14권2호
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• pp.105-114
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• 2007

The performance of speaker identifier is severely degraded in noisy environments. A study suggested the concept of observation membership for enhancing performances of speaker identifier with noisy speech [1]. The method scaled observation probabilities of input speech by observation identification values decided by SNR. In the paper [1], the authors suggested heuristic parameter values for membership function. In this paper we attempt to apply particle swarm optimization (PSO) for obtaining the optimal parameters for speaker identification in noisy environments. With the speaker identification experiments using the ETRI database we prove that the optimization approach can yield better performance than using only the original membership function.

• 응용통계연구
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• 제18권1호
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• pp.129-135
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• 2005

일변량 자료의 경우 대표관찰치는 사분위수 등에 기초하여 자료의 분포와 변이를 함축적으로 표현하기 위한 목적으로 사용되는 소수 개의 관찰치이다. Jones와 Rice(1992)는 다변량 자료에 대한 대표관찰치를 선택하기 위해 주성분분석에 근거한 방법을 제시한 바 있다. 이 연구에서는 주성분의 자기일치성을 이용하여 대표관찰치를 선택하고, 이를 표현하는 방안을 고찰한다. 기존의 방법에 의한 대표관찰치가 자료의 표본변이에 민감한 한편, 여기에서 제안되는 방법의 결과는 자기일치성을 가진다.

• 센서학회지
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• 제31권1호
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• pp.64-68
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• 2022

Herein, we propose a LoRaWAN-based small draft system that can measure the ocean current flow (speed, direction, and distance) in real time at the request of the Coast Guard to develop a device that can promptly find survivors at sea. This system has been implemented and verified in the early stages of rescue after maritime vessel accidents, which are frequent. GPS signals often transmit considerable errors, so correction algorithms using the improved triangulation method algorithm are required to accurately indicate the direction of currents in real time. This paper is structured in the following manner. The introduction section elucidates rescue activities in the case of a maritime accident. Chapter 2 explains the characteristics and main parameters of the GPS surveying technique and LoRaWAN communication, which are related studies. It explains and expands on the critical distance error correction algorithm for GPS signals and its improvement. Chapter 3 discusses the design and analysis of small draft buoys. Chapter 4 presents the testing and validation of the implemented system in both onshore and offshore environments. Finally, Section 5 concludes the study with the expected impact and effects in the future.