• The Journal of Korea Robotics Society
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• v.7 no.2
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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.

• Journal of the Ergonomics Society of Korea
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• v.31 no.1
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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.

• Journal of Korea Water Resources Association
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• v.53 no.6
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• pp.417-425
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• 2020

In order to predict and prevent hydrological disasters such as flood, it is necessary to accurately estimate rainfall. In this paper, an areal average rainfall estimation method using multiple elevation observation data of an electromagnetic wave rain gauge is presented. The small electromagnetic rain gauge system is a very small precipitation radar that operates at K-band with dual-polarization technology for very short distance observation. The areal average rainfall estimation method is based on the assumption that the variation in rainfall over the observation range is small because the observation distance and time are very short. The proposed method has been evaluated by comparing with ground instruments such as tipping-bucket rain gauges and a Parsivel. The evaluation results show that the methodology works fairly well for the rainfall events which are shown here.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.40 no.6
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• pp.90-97
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• 2003

This paper proposes a speech recognition based on HMM(Hidden Markov Model) using FSVQ(First Section Vector Quantization) and fuzzy concept. In the proposed paper, we generate codebook of First Section, and then obtain multi-observation sequences by order of large propabilistic values based on fuzzy rule from the codebook of the first section. Thereafter, this observation sequences of first section from codebooks is trained and in case of recognition, a word that has the most highest probability of first section is selected as a recognized word by same concept. Train station names are selected as the target recognition vocabulary and LPC cepstrum coefficients are used as the feature parameters. Besides the speech recognition experiments of proposed method, we experiment the other methods under same conditions and data. Through the experiment results, it is proved that the proposed method based on HMM using FSVQ and fuzzy concept is superior to tile others in recognition rate.

• Journal of Korea Game Society
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• v.16 no.6
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• pp.131-142
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• 2016

Recently, a variety of methodologies based on the use of educational coding robots have been proposed and experimented in newly emerging korean educational coding markets. Due to imprecise movement accuracy of the existing coding robots, however, such robots are mainly used as a toy. Inspired by these observations, we developed a simple adjustment method during robot movements, which is based on the observation results of 6 line-tracking sensors: 3 sensors in the center of a robot and other 3 sensors at the front. These sensors help to determine whether the robot is in the right location and whether it rotates as expected. Through the well-designed experiments, we report the effectiveness of our proposed solution: the average distance error of 1.57cm and the average degree error of 2.38 degree before and after complex movements. In near future, we hope our method to be popularly used in various educational coding robot platforms.

• Journal of Korean Elementary Science Education
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• v.28 no.3
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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.

• The Journal of Pediatrics of Korean Medicine
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• v.15 no.1
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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.

• Speech Sciences
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• v.14 no.2
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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.

• The Korean Journal of Applied Statistics
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• v.18 no.1
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• pp.129-135
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• 2005

Representative observations are useful to express explicitly the distributional variation of the data by a few selected observations corresponding to the quantiles in the univariate situation. Jones and Rice(1992) extended it to the multidimensional case by the principal component based method. This study introduces a modified version of Jones and Rice exploiting the self-consistency of principal components in expressing the chosen observation vectors. Compared to that of Jones and Rice, the suggested method tends to provide with less susceptible representative observations to the sampling variation of the data and the resulted vectors benefits from the self-consistency.

• Journal of Sensor Science and Technology
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• v.31 no.1
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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.