• Journal of Mechanical Science and Technology
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• v.15 no.8
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• pp.1097-1107
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• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.

• Journal of the Korean Institute of Rural Architecture
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• v.21 no.1
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• pp.45-52
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• 2019

Since 1980's, Countless schools across the nation, particularly in rural areas, have been closed down by the large fall in number of students. Otherwise, an elderly population has been increasing rapidly, so the demand for welfare services for the elderly population is also increasing. However, the supply of elderly welfare facilities remains inadequate. The purpose of this study is to propose remodelling plan of elderly welfare facility using Closed schools. The result of this study were as follows; in unit-based facility plans, Single room type can be used for elder who lives alone or an elderly couple. Senior Congregate Housing type can be used for four to five people. These two types have equal sunlight and ventilation conditions for each room, and are for an old man in relatively good health. Membership resort type is for the healthy senior who lives in the rural area or lives in the city who wants short-term residence. In case of a Nursing home type, the existing one-sided corridor was converted into a central corridor and each classroom is divided into four rooms. This type has advantage for nursing and management, on the other hand, the corridor is narrow and each room has differences for sunlight and ventilation.

• Journal of the Architectural Institute of Korea Planning & Design
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• v.35 no.4
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• pp.45-52
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• 2019

The most ordinary form of residential type in Korea is a plate-type apartment, and the common space in these apartment is attracting as an important factor for enhancing social exchanges among neighbors and forming community consciousness. In addition, it provides a sense of psychological security by enabling natural exchanges and communication in contemporary society. It is desirable to plan the flow of space in such a way that private, semi-private, semi-public, and public spaces are linked. Semi-private and semi-public spaces can be defined as common spaces. Semi-private spaces are strongly recognized in the order of unit household entrance, main entrance, elevator, corridor, staircase, playground, bench, trail, walkway and parking lot, exercise space, main/back gate, the ability to gratify is increased sense of belonging, ownership consciousness formation, defensive function. Semi-public space is strongly recognized in the order of playground, bench, exercise space, trail, main entrance, walkway and parking lot, unit household entrance, main/back gate, corridor, staircase, elevator, the ability to gratify is increase of social contact, Secondary activity space function. In addition, the function to gratify in the common space differs according to gender and age group among resident characteristics, and differs according to corridor type, parking lot type and main entrance type. Therefore, differentiated planning of common space is needed in consideration of these differences in the design of common space in future.

• Journal of Korean Society of Environmental Engineers
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• v.31 no.2
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• pp.132-138
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• 2009

The energy efficiency and environment-friendly aspect of the railway system would be superior to other on-land transportation systems. In a preliminary feasibility study stage and selection of optimal railway corridor, the energy efficiency and problems related to environment are usually not considered. For the selection of optimal railway corridor, geographical features and facility of management are generally considered. Environment effect factors for the selection of environment-friendly railway corridor are focused and studied in this paper. In this study, various analysis of opinion of specialists (railway, environment, transport, urban planning, survey) and the guideline for construction of environment-friendly railway were accomplished. From these results of various analysis, 7 major categories (topography/geology, flora and fauna, Nature Property, air quality, water quality, noise/vibration, visual impact/cultural assets) were extracted. To select environment friendly railway corridors, many alternatives should be compared optimal corridor must be selected by a comprehensive assessment considering these 7 categories. The investment for railway systems can be encouraged by the considering of main environmental effect factor evaluated with the modified environmental weight factors for environment-friendly railway construction.

• Korean Journal of Environment and Ecology
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• v.26 no.4
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• pp.484-497
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• 2012

In recent, the primary concern of the forest policy paradigm, which has been mostly focusing on reducing emissions by the effort of afforestation and reforestation, is moving to the REDD activities that are operated by deforestation and forest degradation. In response, the phased studies is going well to visualize performance outcomes of REDD activities. This study brings up the optimum baseline approach for operating the national REDD program by simulating six different baseline approaches broadly used throughout the worldwide, and classified forestry condition for each province in Korea. From this study, we could aware that the carbon credit of HFLD has a low acquisition, but LFMD and LFHD has a high acquisition. Therefore, there are not many reasons for performing REDD activities due to the lack of economical benefits in compared to the devleopment of producing district in HFLD. All kinds of forestry condition, satisfactory baseline approach are needed to enhance the participation and the actuality about REDD program. When evaluating the participation and actuality, the rational decision should be considered as the most appropriate Corridor Approach. This study suggests that the modified Corridor Approach is required for overcoming the weak points, so that we developed the New Corridor Approach which could be easily adopted to Korea environment.

• Journal of The Korea Institute of Healthcare Architecture
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• v.22 no.4
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• pp.37-45
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• 2016

Purpose: The purpose of this paper is to analyze a sample of single corridor, pod type and composite type of ICUs in terms of patient visibility, spatial configurations and nurse walking distance focused on Korean cases. Methods: The measures of static visibility were used to quantify the patient visibility (upper third part of the patient bed) from the nurse station. The measure of space programme and area distribution (patient zone percentage, staff zone percentage, circulation zone percentage, corridor length per bed, distance from nurse station (NS) to patient bed and departmental gross square meter (DGSM) per patient bed) were calculated by using AutoCAD and MS Excel programs. In the second step of analysis the values of space distribution were compared among the three type of ICUs as well as the nurse walking distance, DGSM per bed and gross factor. in the third step of analysis regression analysis was conducted for the possible correlation between visibility and space programme and area distribution factors as well as nurse walking distance factors. Results: (1) It was found that on average composite type unit offer highest value of patient visibility followed by pod type, while single corridor type unit offers the minimum value of patient visibility among the three plan typologies. (2) Average patient visibility and DGSM per bed shows a strong positive correlation ($r^2=0.75$) and p=0.026. (3) Average patient visibility and average distance from NS has a strong negative correlation ($r^2=0.78$), and P=0.02. (4) On average composite type unit offer the minimum walking distance from NS (7.22 meter) followed by pod type unit (8.35 meter) and single corridor (9.76 meter). (5) Maximum distance from NS was noted in single corridor (18.19 meter) followed by pod type unit (15.14 meter) and Composite type unit (11.1 meter). Implications: This study may contribute to the visibility analysis of existing and future ICU design in Korea to achieve maximum patient visibility and reduced nurse walking distance.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.4 no.2
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• pp.84-91
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• 2001

This study was carried out to develop the technology of artificial floating island for the wild-life habitat at the reservoir of Korea University farm near Seoul. After the execution of an artificial floating island with 6 cells(each $3{\times}3m$), each cell was planted with 5 different species and one mixed of them, to the reservoir in 1999 through 2000. The monitored results were as follows; 1. Typha orientalis, Zizania latifolia and Oenanthe japonica were died back, but Phragmites communis, Phragmites japonica and Juncus effusus var. decipiens were well growing. 2. The limits of sinking water depth of the planting foundation were different with the plant species, that is, 40cm to the Juncus effusus var. dicipiens and 50cm to Phragmites communis. Accordingly the water depth should be kept differently with each species. 3. 33 species of fauna were monitored in the first year(1999) and 43 species in the second (2000) increasingly. 4. For the more wild-lives inducing to the artificial floating island, establishing the eco-corridor from the surrounding environment was needed.

• Journal of Korean Neurosurgical Society
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• v.66 no.2
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• pp.155-161
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• 2023

Objective : To analyze the anatomical location of the ureter in relation to lateral lumbar interbody fusion and evaluate the potential risk of ureteral injury. Methods : One hundred eight patients who performed contrast-enhanced computed tomographic scans were enrolled in this study. The location of the ureter from L2-L3 to L4-L5 was evaluated. The distances between the ureter and psoas muscle, intervertebral disc, and retroperitoneal vessels were also recorded bilaterally. Results : Over 30% of the ureters were close to the working corridor of extreme lumbar interbody fusion at L2-L3. Most of the ureters were close to working corridor of oblique lumbar interbody fusion, especially at L4-L5. The distance from the ureter to the great vessels on the left side was significantly narrowing from L2-L3 to L4-L5 (28.8±9.5 mm, 22.0±8.0 mm, 15.5±8.4 mm), and it was significantly larger than that on the right side (12.3±6.1 mm, 7.4±5.7 mm, 5.4±4.4 mm). Conclusion : Our findings indicate that the location of the ureter varies widely among individuals. To avoid unexpected damage to the ureter, it is imperative to directly visualize it and verify the ureter is not in the surgical pathway during lateral lumbar interbody fusion.

• Journal of the Korean Institute of Landscape Architecture
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• v.33 no.2 s.109
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• pp.16-31
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• 2005

This study was carried out to design a bridge-type ecological corridor plan in a forested neighborhood park affected by road construction in Dongjak-gu, Seoul. In order to study the site conditions, we analyzed topography, ecosystem structure, and user behavior and trail use. Existing vegetation was classified into 12 types. Based on a vegetation analysis, the Populus albaglandulosa and Robinia pseudoacacia communities, where planted species are dominant, were distributed extensively in the southern forest area. Planted areas with a single-layer structure of Korean landscape woody plants and Robinia pseudoacacia communities with a single-layer structure were distributed extensively in the northern forest and water-supply area. Based on a study of 28 quadrats, the similarity index between the multi-layer plant communities distributed in the southern forest and the single-layer planted areas was low. Twenty-four species of wild birds(355 individuals) were found in the survey area, including nine interior species and three urban species. The study of user behavior and numbers showed most users were walkers and few users were observed in the southern forest while most users were observed in the northern forest and water supply area. We selected some wild birds as model species to represent migrating species believed to use this park as an ecological corridor during migration. We suggested the new park plan include the following: improvement of vegetation structure for wildbird migration and habitat, connection of park trails for users and presentation of a landscape linked to nature.

• Fire Science and Engineering
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• v.28 no.1
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• pp.1-11
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• 2014

This study aims to address the fire characteristics of Double-skin facade using the Fire Dynamics Simulator (FDS). To end this, Double-skin facade was classified into the four structures, that is Box, Shaft-box, Corridor, Multistory, through PyroSim program which was based on FDS, and further each structure of fire characteristics were analyzed numerically as well as comparatively in the current study. This study also examined smoke movement, smoke density, smoke detectors, and visibility in order to closely identify the each structure of fire characteristics. The results of the study discovered that the Box structure did not significantly affect smoke which was rising in the other rooms, except for the fire room whereas the Corridor structure had positive effects on Double-skin facade horizontally. In addition, the Shaft-box structure showed the fastest vertical movement by means of the shaft, on the other hand, rising smoke influenced the other rooms as well. The Multistory structure along with rising smoke had a great impact on the other divided rooms in a vertical way.