• 제목/요약/키워드: trajectory

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로봇 인터페이스 활용을 위한 가속도 센서 기반 제스처 인식 (Accelerometer-based Gesture Recognition for Robot Interface)

  • 장민수;조용석;김재홍;손주찬
    • 지능정보연구
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    • 제17권1호
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    • pp.53-69
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    • 2011
  • 로봇 자체 또는 로봇에 탑재된 콘텐츠와의 상호작용을 위해 일반적으로 영상 또는 음성 인식 기술이 사용된다. 그러나 영상 음성인식 기술은 아직까지 기술 및 환경 측면에서 해결해야 할 어려움이 존재하며, 실적용을 위해서는 사용자의 협조가 필요한 경우가 많다. 이로 인해 로봇과의 상호작용은 터치스크린 인터페이스를 중심으로 개발되고 있다. 향후 로봇 서비스의 확대 및 다양화를 위해서는 이들 영상 음성 중심의 기존 기술 외에 상호보완적으로 활용이 가능한 인터페이스 기술의 개발이 필요하다. 본 논문에서는 로봇 인터페이스 활용을 위한 가속도 센서 기반의 제스처 인식 기술의 개발에 대해 소개한다. 본 논문에서는 비교적 어려운 문제인 26개의 영문 알파벳 인식을 기준으로 성능을 평가하고 개발된 기술이 로봇에 적용된 사례를 제시하였다. 향후 가속도 센서가 포함된 다양한 장치들이 개발되고 이들이 로봇의 인터페이스로 사용될 때 현재 터치스크린 중심으로 된 로봇의 인터페이스 및 콘텐츠가 다양한 형태로 확장이 가능할 것으로 기대한다.

한반도 권역별 대기 중 입자상 탄소 특성 연구 (Characteristics of Particulate Carbon in the Ambient Air in the Korean Peninsula)

  • 이영재;박미경;정선아;김선정;조미라;송인호;유영숙;임용재;김정훈;정해진;이상욱;최원준;안준영;이민희;강현정;박승명;서석준;정동희;현주경;박종성;황태경;홍유덕;홍지형;신혜정
    • 한국대기환경학회지
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    • 제31권4호
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    • pp.330-344
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    • 2015
  • Semi-continuous measurements of $PM_{2.5}$ mass, organic and elemental carbon were made for the period of January to October 2014, at six national air monitoring stations in Korea. OC and EC concentrations showed a clear seasonal variation with the highest in winter (January) and the lowest in summer (August). In winter, the high carbonaceous concentrations were likely influenced by increased fuel combustion from residential heating. OC and EC concentrations varied by monitoring stations with 5.9 and $1.7{\mu}g/m^3$ in Joongbu area, 4.2 and $1.2{\mu}g/m^3$ in Honam area, 4.0 and $1.3{\mu}g/m^3$ in Yeongnam area, 3.7 and $1.6{\mu}g/m^3$ in Seoul Metropolitan area, 3.0 and $0.8{\mu}g/m^3$ in Jeju Island, 2.9 and $0.7{\mu}g/m^3$ in Baengnyeong Island respectively. The concentrations of OC and EC comprised 9.6~ 15.5% and 2.4~ 4.7% of $PM_{2.5}$. Urban Joongbu area located adjacent to the intersection of several main roads showed the highest carbon concentration among six national air monitoring station. On the other hand, background Baengnyeong Island showed the lowest carbon concentration and the highest OC/EC ratio (4.5). During the haze episode, OC and EC were enhanced with increase in $PM_{2.5}$ about 1.3~ 3 and 1.3~ 4.0 times respectively. The concentrations of OC, EC in the Asian dust case are about 1~ 2.4 times greater than in the nondust case. The origins of air mass pathways arriving at Seoul, using the backward trajectory analysis, can be mostly classified into 6 groups (Sector I Northern Korea including the sea of Okhotsk, Sector II Northern China including Mongolia, Sector III Southern China, Sector IV South Pacific area, Sector V Japan, Sector VI Southern Korea area). When an air mass originating from northern China and Mongolia, the OC concentrations were the most elevated, with a higher OC/EC ratio (2.4~ 3.3), and accounting for 17% of $PM_{2.5}$ mass on average.

대기오염집중측정소별 2013~2015년 사이의 PM2.5 화학적 특성 차이 및 유발인자 조사 (Difference in Chemical Composition of PM2.5 and Investigation of its Causing Factors between 2013 and 2015 in Air Pollution Intensive Monitoring Stations)

  • 유근혜;박승식;김영성;신혜정;임철수;반수진;유정아;강현정;서영교;강경식;조미라;정선아;이민희;황태경;강병철;김효선
    • 한국대기환경학회지
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    • 제34권1호
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    • pp.16-37
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    • 2018
  • In this study, difference in chemical composition of $PM_{2.5}$ observed between the year 2013 and 2015 at six air quality intensive monitoring stations (Bangryenogdo (BR), Seoul (SL), Daejeon (DJ), Gwangju (GJ), Ulsan (US), and Jeju (JJ)) was investigated and the possible factors causing their difference were also discussed. $PM_{2.5}$, organic and elemental carbon (OC and EC), and water-soluble ionic species concentrations were observed on a hourly basis in the six stations. The difference in chemical composition by regions was examined based on emissions of gaseous criteria pollutants (CO, $SO_2$, and $NO_2$), meteorological parameters (wind speed, temperature, and relative humidity), and origins and transport pathways of air masses. For the years 2013 and 2014, annual average $PM_{2.5}$ was in the order of SL ($${\sim_=}DJ$$)>GJ>BR>US>JJ, but the highest concentration in 2015 was found at DJ, following by GJ ($${\sim_=}SJ$$)>BR>US>JJ. Similar patterns were found in $SO{_4}^{2-}$, $NO_3{^-}$, and $NH_4{^+}$. Lower $PM_{2.5}$ at SL than at DJ and GJ was resulted from low concentrations of secondary ionic species. Annual average concentrations of OC and EC by regions had no big difference among the years, but their patterns were distinct from the $PM_{2.5}$, $SO{_4}^{2-}$, $NO_3{^-}$, and $NH_4{^+}$ concentrations by regions. 4-day air mass backward trajectory calculations indicated that in the event of daily average $PM_{2.5}$ exceeding the monthly average values, >70% of the air masses reaching the all stations were coming from northeastern Chinese polluted regions, indicating the long-range transportation (LTP) was an important contributor to $PM_{2.5}$ and its chemical composition at the stations. Lower concentrations of secondary ionic species and $PM_{2.5}$ at SL in 2015 than those at DJ and GJ sites were due to the decrease in impact by LTP from polluted Chinese regions, rather than the difference in local emissions of criteria gas pollutants ($SO_2$, $NO_2$, and $NH_3$) among the SL, DJ, and GJ sites. The difference in annual average $SO{_4}^{2-}$ by regions was resulted from combination of the difference in local $SO_2$ emissions and chemical conversion of $SO_2$ to $SO{_4}^{2-}$, and LTP from China. However, the $SO{_4}^{2-}$ at the sites were more influenced by LTP than the formation by chemical transformation of locally emitted $SO_2$. The $NO_3{^-}$ increase was closely associated with the increase in local emissions of nitrogen oxides at four urban sites except for the BR and JJ, as well as the LTP with a small contribution. Among the meterological parameters (wind speed, temperature, and relative humidity), the ambient temperature was most important factor to control the variation of $PM_{2.5}$ and its major chemical components concentrations. In other words, as the average temperature increases, the $PM_{2.5}$, OC, EC, and $NO_3{^-}$ concentrations showed a decreasing tendency, especially with a prominent feature in $NO_3{^-}$. Results from a case study that examined the $PM_{2.5}$ and its major chemical data observed between February 19 and March 2, 2014 at the all stations suggest that ambient $SO{_4}^{2-}$ and $NO_3{^-}$ concentrations are not necessarily proportional to the concentrations of their precursor emissions because the rates at which they form and their gas/particle partitioning may be controlled by factors (e.g., long range transportation) other than the concentration of the precursor gases.