• 보존과학회지
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• 제27권3호
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• pp.251-260
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• 2011

이 연구에서는 석조문화유산의 손상유형별 표준범례를 제시하고, 손상지도 작성방법에 대한 공정시스템을 구축하였으며, 균열지수 개발과 표면 및 3차원 손상율 평가기법을 제시하였다. 손상유형별 표준범례는 균열, 박리, 박락, 탈락, 입상분해 및 공동으로 세분한 다음 상용 그래픽 프로그램으로 제작하였으며, 손상지도는 손상 영역에 대한 정확도와 신뢰도를 높이기 위해 3차원 디지털복원과 고해상도 사진맵핑 기술을 적용하였다. 또한 균열지수를 개발하여 대상 석조문화유산의 물리적 손상도에 대한 정량평가를 수행하였고, 가상복원 모델링을 통해 탈락부의 부피와 3차원 손상율을 산출하였다. 이를 통해 마곡사오층석탑의 손상도를 정량적으로 평가한 결과, 전체적으로 북측면이 구조상 균열(1.70), 미세균열(1.34), 박락(20.2%), 탈락(13.0%)의 손상점유율이 높게 나타났으며, 1층 옥개석의 3차원 손상율은 6.7%로 산출되었다.

• 한국전자통신학회논문지
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• 제16권6호
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• pp.1311-1316
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• 2021

본 논문에서는 이중시점 스테레오 이미지와 그에 상응하는 깊이맵을 생성하기 위해 서로 다른 초점거리를 가지고 있는 두 카메라를 결합한 이중시점 스테레오 카메라 시스템을 제안한다. 제안한 이중초점 스테레오 카메라 시스템을 이용해 깊이맵을 생성하기 위해서는 먼저 서로 다른 초점을 가진 두 카메라에 대한 카메라 정보를 추출하기 위한 카메라 보정(Camera Calibration)을 수행한다. 카메라 파라미터를 이용해 깊이맵 생성을 위한 공통 이미지 평면을 생성하고 스테레오 이미지 정렬화(Image Rectification)를 수행한다. 마지막으로 정렬화된 스테레오 이미지를 이용하여 깊이맵을 생성하였다. 본 논문에서는 깊이맵을 생성하기 위해서 SGM(Semi-global Matching) 알고리즘을 사용하였다. 제안한 이중초점 스테레오 카메라 시스템은 서로 다른 초점 카메라들이 수행해야 하는 기능을 수행함과 동시에 두 카메라를 이용한 스테레오 정합(Stereo Matching)을 통해서 현재 주행 중인 환경에서의 차량, 보행자, 장애물과의 거리 정보까지 생성할 수 있어서 보다 안전한 자율주행 차량 설계를 가능하게 하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제17권5호
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• pp.1339-1355
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• 2023

Localization is a hot research spot for many areas, especially in the mobile robot field. Due to the weak signal of the global positioning system (GPS), the alternative schemes in an indoor environment include wireless signal transmitting and receiving solutions, laser rangefinder to build a map followed by a re-localization stage and visual positioning methods, etc. Among all wireless signal positioning techniques, Wi-Fi is the most common one. Wi-Fi access points are installed in most indoor areas of human activities, and smart devices equipped with Wi-Fi modules can be seen everywhere. However, the localization of a mobile robot using a Wi-Fi scheme usually lacks orientation information. Besides, the distance error is large because of indoor signal interference. Another research direction that mainly refers to laser sensors is to actively detect the environment and achieve positioning. An occupancy grid map is built by using the simultaneous localization and mapping (SLAM) method when the mobile robot enters the indoor environment for the first time. When the robot enters the environment again, it can localize itself according to the known map. Nevertheless, this scheme only works effectively based on the prerequisite that those areas have salient geometrical features. If the areas have similar scanning structures, such as a long corridor or similar rooms, the traditional methods always fail. To address the weakness of the above two methods, this work proposes a coarse-to-fine paradigm and an improved localization algorithm that utilizes Wi-Fi to assist the robot localization in a geometrically similar environment. Firstly, a grid map is built by using laser SLAM. Secondly, a fingerprint database is built in the offline phase. Then, the RSSI values are achieved in the localization stage to get a coarse localization. Finally, an improved particle filter method based on the Wi-Fi signal values is proposed to realize a fine localization. Experimental results show that our approach is effective and robust for both global localization and the kidnapped robot problem. The localization success rate reaches 97.33%, while the traditional method always fails.

• 건축역사연구
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• 제19권6호
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• pp.23-38
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• 2010

This Hee Kyeong Ru, a kind of "Nu-Gak" in Gwangju is a high storied old government official building memorizes the recovery of Gwangju area reputation. Hee Kyeong Ru, literally means, delightful and happy occasions. This kind of the buildings were build for the receptions and the banquets for the high government officials in travelling areas to areas. It provided very high formality as compared to the buildings in the mountains. Nu-Gak buildings have a lot in common, since they had been constructed under the influence of the then time period and for the common reasons. Several records about Hee Kyeong Ru can be found in the old literatures, poetries, pictures and atlases. Also, we can see the shape of the building and the location through the mark in the old map. According to the historic materials, Nu-Gak buildingsof other old goveenment offices with Hee Kyeong Ru are similar to that of the size and construction. So we can draw the common points of the existing old official buildings and could assume the original form of Hee Kyeong Ru. In conclusion, we need to restore Hee Kyeng Ru as the historical meaningful building and use it as a representative cultural building in Gwangju.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2006년도 학술대회 1부
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• pp.355-361
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• 2006

In large scale environments like airport, museum, large warehouse and department store, autonomous mobile robots will play an important role in security and surveillance tasks. Robotic security guards will give the surveyed information of large scale environments and communicate with human operator with that kind of data such as if there is an object or not and a window is open. Both for visualization of information and as human machine interface for remote control, a 3D model can give much more useful information than the typical 2D maps used in many robotic applications today. It is easier to understandable and makes user feel like being in a location of robot so that user could interact with robot more naturally in a remote circumstance and see structures such as windows and doors that cannot be seen in a 2D model. In this paper we present our simple and easy to use method to obtain a 3D textured model. For expression of reality, we need to integrate the 3D models and real scenes. Most of other cases of 3D modeling method consist of two data acquisition devices. One for getting a 3D model and another for obtaining realistic textures. In this case, the former device would be 2D laser range-finder and the latter device would be common camera. Our algorithm consists of building a measurement-based 2D metric map which is acquired by laser range-finder, texture acquisition/stitching and texture-mapping to corresponding 3D model. The algorithm is implemented with laser sensor for obtaining 2D/3D metric map and two cameras for gathering texture. Our geometric 3D model consists of planes that model the floor and walls. The geometry of the planes is extracted from the 2D metric map data. Textures for the floor and walls are generated from the images captured by two 1394 cameras which have wide Field of View angle. Image stitching and image cutting process is used to generate textured images for corresponding with a 3D model. The algorithm is applied to 2 cases which are corridor and space that has the four wall like room of building. The generated 3D map model of indoor environment is shown with VRML format and can be viewed in a web browser with a VRML plug-in. The proposed algorithm can be applied to 3D model-based remote surveillance system through WWW.

• 전자공학회논문지
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• 제50권12호
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• pp.91-97
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• 2013

현재의 IT 환경에서 영상 또는 영상처리 기술은 많은 부분에서 응용이 되고 있고 또한 매우 중요하다. 본 논문에서는 벡터 양자화 방법을 통해 원본 BMP영상을 인덱스 영상과 제안하는 codebook으로 재구성하고 동일한 픽셀 깊이 내에서 고화질의 영상을 디스플레이 할 수 있는 방법을 제안하였다. 즉, $2^n$ 개의 컬러 코드북(맵)를 가지는 영상에 공용 맵 기법을 적용함으로서 $2^{n+1}$ 개의 컬러 코드북 정도의 화질로 표현이 되는 방법을 제안한다. 제안된 방법을 통해 얻어진 출력영상을 원본 BMP영상과 비교했을때 JPEG과 같은 8 bit 인덱스 영상의 출력 시 보다 약 2 dB 정도 높은 PSNR을 제공해주며 이는 9 bit 인덱스를 사용했을 때의 화질과 거의 비슷함을 알 수 있었다.

• 정보처리학회논문지C
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• 제12C권3호
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• pp.419-428
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• 2005

본 논문은 계층적 이동 IPv6 네트워크 환경에서 MN의 이동을 지역내와 지역간으로 구분하여 자원예약 경로에 대한 빠른 자원예약을 수행하는 알고리즘이다. 제안 알고리즘에서 MN은 계층적 이동 IPv6 환경에서 셀 영역이 겹쳐지는 영역으로 이동하였을 때 이동에 예측되는 셀의 L2 비콘 신호를 얻을 수 있다고 가정하고 이 신호를 이용하여 사전예약을 수행한다. 지역내 이동은 가장 가까운 공통 경로의 라우터를 통한 사전예약을 하고, 지역간 이동은 이동할 영역의 MAP의 QA(QoS Agent)를 통하여 해당 AR로의 사전예약을 수행하며, CN과의 예약 경로 최적화를 통한 자원예약을 수행한다. 제안 알고리즘은 이를 통하여 신속하고 효과적인 예약 경로를 설정할 수 있으며, 대역폭의 효율적인 사용과 데이터 전송시 서비스 저하를 최소화 할 수 있다.

• The Korean Journal of Physiology
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• 제21권2호
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• pp.211-223
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• 1987

Head-down tilt (HDT) at $-6^{\circ}$ has been commonly used as the experimental model in both man and animals to induce the blood shift toward the head or central protion of the body, demonstrating similar physiological effect encountered in the weightlessness in the orbital flight. There are few reports about the physiological response upon the cardiovascular regulatory system or the tolerance to the $(-6^{\circ})$ HDT within a relatively short period less than 1 hour. Therefore, the purpose of this study way to observe the effects of $-6^{\circ}$ HDT on cardiovascular system within 30 minutes and to evaluate early regulatory mechanism for simulated hypogravity. Ten mongrel dogs weighing 8-12 kg were anesthetized with the infusion of 1% ${\alpha}-chloralose$ (100 mg/kg) intravenously, and the postural changes were performed from the supine to the $-6^{\circ}$ head-down Position, then from the head-down to the supine (SUP), and each posture was maintained for 30 minutes. Blood flow $({\dot{Q}})$ through common carotid and femoral arteries were determined by the electromagnetic flowmeter. Mean arterial pressure (MAP), heart rate (HR), respiratory rate , and pH, $P_{O_2}$, $P_{CO_2}$ and hematocrit (Hct) of arterial and venous blood were also measured. The peripheral vascular resistance was calculated by dividing respective MAP values by ${\dot{Q}}$ through both sides of common carotid or femoral arteries. The concentration of plasma epinephrine and norepinephrine was determined by Peuler & Johnson's radioenzymatic method. The results are summarized as follows: In the initial 5 minutes in $-6^{\circ}$ HDT, HR was significantly (p<0.05) increased and MAP slightly decreased. Although ${\dot{Q}}$ and carotid peripheral artery resistance were not significantly changed, ${\dot{Q}}$ through femoral artery was diminished and femoral peripheral artery resistance was elevated. In the SUP, the initial changes of MAP and HR were increased (p<0.05), but those of ${\dot{Q}}$ and peripheral vascular resistance through both common carotid and femoral arteries were not significant. After 10 minutes of each postural change in both HDT and SUP, MAP was maintained almost equal to that of the level of pretilting control. During 60 minutes of both postural changes of HDT and SUP, $P_{O_2}$ and Hct were not changed significantly. However pH tended to increase slowly and $P_{CO_2}$ was gradually decreased. The pH and $P_{CO_2}$ seemed to be related to the increased respiratory rate. Plasma epinephrine concentration was not changed significantly and plasma norepinephrine concentration was slightly decreased in the course of HDT and also at 10 minutes of SUP. However these concentration changes were statistically insignificant. From these results, it may be concluded that the effect of $-6^{\circ}$ HDT for 30 minutes on the cardiovascular system and plasma catecholamine levels of the dog is minimum and it is suggestive that the cardiovascular regulatory mechanism, possibly mediated by so called gravity receptors including baroreceptor and volume receptor, has been properly and adequately operated.

• 수면정신생리
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• 제7권1호
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• pp.18-26
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• 2000

목적 및 방법 : 수면무호흡증 환자들에서 상기도 압력 측정법을 이용하여 수면 중 기도협착의 형태를 연구하고, 각성시와 수면 중에 실시한 상기도 CT scan의 수면무호흡 중 기도 협착 부위의 예측도를 평가하기 위하여, 11명의 수면무호흡증 환자에서 4 압력 센서 또는 2 압력 센서가 달린 도관을 상기도로 삽입하여 상기도의 압력을 측정하면서 수면다원검사를 시행하고, 이 환자들에서 각성시와 수면 중에 상기도의 다섯 곳(high-retropalatal, low-retropalatal, retroglossal, hypopharynx, esophagus)에서 cine CT를 시행한 후 각 방법에 의하여 기도 협착 부위를 진단하고, 수면 중 상기도 압력 측정 결과에 의거하여 상기도 cine CT의 정확도를 평가하였다. 결 과: 상기도 압력 측정 결과 4명(36%)만이 수면 중에 단일 형태의 기도 협착을 보였고, 나머지 7명(64%)은 여러 가지 형태의 기도 협착을 보였다. Velopharynx가 수면무호흡시에 가장 흔히 관찰되는 기도 협착 부위였다(63.6%). 그러나, 상기도 cine CT결과는 수면무호흡 중에 8명이 단일 형태의 기도 협착을 보였다(72.7%). Apneic CT에서도 Velopharynx가 가장 흔한 기도 협착 부위였다. 상기도 압력 측정법과 상기도 CT 촬영법 사이의 기도 협착 진단의 일치율은 단 5명에서만 잘 일치하였고(high-concordant), 5명은 잘 일치하지 않았으며(low-concordant), 나머지 1명은 전혀 일치하지 않았다. 결 론: 대부분의 수면무호흡증 환자는 수면 중 여러 번 발생하는 수면무호흡에서 2가지 또는 그 이상의 기도 협착 형태를 보이므로, 단 1회의 수면무호흡의 상태만을 반영하는 상기도 CT는 수면무호흡의 기도 협착 부위를 적절히 반영하지 못한다고 생각된다.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1005-1013
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• 2008

This paper describes a new sensor system for 3D range measurement using the structured infrared light. Environment and obstacle sensing is the key issue for mobile robot localization and navigation. Laser scanners and infrared scanners cover $180^{\circ}$ and are accurate but too expensive. Those sensors use rotating light beams so that the range measurements are constrained on a plane. 3D measurements are much more useful in many ways for obstacle detection, map building and localization. Stereo vision is very common way of getting the depth information of 3D environment. However, it requires that the correspondence should be clearly identified and it also heavily depends on the light condition of the environment. Instead of using stereo camera, monocular camera and the projected infrared light are used in order to reduce the effects of the ambient light while getting 3D depth map. Modeling of the projected light pattern enabled precise estimation of the range. Identification of the cells from the pattern is the key issue in the proposed method. Several methods of correctly identifying the cells are discussed and verified with experiments.