• Journal of Environmental Health Sciences
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• v.27 no.3
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• pp.87-98
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• 2001

There has been increased interest in the health effects of the Environmental Tobacco Smoke(ETS) as a confirmed human carcinogen. It has been known to be extremely difficult to make an accurate assessment of exposure to ETS since it is consisted of a variety of components and there are a number of labile chemicals. Therefore, it is necessary to obtain, to interpretate and to provide the data of quantitative exposure assessment to ETS in the field of environmental health. The purpose of this research is to evaluate the concentration of ETS using VOC in indoor office environments. The correlations and concentrations of benzene, RSP, 3-EP, nicotine that are indicators for ETS were investigate with smoking density, air change per hour(ventilation rate). Air samples were taken in smoking room(7 sites), smoking allowed office (3 sites), corridor outside smoking room(7 sites), non-smoking office (9 sites). The concentrations of benzene showed significant difference according to category of indoor office environments. The geometric mean concentration of benzene were 23.56 ${\mu}{\textrm}{m}$/㎥(range 4.80~192.90 ${\mu}{\textrm}{m}$/㎥) in smoking rooms. 6.16 ${\mu}{\textrm}{m}$/㎥ in smoking allowed offices, 1.32 ${\mu}{\textrm}{m}$/㎥ in the non-smoking offices respectively. The ratios of the concentration of benzene between outdoor air and smoking room, smoking allowed office, and non-smoking indicators concentrations, SD, and SI were 0.82(benzene and nicotine). 0.76(benzene and RSP), 0.60(benzene and SD), 0.76(benzene and SI). It is proposed that benzene is a good indicator for ETS.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.10 no.4
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• pp.607-617
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• 1999

In this paper, we fabricated dual polarization microstrip array antenna to analyze the performance of polarization diversity of each antennas beamwidth and recommend suitable polarizations diversity antenna under indoor environments. The proposed antennas which have directional beam patterns are small, light and thin. Also they are $1\times4$ array and $4\times4$ array antenna with $70^{\circ}$, $20^{\circ}$ beamwidth, respectively. The center frequency is 1890 MHz, IMT-2000's frequency. We also measured the antennas characteristics of each beamwidth in various waveguide structured corridor and compared then with the case of space diversity using the dipole antenna. The measurement shows that the polarization diversity using directional dual polarization microstrip array antennas has more 1~7 dB diversity gain than the space diversity using the dipole antenna. Therefore, the proposed antennas are expected to be efficiently used for the design of optimal directional beam pattern antenna and diversity system for indoor environments.

• Journal of the Korean housing association
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• v.21 no.1
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• pp.151-159
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• 2010

This study was conducted to develop standards for evaluating what extant the physical environments of housing which can cope with the needs of the aging society. This study was consisted through literature investigation research mainly, and research target literature limits keyword to elderly housing environment and chose connected domestic various literatures. The study are as follows; First, in outdoor only area from design environment element accessibility, and safety emphasized from equipment element, health of community territory was expose from design'environment element that supportiveness is emphasized from equipment element. Second, in living room safety emphasized from design' environment element in bedroom and bathroom of indoor individuation space, vestibule, balcony supportiveness, health was expose that is emphasized kitchen and mess. Also, was expose that supportiveness is emphasized from equipment element of all individuation spaces. Third, was expose that design environment element in corridor that is indoor official business space, stair, lobby, elevator and safety from equipment element and supportiveness are emphasized.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.42 no.4
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• pp.33-40
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• 2005

This paper represents the stable path recognition by the ultrasonic sensor which gathers navigation environments and the monocular image sensor which generates the self localization information of mobile robot. The proposed ultrasonic sensor and vision camera system recognizes the target and extracts parameters for generating the world map and self localization. Therefore, this paper has developed an indoor mobile robot and has stably demonstrated in a corridor environment.

• Journal of Digital Convergence
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• v.16 no.1
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• pp.147-152
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• 2018

Recently, as the demand for transmission of ultra-high quality media data such as UHD, AR, and VR increases, various technologies for this have been actively developed and IEEE 802.11ad standard have been commercialized. In this paper, a test bed is constructed to analyze the indoor wireless environment using the IEEE 802.11ad standard based on mmWave, and the experimental results of various indoor wireless environments are introduced and analyzed. We compared the data from the module by data transmission, such as signal to noise ratio(SNR) and throughput. And we measured the beam pattern and width of the module and compared the effects on the indoor environment of the corridor and the office. This shows that the signal reflection of the wall shows higher SNR values and is more suitable to use for indoor than outdoor. It is confirmed that the loss when not in line of sight(LoS) is not enough to compensate the wall reflected signal. As a result, it is judged to be suitable for the indoor use of the mmWave LAN and can be usefully used for further experiments.

• Journal of Advanced Navigation Technology
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• v.15 no.5
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• pp.696-704
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• 2011

In this paper, we propose a mobile robot navigation algorithm using data fusion of a monocular camera and ultrasonic sensors. Threshold values for binary image processing are generated by a fuzzy inference method using image data and data of ultrasonic sensors. Threshold value variations improve obstacle detection for mobile robot to move to the goal under poor illumination environments. Obstacles detected by data fusion of camera and ultrasonic sensors are expressed on the grid map and avoided using the circular planning algorithm. The performance of the proposed method is evaluated by experiments on the Pioneer 2-DX mobile robot in the indoor room with poor lights and a narrow corridor.

• 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 Korea Institute of Information and Communication Engineering
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• v.15 no.4
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• pp.759-764
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• 2011

This paper deals with the method of using the amended virtual force field technique to avoidance the front environment(wall, obstacles etc.) in navigating by using the environmental informations recognized by a ultrasonic-ring and pan/tilt CCD camera equipped on a mobile robot. we will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. It is proposed the rusult from the experimental run based on a virtual force field(VFF) method to support the validity of the aforementioned architecture of mobile service robot for local navigation and obstacle avoidance for autonomous mobile robots. We will conclude by discussing some possible future extensions of the project. The results show that the proposed algorithm is apt to identify obstacles in an indoor environments to guide the robot to the goal location safely.

• Analytical Science and Technology
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• v.16 no.4
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• pp.299-308
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• 2003

The purpose of this study is to investigate cadmium concentrations among metals in ETS (Environmental Tobacco Smoke) of indoor environments and to evaluate the cadmium as a marker of ETS. The correlations of cadmium concentrations and nicotine, 3-EP, RSP, SD (Smoking Density), and SI (Smoking Index). Air samples of metals, nicotine, 3-EP, and RSP were taken in smoking room, smoking allowed office, corridor outside smoking room, and non-smoking office respectively. The SD, ACH, and SI were investigated during sampling. Airborne concentration of cadmium known as human carcinogen were qualified and quantified. The SD was 0.2 to $2.6cig/m^2{\cdot}hr$, and the mean value of SD in smoking rooms was $1.2cig/m^2{\cdot}hr$ that is higher than other researches. The mean of ACH in smoking rooms was 11.1. The concentrations of cadmium showed log-normal distributions and the geometric mean concentrations of cadmium in smoking rooms, corridor outside smoking rooms, smoking allowed offices, and non-smoking offices were $0.045{\mu}g/m^3$, $0.018{\mu}g/m^3$, $0.021{\mu}g/m^3$, and $0.017{\mu}g/m^3$ respectively. The concentrations of cadmium in smoking room showed significant difference according to category of indoor office environments (p<0.05) and showed compliance with occupational exposure limits. The correlation coefficients between cadmium and nicotine, 3-EP, and RSP were 0.53, 0.41, 0.43 respectively. The cadmium among metals showed the highest correlations (r=0.63) with SI. It was recommended cadmium among metals is a good indicator for ETS.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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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.