• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.337-345
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• 2023

In this paper, we propose a 3D LiDAR sensor-based costmap generation and path planning algorithm using it for reliable autonomous flight in complex indoor environments. 3D path planning is essential for reliable operation of UAVs. However, existing grid search-based or random sampling-based path planning algorithms in 3D space require a large amount of computation, and UAVs with weight constraints require reliable path planning results in real time. To solve this problem, we propose a method that divides a 3D space into several 2D spaces and a path planning algorithm that considers the distance to obstacles within each space. Among the paths generated in each space, the final path (Best path) that the UAV will follow is determined through the proposed objective function, and for this purpose, we consider the rotation angle of the 2D space, the path length, and the previous best path information. The proposed methods have been verified through autonomous flight of UAVs in real environments, and shows reliable obstacle avoidance performance in various complex environments.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.33 no.4
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• pp.395-402
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• 2023

Objectives: Microbial contamination of face masks used by healthcare professionals can vary depending on the degree of exposure to bioaerosols in various healthcare environments. However, research on this topic is limited. Therefore, we analyzed microbial contamination of N95 respirators used in hospital offices, wards, and outpatient settings. Methods: Samples isolated from N95 respirators worn for 2, 4, and 6 hours were incubated at a temperature of 35-37℃ or 25-28℃ for 24 hours or for 3-7 days, and colony-forming units were counted in chocolate agar, tryptic soy agar, and Sabouraud dextrose agar plates. Total indoor airborne bacteria were also measured in the healthcare environments. Finally, microbial species were identified using Gram staining with a microscopic speculum. Results: The three types of environments did not deviate from the maintenance of standard indoor air quality. There was no difference between the microbial species identified in the healthcare environment and mask contamination. However, the number of bacteria in the masks worn in each environment differed, and the degree of contamination increased with mask-wearing time (p<0.05). Conclusions: Therefore, care must be taken to avoid recontamination of masks due to improper use and exposure to biological hazards in healthcare environments. In conclusion, scientific evidence is necessary for safe mask-wearing times. Based on the results of this study, we hope to conduct further research to establish guidelines for the safe use of face masks during respiratory disease epidemics.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.149-158
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• 2024

This paper presents a robust autonomous navigation and reconnaissance system for tracked robots, designed to handle complex multi-floor indoor environments with stairs. We introduce a localization algorithm that adjusts scan matching parameters to robustly estimate positions and create maps in environments with scarce features, such as narrow rooms and staircases. Our system also features a path planning algorithm that calculates distance costs from surrounding obstacles, integrated with a specialized PID controller tuned to the robot's differential kinematics for collision-free navigation in confined spaces. The perception module leverages multi-image fusion and camera-LiDAR fusion to accurately detect and map the 3D positions of objects around the robot in real time. Through practical tests in real settings, we have verified that our system performs reliably. Based on this reliability, we expect that our research team's autonomous reconnaissance system will be practically utilized in actual disaster situations and environments that are difficult for humans to access, thereby making a significant contribution.

• Journal of electromagnetic engineering and science
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• v.9 no.4
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• pp.202-210
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• 2009

In this paper, we have analyzed the effect of interference between ultra-wideband(UWB) and intelligent transport systems(ITS). The maximum possible UWB emission power and minimum possible distance between UWB devices and ITS are found. In order to analyze the interference, we employ the Monte-Carlo(MC) method. We consider six situations, which are indoor office line-of-sight(LOS), indoor office non-line-of-sight(NLOS), indoor residential LOS, indoor residential NLOS, outdoor rural LOS, and outdoor rural NLOS environments. From the simulation results, it is confirmed that coexistence between UWB and ITS devices can be realized in accordance with the emission mask of 19.3 dB for indoor application or 19.3 dB for an image system. And in the outdoors, coexistence between UWB and ITS devices can be realized if the emission mask is at least 1.6 dB for vehicles' radar systems.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.804-809
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• 2007

Initialization problem is defined for indoor mobile robot as a whole process from arrival to normal operation in a new environment. The unstructured environment make the process much more difficult compared to industrial robot in structured environments. We propose a simple and efficient initialization process based on artificial stars on ceiling. Important task points and paths connecting task points are defined based on the corresponding artificial stars. This approach can be used for all kinds of indoor mobile robots with landmarks used for indoor localization.

• KIEAE Journal
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• v.10 no.6
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• pp.67-72
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• 2010

This study was conducted to examine the change of heating environment with the creation of an indoor water space. Living environments and comfort of dwellers can be improved by utilizing the physical properties of water effectively. This study focuses on the basic examination of the effect of water space and the environmental effects of water space by experiment. Two identical models were fabricated to compare the changes in indoor temperature and humidity with and without a water space. With the water space, temperature was reduced by an average of $0.55^{\circ}C$ a day and moisture content increased by an average of 4%. As a result, it was possible to obtain quantitative data on water space's temperature reduction and humidity control capacities. This study is expected to provide basic information for further studies on the effect of water spaces in various buildings.

• KIEAE Journal
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• v.12 no.6
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• pp.99-106
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• 2012

This research tried to analyze the effects of ecological materials 'hwang-toh (yellow soil)' on indoor environments. For this purpose, two full scale mock-ups were constructed: one with silk wall paper, which is generally used for indoor finishing and the other with hwang-toh, which is the ecological material for wall finishing. Comparison and performance evaluations were conducted, and the effects of hwang-toh finishing on a humid indoor environment were verified. Through this research, it was verified that a hwang-toh plaster finish is effective in maintaining the comfort of an indoor environment.

• Journal of the Korean housing association
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• v.15 no.2
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• pp.19-25
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• 2004

The aim of the research was to evaluate the characteristics of indoor thermal environment and thermal sensation in the traditional Ondol room. Indoor thermal factors including air temperature, operative temperature, floor surface temperature, relative humidity, PMV, OT were measured, and survey was carried out to understand subjective responses of resident's related to indoor thermal environment in Ondol room. The analysed houses are: the Chung hyo dang(the head house of Ryu family in Andong) and the Pyeung won jung(the traditional house in Yesan). The purpose of the survey was to know the relationship between resident's sensation and thermal environmental indicators such as air temperature, relative humidity, floor surface temperature, OT. The experimental results have pointed out how Ondol room may lead to comfortable and uniform indoor thermal environments.

• Tuberculosis and Respiratory Diseases
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• v.86 no.1
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• pp.23-32
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• 2023

Everyone is aware that air and environmental pollutants are harmful to health. Among them, indoor air quality directly affects physical health, such as respiratory rather than outdoor air. However, studies that have examined the correlation between environmental and health information have been conducted with public data targeting large cohorts, and studies with real-time data analysis are insufficient. Therefore, this research explores the research with an indoor air quality monitoring (AQM) system based on developing environmental detection sensors and the internet of things to collect, monitor, and analyze environmental and health data from various data sources in real-time. It explores the usage of wearable devices for health monitoring systems. In addition, the availability of big data and artificial intelligence analysis and prediction has increased, investigating algorithmic studies for accurate prediction of hazardous environments and health impacts. Regarding health effects, techniques to prevent respiratory and related diseases were reviewed.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2020.07a
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• pp.717-720
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• 2020

An indoor localization system that uses Wi-Fi RSSI signals for localization gives accurate user position results. The conventional Wi-Fi RSSI signal based localization system uses raw RSSI signals from access points (APs) to estimate the user position. However, the RSSI values of a particular location are usually not stable due to the signal propagation in the indoor environments. To reduce the RSSI signal fluctuations, shadow fading, multipath effects and the blockage of Wi-Fi RSSI signals, we propose a Wi-Fi localization system that utilizes the advantages of Wi-Fi RSSI heat maps. The proposed localization system uses a regression model with deep convolutional neural networks (DCNNs) and gives accurate user position results for indoor localization. The experiment results demonstrate the superior performance of the proposed localization system for indoor localization.