• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.293-299
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• 2009

This paper discusses an autonomous navigation system for urban environments. For the localization of the robot, EKF (Extended Kalman Filter) algorithm is used with odometry, angle sensor, and DGPS (Differential Global Positioning System) measurement. Especially in an urban environment, DGPS is often blocked by buildings and trees and the resulting inaccurate positioning prevents the robot from safe and reliable navigation. In addition to the global information from DGPS, the local information of the curb on the roadway is used to track a route when the global DGPS information is inaccurate. For this purpose, curb detection algorithm is developed and implemented in the developed navigation algorithm. Four different types of navigation strategies are developed and they are switched to adapt to different localization conditions according to the availability of DGPS and the existence of the curbs on the roadway. The experimental results show that the designed switching strategy improves the navigation performance adapting to the environment conditions.

• Journal of Environmental Health Sciences
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• v.15 no.2
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• pp.1-9
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• 1989

A pilot study was conducted in order to measure indoor and outdoor formaldehyde levels during August 3 - 22, 1988 in several underground spaces in Seoul. Formaldehyde concentrations were monitored during 1 week in selected sampling areas (subway station, underground shopping center, underpass, tunnel, underground parking lot) using passive formaldehyde monitors. In order to investigate a relationship between respiratory prevalence and levels of formaldehyde, each subject was asked to answer respiratory questions. The mean formaldehyde concentrations were 60.1 ppb in subway station, 122.2 ppb in underground shopping stores, 72.1 ppb in underpasses, 39.7 ppb in tunnel, and 75.9 ppb in underground parking lots, respectively. The mean indoor formaldehyde concentrations in underground environments varied from 28.6 ppb to 118.7 ppb. Generally, the mean formaldehyde concentrations in ticketing office in subway stations appeared higher than those level measured in platform. The mean formaldehyde concentrations of underground shopping center in Gangnam Terminal were higher than any other areas and it exceeded 100 ppb of the American Ambient Air Quality Standards of formaldehyde. Prevalence rates of respiratory symptoms of dwellers seemed to be related to higher indoor formaldehyde levels.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.12 no.6
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• pp.912-918
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• 2001

This paper presents a performance analysis of experimental observations of a uplink smart antenna system operating in a wide-band CDMA environment designed for a WLL (Wireless Local Loop) system. The numerical results shown in this paper have been obtained from practical experiments using commercially developed mobile terminals. The beam pattern provided by the weight vector and the resultant BER (Bit Error Rate) are observed in both indoor and outdoor signal environments. From the experimental observations, it is concluded that the proposed smart antenna system provides significant improvements in receiving both indoor and outdoor signal environments.

• Korean Journal of Human Ecology
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• v.19 no.1
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• pp.203-214
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• 2010

This study will examine the current condition of outdoor play in child care centers and the overall perception of teachers on outdoor play in regards to its related programs and children's reaction to them. Through examining such issues, this study will provide the basic data that can be applied in planning appropriate outdoor play activities, programs and environments. For the study, we surveyed teachers and directors of child care centers using a structured questionnaire. The objects of the survey were 22 child care centers in Daejeon and Seoul, who agreed to conduct the survey. The survey was conducted from August 1 to September 30 2006; 220 copies were distributed, and 188 copies were collected. The results of the study can be summarized as follows: 1) The number of outdoor plays per week were on average 1~2 in most cases, although teachers believed the play should be done everyday. Outdoor play time was mostly 21~30 minutes, while teachers thought 31~40 minutes as appropriate. Children's reaction scored the highest when they played outdoors for 30 minutes every day with their teachers involved in the play. As a result, we have concluded that the appropriate outdoor play should be conducted everyday for 30~40 minutes. 2) Outdoor play was mostly conducted as part of the overall educational plan rather than a separate plan. Since outdoor play affects children's development as much as indoor play, there is a need for development of a specific and separate plan for various outdoor play programs. 3) The outdoor play program that was most often conducted was equipment play and sand play. This indicated the monolithic nature of the outdoor program. Given the fact that children enjoy outdoor plays a lot (M=4.71), various programs including adventure play, sensitive play, and carpenter play should be developed. 4) In outdoor play, the teacher's role included supervising and interacting with children. According to the survey, teachers had a good understanding of the importance on safety and supervising issues in outdoor plays. However they seemed to overlook the importance of having better programs and improving teacher's participation to the play. Despite the importance of outdoor play to children's development, the result shows that teachers have tendencies to limit and obstruct outdoor plays by emphasizing supervising and safety issues instead. 5) Children's safety should not be the only consideration for outdoor plays; teachers ought to better understand that children's development can be maximized by the play. Furthermore, there should be emphasis placed on the program development and teacher's participation; teacher's participation should actively encourage the interactions between a child and a teacher, as well as among children.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.8
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• pp.3965-3983
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• 2017

We propose a novel eye tracking method that can estimate 3D world coordinates using an infrared (IR) stereo camera for indoor and outdoor environments. This method first detects dark evidences such as eyes, eyebrows and mouths by fast multi-level thresholding. Among these evidences, eye pair evidences are detected by evidential reasoning and geometrical rules. For robust accuracy, two classifiers based on multiple layer perceptron (MLP) using gradient local binary patterns (GLBPs) verify whether the detected evidences are real eye pairs or not. Finally, the 3D world coordinates of detected eyes are calculated by region-based stereo matching. Compared with other eye detection methods, the proposed method can detect the eyes of people wearing sunglasses due to the use of the IR spectrum. Especially, when people are in dark environments such as driving at nighttime, driving in an indoor carpark, or passing through a tunnel, human eyes can be robustly detected because we use active IR illuminators. In the experimental results, it is shown that the proposed method can detect eye pairs with high performance in real-time under variable illumination conditions. Therefore, the proposed method can contribute to human-computer interactions (HCIs) and intelligent transportation systems (ITSs) applications such as gaze tracking, windshield head-up display and drowsiness detection.

• Journal of the Korean Institute of Rural Architecture
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• v.20 no.4
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• pp.39-51
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• 2018

In order to improve the housing environment and quality of life for the rural elderly, this study aims to identify and present the status of community centers, most widely used by the elderly in rural areas. Through the literature review, type and space elements of community centers were derived and selected three target areas were investigated. As a result of literature analysis, the space type of rural community centers were classified as indoor space and outdoor space. The indoor space types were classified as entry space, public space, sanitary space and the outdoor space were classified as entry space and leisure space. Some community centers were surveyed in Seocheon-gun, Wanju-gun, and Cheongju-city. Results indicate the indoor and outdoor space design and elements were undergoing a lot of inconvenience partly because standard design was considered and the space was not planned for the physical, psychological and social health of the rural elderly. Therefore, this study will be used as a basis for building healthier and more friendly residential environments that can enhance the health and quality of life for the elderly in rural areas.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.995-1005
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• 2011

An efficient outdoor local localization method is suggested using multi-sensor fusion with MU-EKF (Multi-Update Extended Kalman Filter) for car-like mobile robots. In outdoor environments, where mobile robots are used for explorations or military services, accurate localization with multiple sensors is indispensable. In this paper, multi-sensor fusion outdoor local localization algorithm is proposed, which fuses sensor data from LRF (Laser Range Finder), Encoder, and GPS. First, encoder data is used for the prediction stage of MU-EKF. Then the LRF data obtained by scanning the environment is used to extract objects, and estimates the robot position and orientation by mapping with map objects, as the first update stage of MU-EKF. This estimation is finally fused with GPS as the second update stage of MU-EKF. This MU-EKF algorithm can also fuse more than three sensor data efficiently even with different sensor data sampling periods, and ensures high accuracy in localization. The validity of the proposed algorithm is revealed via experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.954-962
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• 2002

In a park or street, we can see many people jogging or walking with their dogs tracking their masters. In this study, an entertainment robot that imitates a dog's behavior is created. The robot's task is tracking a moving target that is recognized as the master. In order to design the robot, the ecological approach. in which the robot's goals and surroundings heavily influence its design, is used. A three-wheel type locomotion system is designed as the robot's physical structure which can follow a human jogging in outdoor space like a park. A sensor system which can detect the position of a master for the robot in the outdoor space, is developed. This sensor system consists of a signal transmitter which is at the hand of a master and some sensors which are mounted on the robot. The transmitter emits RF(radio frequency) and ultrasonic signals and the sensors detect the direction and distance from the robot to the transmitter by using the received signals. For the control architecture of the robot, a purely reactive behavior-based method is used in order to increase speed of response. The developed robot is evaluated through experiments conducted in indoor and outdoor environments.

• Journal of Korean Society for Atmospheric Environment
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• v.14 no.3
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• pp.163-176
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• 1998

In this study, airborne particle samples were obtained to determine the concentrations of particulate air pollutants in indoor and outdoor air of public facilities in Taegu area. Total of 12 public facilities, regulated by the Public Sanitary Law, were selected as sampling sites, which include three underground arcades, one railway and two bus terminals, three general hospitals, and three department stores. In each place, sampling was carried out seasonally during the period of October 1994 to July 1995, and four samples per each site per season were collected both indoors and outdoors simultaneously. After determination of suspended particulate matter (SPM) mass concentrations, the particle samples were divided into two parts for subsequent chemical analysis: one for the analysis of trace elements and the other for water soluble ions. Seasonal levels of SPM appeared to be the highest in spring and the lowest in summer both indoors and outdoors, while locational variations of highest in statioyterminals, and lowest in department stores . SPM concentrations indoors and outdoors did not show any significant differences each other in most places . However, there were significant correlations between indoor and outdoor levels of SPM and other chemical species . These results indicates that indoor SPM levels are likely to be significantly affected by outdoor sources in many places. The most significant source of SPM was estimated to be the resuspension of soil/road dust both indoors and outdoors . The concentrations of toxic heavy metals (Pb, Cd, Cr, Cu) in underground arcades appeared to be very much lower than the established air quality guidelines for underground environments. In addition, it is likely that micro-environmental parameters such as temperature, humidity, and air velocity, play a less significant role than outdoor air quality as a factor affecting the levels of particulate pollutants in indoor environments of public facilities in Taegu area.

• Journal of the Korea Society of Computer and Information
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• v.25 no.7
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• pp.85-92
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• 2020

Following the development of Internet of Things (IoT) technology, the scope of application of IoT technology is expanding to industrial safety areas that detect and prevent possible risks in outdoor environments in advance, away from improving the convenience of living in indoor environments. Although this expansion of IoT service provides many advantages, it also causes security problems such as data leakage and modulation, so research on security response strategies is being actively carried out. In this paper, the IoT-based road construction risk management system in outdoor environment is proposed as a research subject. As a result of investigating the security vulnerabilities of the low-power wide-area (LPWA, BLE) communication protocol applied to the research targets, the security vulnerabilities were identified in terms of confidentiality, integrity, and availability, which are the three major elements of information security, and countermeasures for each vulnerability were proposed. This study is meaningful in investigating and analyzing possible vulnerabilities in the operation of the IoT-based risk management system and proposing practical security guidelines for each vulnerability.