A 2D / 3D Map Modeling of Indoor Environment (실내환경에서의 2 차원/ 3 차원 Map Modeling 제작기법)
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- 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.
In this paper, the CAD data for the optimal shape design obtained by isogeometric shape optimization is directly used to fabricate the specimen by using 3D printer for the experimental validation. In a conventional finite element method, the geometric approximation inherent in the mesh leads to the accuracy issue in response analysis and design sensitivity analysis. Furthermore, in the finite element based shape optimization, subsequent communication with CAD description is required in the design optimization process, which results in the loss of optimal design information during the communication. Isogeometric analysis method employs the same NURBS basis functions and control points used in CAD systems, which enables to use exact geometrical properties like normal vector and curvature information in the response analysis and design sensitivity analysis procedure. Also, it vastly simplify the design modification of complex geometries without communicating with the CAD description of geometry during design optimization process. Therefore, the information of optimal design and material volume is exactly reflected to fabricate the specimen for experimental validation. Through the design optimization examples of elasticity problem, it is experimentally shown that the optimal design has higher stiffness than the initial design. Also, the experimental results match very well with the numerical results. Using a non-contact optical 3D deformation measuring system for strain distribution, it is shown that the stress concentration is significantly alleviated in the optimal design compared with the initial design.
Recently, InGaN/GaN multi-quantum well grown on GaN pyramid structures have attracted much attention due to their hybrid characteristics of quantum well, quantum wire, and quantum dot. This gives us broad band emission which will be useful for phosphor-free white light emitting diode. On the other hand, by using quantum dot emission on top of the pyramid, site selective single photon source could be realized. However, these structures still have several limitations for the single photon source. For instance, the quantum efficiency of quantum dot emission should be improved further. As detection systems have limited numerical aperture, collection efficiency is also important issue. It has been known that micro-cavities can be utilized to modify the radiative decay rate and to control the radiation pattern of quantum dot. Researchers have also been interested in nano-cavities using localized surface plasmon. Although the plasmonic cavities have small quality factor due to high loss of metal, it could have small mode volume because plasmonic wavelength is much smaller than the wavelength in the dielectric cavities. In this work, we used localized surface plasmon to improve efficiency of InGaN qunatum dot as a single photon emitter. We could easily get the localized surface plasmon mode after deposit the metal thin film because lnGaN/GaN multi quantum well has the pyramidal geometry. With numerical simulation (i.e., Finite Difference Time Domain method), we observed highly enhanced decay rate and modified radiation pattern. To confirm these localized surface plasmon effect experimentally, we deposited metal thin films on InGaN/GaN pyramid structures using e-beam deposition. Then, photoluminescence and time-resolved photoluminescence were carried out to measure the improvement of radiative decay rate (Purcell factor). By carrying out cathodoluminescence (CL) experiments, spatial-resolved CL images could also be obtained. As we mentioned before, collection efficiency is also important issue to make an efficient single photon emitter. To confirm the radiation pattern of quantum dot, Fourier optics system was used to capture the angular property of emission. We believe that highly focused localized surface plasmon around site-selective InGaN quantum dot could be a feasible single photon emitter.
This study has been established with two purposes. The first one is to development the learning-teaching model for enhancing students' creative proof capacities in the domain of demonstrative geometry as subject content. The second one is to aim at experimentally testing its effectiveness. First, we develop the learning-teaching model for enhancing students' proof capacities. This model is named the generative-convergent model based instruction. It consists of the following components: warming-up activities, generative activities, convergent activities, reflective discussion, other high quality resources etc. Second, to investigate the effects of the generative-convergent model based instruction, 160 8th-grade students are selected and are assigned to experimental and control groups. We focused that the generative-convergent model based instruction would be more effective than the traditional teaching method for improving middle school students' proof-writing capacities and error remediation. In conclusion, the generative-convergent model based instruction would be useful for improving middle grade students' proof-writing capacities. We suggest the following: first, it is required to refine the generative-convergent model for enhancing proof-problem solving capacities; second, it is also required to develop teaching materials in the generative-convergent model based instruction.
An analytical diffusion model for flood routing with backwater effects and lateral flows is developed. The basic diffusion equation is linearized about an average depth of (H + h), and is solved using the boundary conditons which take into account the effects of backwater and lateral flows. Scouring phenomenon around pier which affects on the support function of pier and the stabilization if river bed is a complex problem depending on flow properties and river bed state as well as pier geometry. therefore, there is no uniting theory at present which would enable the designer to estimate, with confidence, the depth of scour at bridge piers. The various methods used in erosion control are collectively called upstream engineering, HEC-RAS Model, underwater blasting. They consist of reforestation, check-dam construction, planting of burned-over areas, contour plowing and regulation of crop and grazing practices. Also included are measures for proper treatment of high embankments and cuts and stabilization of streambanks by planting or by revetment construction. One phase of reforestation that may be applied near a reservoir is planting of vegetation screens. Such screens, planted on the flats adjacent to the normal stream channel at the head of a reservoir, reduce the velocity of silt-laden storm inflows that inundate these areas. This stilling action causes extensive deposition to occur before the silt reaches the main cavity of the reservoir.
Traffic accident risk index Computation model's development apply traffic level of significance about area of road user group, road and street network area, population group etc.. through numerical formula or model by countermeasure to reduce the occurrence rate of traffic accidents. Is real condition that is taking advantage of risk by tangent section through estimation model and by method to choose improvement way to intersection from outside the country, and is utilizing being applied in part business in domestic. However, question is brought in the accuracy being utilizing changing some to take external model in domestic real condition than individual development of model. Therefore, selection intersection estimation element through traffic accidents occurrence present condition, geometry structure, control way, traffic volume, turning traffic volume etc. in 96 intersections in this research, and select final variable through correlation analysis of abstracted estimation elements. Developed intersection design model taking advantage of signal type, numeric of lane, intersection type, analysis of variance techniques through ANOVA analysis of three variables of intersection form with selected variable lastly, in signal crossing through three class intersection, distinction variable choice risk in model, no-signal crossing risk distinction analysis model and so on develop.
Riverine tree management is crucial in realizing a balance between flood control and ecological preservation, which requires an accurate assessment of the impact of trees on river water elevations. In this study, eight different formulas for evaluating vegetation roughness considering the drag force acting on trees, were reviewed, and the characteristics and applicability of these methods were evaluated from a practical engineering perspective. The study compared the characteristics of vegetation roughness measurement methods for calculated roughness coefficients at different water depths and analyzed factors such as effects of tree canopy width, tree density and diameter, and tree stiffness coefficient, and water level estimation results. A comparison of roughness coefficients at the same water depths revealed that the Kouwen and Fathi-Moghadam formulas and the Fischenich formula yield excessive drag coefficients compared to other formulas. Factors such as channel geometry, tree diameter, and tree density showed varying trends depending on the formula but did not exhibit excessive outliers. Formulas considering the tree stiffness coefficient, such as the Freeman et al.'s formula and the Whittaker et al.'s formula, showed significant variations in drag coefficients depending on the stiffness coefficient. When applied to small- and medium-sized virtual rivers in South Korea using the drag coefficient results from the eight formulas, the results indicated a maximum increase in water level of approximately 0.2 to 0.4 meters. Based on this review, it was concluded that the Baptist et al., Huthoff et al., Cheng, Luhar, and Nepf's formulas, which exhibit similar characteristics and low input data uncertainties, are suitable for practical engineering applications.
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70
The flow rate measurements in a multi-phase flow pipeline were evaluated quantitatively by means of a clamp-on sealed radioisotope based on a cross correlation signal processing technique. The flow rates were calculated by a determination of the transit time between two sealed gamma sources by using a cross correlation function following FFT filtering, then corrected with vapor fraction in the pipeline which was measured by the