• Journal of the Korea Institute of Information and Communication Engineering
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• 제15권4호
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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.

• Journal of The Korea Institute of Healthcare Architecture
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• 제28권4호
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• pp.89-97
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• 2022

Purpose: Because of the recent COVID-19 pandemic, there have been many cases of using portable negative pressure unit to convert general wards into temporary negative pressure isolation wards. The purpose of this study is to analyze the indoor environment of the switching type wards. Methods: Field measurements and experiments were conducted in a medical facility. Air volume, wind speed and pressure difference were measured in non-occupant state. Dispersion tests were performed with gas and particle matter. Results: The pressure difference between the wards and the corridor was higher than -2.5 Pa in normal situation. However, in the gas and particle dispersion tests, it was found that there were concerns about the spread through leakages in low-airtight walls or ceilings. In addition, it was confirmed that the pressure imbalance in ducts through the non-sealed diffusers could cause back flow during portable unit operation. Furthermore, when there was a pressure difference between adjacent wards planned to be at same pressure level, the possibility of the spread through the leakages was found. Implications: When using portable units for making switching type wards, it is necessary to create airtight space and seal the non-operation diffusers. In case of operating the air handling unit, T.A.B must be performed to adjust the duct balancing.

• Journal of Advanced Navigation Technology
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• 제15권5호
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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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• 제7권2호
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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 Institute of Control, Robotics and Systems
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• 제5권5호
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• pp.529-539
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• 1999

This paper suggests a new image analysis method and indoor navigation control algorithm of mobile robots using a mono vision system. In order to reduce the positional uncertainty which is generated as the robot travels around the workspace, we propose a new visual landmark recognition algorithm with 2-D graph world model which describes the workspace as only a rough plane figure. The suggested algorithm is implemented to our mobile robot and experimented in a real corridor using extended Kalman filter. The validity and performance of the proposed algorithm was verified by showing that the trajectory deviation error was maintained under 0.075m and the position estimation error was sustained under 0.05m in the resultant trajectory of the navigation.

• Analytical Science and Technology
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• 제16권4호
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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.

• Journal of the Korea Institute of Information and Communication Engineering
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• 제14권9호
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• pp.1987-1992
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• 2010

This paper deals with the method of using the three dimensional characteristic information to classify the front environment in travelling by using the images captured by a CCD camera equipped on a mobile robot. The images detected by the three dimensional characteristic information is divided into the part of obstacles, the part of corners, and th part of doorways in a corridor. In designing the travelling path of a mobile robot, these three situations are used as an important information in the obstacle avoidance and optimal path computing. So, this paper proposes the method of deciding the travelling direction of a mobile robot with using input images based upon the suggested algorithm by preprocessing, and verified the validity of the image information which are detected as obstacles by the analysis through neural network.

• Architectural research
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• 제22권2호
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• pp.41-52
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• 2020

Laboratory buildings with specialized equipment and ventilation systems pose challenges in terms of efficient energy use and initial construction costs. Additionally, lab spaces should have flexible and efficient layouts and provide a comfortable indoor research environment. Therefore, this study aims to identify the correlation between the facade of a building and its interior layout from case studies of energy-efficient research labs and to propose passive energy design strategies for the establishment of an optimal research environment. The case studies in this paper were selected from the American Institute of Architects Committee on the Environment Top Ten Projects and Leadership in Energy and Environmental Design (LEED) certified research lab projects. In this paper, the passive design strategies of space zoning, façade design devices to control heating and cooling loads were analyzed. Additionally, the relationships between these strategies and the interior lab layouts, lab support spaces, offices, and circulation areas were examined. The following four conclusions were drawn from the analysis of various cases: 1) space zoning for grouping areas with similar energy requirements is performed to concentrate similar heating and cooling demands to simplify the HVAC loads. 2) Public areas such as corridor, atrium, or courtyard can serve as buffer zones that employ passive solar design to minimize the mechanical energy load. 3) A balanced window-to-wall ratio (WWR), exterior shading devices, and natural ventilation systems are applied according to the space programming energy requirements to minimize the dependence on mechanical service. 4) Lastly, typical laboratory space zoning categories can be revised, reversed, and even reconfigured to minimize the energy load and adjust to the site context. This study can provide deep insights into various design strategies employed for construction of green laboratories along with intuitive arrangement of various building components such as laboratory spaces, lab support spaces, office spaces, and common public areas. The key findings of this study can contribute towards creating improved designs of laboratory facilities with reduced carbon footprint and greenhouse emissions.

• Journal of the Institute of Electronics Engineers of Korea SP
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• 제47권1호
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• pp.73-82
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• 2010

Door is an important object to understand given environment and it could be used to distinguish with corridors and rooms. Doors are widely used natural landmark in mobile robotics for localization and navigation. However, almost algorithm for door recognition with camera is difficult real-time application because feature extraction and matching have heavy computation complexity. This paper proposes a method to recognize a door in corridor. First, we extract distinguished lines which have high possibility to comprise of door using Hough transformation. Then, we detect candidate of door region by applying previously extracted lines to first-stage visual fuzzy system. Finally, door regions are determined by verifying knob region in candidate of door region suing second-stage visual fuzzy system.

• Journal of the Korea Institute of Information and Communication Engineering
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• 제26권5호
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• pp.688-693
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• 2022

In this paper, channel propagation path loss was measured in building corridors for frequency bands of 3.7 GHz and 28 GHz, which are used in 5G mobile communication, and compared and analyzed with CI (Close-In) and FI (Floating-Intercept) channel models. To measure the propagation path loss, the measurement was performed while moving the receiver (Rx) from the transmitter (Tx) by 10 m. As a result of the measurement, the PLE (Path Loss Exponent) values of the CI model at 3.7 GHz and 28 GHz were 1.5293 and 1.7795, respectively, and the standard deviations were analyzed as 9.1606 and 8.5803, respectively. In the FI model, 𝛼 values were 79.5269 and 70.2012, 𝛽 values were -0.6082 and 1.2517, respectively, and the standard deviations were 5.8113 and 4.4810, respectively. In the analysis results through the CI model and the FI model, the standard deviation of the FI model is smaller than that of the CI model, so it can be seen that the FI model is similar to the actual measurement result.