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랜드마크 기반 귀소 내비게이션 알고리즘의 가림 현상 분석 및 비교
유승은(Seung-Eun Yu),김대은(DaeEun Kim) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.6
Autonomous navigating algorithms for mobile robots have been proved to be a difficult task. Based on the excellent homing performance shown by many insects, bio-inspired navigation algorithms for robotic experiments have been widely researched and applied to the design of navigational strategies for mobile robots. In this paper, among them, we analyze two simple landmark navigation methods their strengths and limits. We investigate the effect of the occlusion problem mainly, which is an important yet tough problem in many landmark navigation algorithms. In the point of view of the error of homing vector and the performance of the homing paths in the environment with artificial occlusions, we investigate the effect of occlusion problem in both methods in order to further study on solutions.
유승은(Seung-Eun Yu),김대은(DaeEun Kim) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.2
Researches on air-ground robot cooperating system has been made recently. The cooperation among homogeneous robots focused on the architecture of the system, quality and influence of the communication. In contrast, the cooperation among heterogeneous robots such as aerial vehicle and ground vehicle robots has not been much handled. There are a couple of main points for those air-ground cooperating robots. One is using UAV (Unmanned Aerial Vehicle) as an extra sensor of UGV (Unmanned Ground Vehicle). This kind of application is usually used in situations such as guiding UGV to an appropriate path which could be better determined from the eye in the sky as UAV. The other main application of air-ground cooperating robot system is the localization. By combining sensor information from both UAV and UGV, the robot system as a whole can localize a target object or find features in the environment with better performance than UGV or UAV alone. Although these applications are recently studied in many different ways and devices, there are still a lot of possibilities in the field of air-ground cooperating robot systems. We introduce those research fields in this paper.
유승도,차정훈,김대선,이종태,Yu, Seung-Do,Cha, Jung-Hoon,Kim, Dae-Seon,Lee, Jong-Tae 한국환경보건학회 2007 한국환경보건학회지 Vol.33 No.5
To evaluate the effect of air pollution on respiratory health in children, We conducted a longitudinal study in which children were asked to record their daily levels of Peak Expiratory Flow Rate(PEFR) using potable peak flow meter(mini-Wright) for 4 weeks. The relationship between daily PEFR and ambient air particle levels was analyzed using a mixed linear regression models including gender, age in year, weight, the presence of respiratory symptoms, and relative humidity as an extraneous variable. The daily mean concentrations of $PM_{10}$ and $PM_{2.5}$ over the study period were $64.9{\mu}g/m^3$ and $46.1{\mu}g/m^3$, respectively. The range of daily measured PEFR in this study was $182{\sim}481\;l/min$. Daily mean PEFR was regressed with the 24-hour average $PM_{10}(or\;PM_{2.5})$ levels, weather information such as air temperature and relative humidity, and individual characteristics including sex, weight, and respiratory symptoms. The analysis showed that the increase of air particle concentrations was negatively associated with the variability in PEFR. We estimated that the IQR increment of $PM_{10}$ or $PM_{2.5}$ were associated with 1.5 l/min (95% Confidence intervals -3.1, 0.1) and 0.8 l/min(95% CI -1.8, 0.1) decline in PEFR. Even though this study showed negative findings on the relationship between respiratory function and air particles, it was worth noting that the findings must be interpreted cautiously because exposure measurement based on monitoring of ambient air likely resulted in misclassification of true exposure levels and this was the first Korean study that $PM_{2.5}$ measurement was applied as an index of air quality.
유승도,유시은,이민정,최욱희,김대선,이철호,박경화,Yu, Seung-Do,Yoo, Si-Eun,Lee, Min-Jung,Choi, Wook-Hee,Kim, Dae-Seon,Lee, Chul-Ho,Park, Kyung-Hwa 한국환경보건학회 2008 한국환경보건학회지 Vol.34 No.1
The objective of the study which utilised population based data was to determine the respiratory condition of elementary school children in Gangneung. From October 9th to December 14th, 2006, Pulmonary Function Tests (PFT) including Forced Vital Capacity (FVC) and Forced Expiratoy Volume in I Second $(FEV_1)$ were conducted on the target group of children using a spirometer. The prevalence of asthmatic symptoms was 29.8% among boys and 39.6% among girls. By using logistic regression, we found that family history of allergic rhinitis (OR=3.90, CI=1.05-14.51), experience of allergic conjunctivitis (OR=4.67, CI=1.54-14.16) and atopic dermatitis (OR=2.86, CI=1.17-7.05) significantly increased the asthmatic symptoms. Also, a family history of asthma and food allergy were associated with asthmatic symptoms. In relation to housing and environmental risk factors, residences under the ground (OR=3.59, CI=1.35-9.51) and big-size dolls (OR=2.71, CI=0.86-8.53) significantly increased the prevalence of asthmatic symptoms. For PFT, above four families, exposure of passive smoking and pets significantly reduced FVC in both groups (p<0.05). In girls, a big-size doll was significantly associated with decreased lung function (FVC and $FEV_1$). In boys, using bed significantly reduced $FEV_1$. Also, the risk of asthmatic symptoms was found to increase when the house has been built for 5 years or more, the house is close to a road $({\leq}100m)$, a gas/Kerosene heater or carpet is utilized within the house. However, their differences were not significant. It is concluded that genetic factor such as a family history of respiratory disease, allergic symptoms and housing risk factor are related to asthmatic symptoms. These results were worth noting because the findings will help address risk factors related respiratory symptoms especially in relation to housing and environment.
유승은(SeungEun Yoo),김가람(KaRam Kim),김인한(InHan Kim),유정호(JungHo Yu) (사)한국CDE학회 2015 한국CDE학회 논문집 Vol.20 No.2
Building Information Modeling (BIM) provides many advantages when it is adopted in virtual design construction, to analyze constructability, etc. For this reason, advanced countries have made it mandatory to adopt BIM in public construction projects. The Korea Public Procurement Service announced that from 2016, BIM adoption will be mandatory in every construction project in Korea. Currently, however, it is not possible to fully adopt BIM in the building design process domestically because BIM-based systems have not been used broadly in Korea’s building approval system (Seumter). In this research, four challenges were drawn from a focus group interview. Focusing on tackling one challenge, this paper reviewed previous research into building approval systems and the building approval systems of Singapore, the U.K. and the U.S., and identified elements of the building approval application process and presents a system to create and manage the information. The system supports the creation and management of information and 2D drawings from an IFC-based BIM model. We expect that the system will encourage designers to use BIM from the beginning of the design process and ultimately increase the efficiency of design in a BIM-based project.