자율주행 장치를 위한 특징 맵 기반 SLAM

김정민,정승영,전태룡,김성신,Kim, Jung-Min,Jung, Sung-Young,Jeon, Tae-Ryong,Kim, Sung-Shin 한국정보통신학회 2009 한국정보통신학회논문지 Vol.13 No.7

본 논문에서는 초음파와 전자나침반, 엔코더, 자이로센서를 복합적으로 구성하여 로봇의 SLAM 방법을 제시하였다. 일반적으로 전자 나침반과 엔코더, 자이로를 이용한 로봇의 위치측정은 작업공간에서의 상대위치만을 알 수 있다. 실제 로봇이 작업공간에서 작업을 하기 위해서는 로봇의 절대위치 정보를 알아야만 하며, 이는 SLAM으로 얻을 수 있다. 본 논문에서는SLAM 구현을 위하여 로봇의 작업공간을 초음파 센서를 이용하여 구조적 맵 생성 기법을 통해 맵을 생성한 후, 이를 특정 맵으로 변환하였다. 생성된 특정 맵과 맵 매핑을 활용하여 맵 상의 절대위치를 구한다. 실험은 직접 설계 및 제작한 로봇을 이용하였고, 실험 방법은 초기 좌표를 모르는 로봇을 임의의 장소에 위치 시키고 제안한 SLAM 알고리즘을 이용하여 로봇의 전역 좌표를 찾도록 하였다. 실험 결과, 제안한 SLAM 알고리즘을 이용하여 맵 상의 절대위치를 모두 찾음을 확인하였다. This paper is presented an simultaneous localization and mapping (SLAM) algorithm using ultrasonic for robot and electric compass, encoder, and gyro. Generally, localization based upon electric compass, encoder, and gyro can be measured just local position in workspace. However, actual robot must need an information of the absolute position in workspace to perform its mission, Absolute position in workspace could be calculated using SLAM algorithm. To implement SLAM in this paper, a map is built using ultrasonic sensor and hierarchical map building method. And then, we the map will be transformed into a feature map. The absolute position could be calculated using the feature map and map mapping method. As a test bed, we designed and construct an autonomous robot and showed the experimental performance of the proposed SLAM algorithm based on feature map. Experimental result, we verified that robot can found all absolute position on experiments using proposed SLAM algorithm.

수정된 유전자 알고리즘과 퍼지 추론 시스템을 이용한 무인 자율주행 이송장치의 다중경로계획

김정민,허정민,김성신,Kim, Jung-Min,Heo, Jung-Min,Kim, Sung-Shin 한국정보통신학회 2009 한국정보통신학회논문지 Vol.13 No.8

본 논문에서는 수정된 유전자 알고리즘과 퍼지 추론 시스템을 이용한 무인 자율주행 이송장치의 다중경로계획을 연구하였다. 기존의 다중경로계획을 위한 방법으로는 최적화 알고리즘들을 이용한 작업별회귀 방법과 매시간 각 개체마다 경로를 재계획하는 방법이 있다. 이러한 방법들은 한 대의 이송장치가 작업을 하기 위해서는 한 대 이상의 이송장치가 정지해야하므로 시간과 에너지 측면에서 비효율적이며, 연산량이 많아 오류가 발생할 가능성이 있다. 본 논문에서는 이러한 문제점들을 해결하기 위해 수정된 유전자 알고리즘과 퍼지 추론 시스템을 이용한 다중경로계획을 제안한다. 제안한 알고리즘의 성능 평가를 위하여 무인 자율주행이 가능한 2대의 이송장치를 설계 제작하였고 지게차와 동일한 주행 제어부를 탑재하여 다중경로계획을 실험하였다. 실험 결과, 빠르고 최적화된 경로 계획과 효율적인 충돌 회피가 가능함을 확인 할 수 있었다. This parer is presented multiple path-planning of unmanned autonomous forklift using modified genetic algorithm and fuzzy inference system. There are a task-level feedback method and a method that path is dynamically replaned in realtime while the autonomous vehicles are moving by means of an optimal algorithm for existing multiple path-planning. However, such methods cause malfunctions and inefficiency in the sense of time and energy, and path-planning should be dynamically replanned in realtime. To solve these problems, we propose multiple path-planning using modified genetic algorithm and fuzzy inference system and show the performance with autonomous vehicles. For experiment, we designed and built two autonomous mobile vehicles that equipped with the same driving control part used in actual autonomous forklift, and test the proposed multiple path-planning algorithm. Experimental result that actual autonomous mobile vehicle, we verified that fast optimized path-planning and efficient collision avoidance are possible.

시나리오 플래닝기법을 활용한 한.중 FTA 체결이후의 한의서비스 시장 분석 및 대응전략

김정민,임병묵,신미숙,Kim, Jung-Min,Lim, Byung-Mook,Shin, Mi-Sook 대한예방한의학회 2012 대한예방한의학회지 Vol.16 No.2

Objectives : This study aimed to analyze the fundamentals of a Korea-China FTA and suggest strategies for Korean medicine market that correspond with each scenario selected from foreseen circumstances after the conclusion of the FTA through the scenario planning, which is one of management techniques. Methods : Four scenarios have been established by means of key questions : the scope of FTA, health care policies, and the combination of western medicine(WM) and Korean medicine(KM). Each scenario is defined as the Maximized Competitive Market, Neutral Market, General Completive Market, and Conservative Market. This study suggests brand marketing, extending of health insurance coverage, launching local network, and strategy for Korean medicine based health promotion programs. Results and Conclusions : Although Korean medicine could be prompted by the trade policies between countries, related studies are very limited. Therefore, more research is needed to suggest the detailed strategies for change of Korean medicine market through various strategic analysis tools.

외모에 대한 사회문화적 요인, 신체질량지수 및 자아존중감이 신체상에 미치는 영향 - 발달단계별 차이를 중심으로 -

김정민,이세진,Kim, Jung-Min,Yi, Se-Jin 한국가정관리학회 2009 가정과삶의질연구 Vol.27 No.6

The purpose of the study is to investigate developmental changes in the effect of sociocultural factors towards appearance, body mass index and self-esteem on body image. Participants were 315elementary school, 305middle school students, 310hight school students and 346college students from Seoul and Gyeonggi Province. Collected data were analyzed through Cronbach's $\alpha$, Two-way ANOVA, Pearson's correlation, and stepwise multiple regression. The findings of the study were as follows: 1) Sociocultural factors towards appearance, body mass index, self-esteem and body image differed by grade and gender. 2) Peers, self-esteem, BMI and mass media were significant predictors of elementary school students' body image. Mass media, BMI and self-esteem were significant predictors of middle school students' body image. Self-esteem, peers, BMI, gender and mass media were significant predictors of high school students' body image. Self-esteem, mass media and BMI were significant predictors of college students' body image.

전 상악골 절제술 후 양경 유리 견갑 골-피부 피판을 이용한 재건 3례

김정민,하범준,문구현,현원석,방사익,오갑성,Kim, Jung-Min,Ha, Bom-Jun,Mun, Goo-Hyoun,Hyun, Won-Sok,Bang, Sa-Ik,Oh, Kap-Sung 대한미세수술학회 2003 Archives of reconstructive microsurgery Vol.12 No.1

We used bipedicled scapular osteocutaneous free flap for total maxillectomy defect reconstruction in 3 cases of malignant maxillary tumor. We elevated two flaps of the skin paddle and the bone flap with one common pedicle - the subscapular artery - which was devided to the angular branch of the thoracodorsal artery and the circumflex scapular artery to reconstruct the nasal cavity, the palate and the zygoma. The angle between the two flaps was free enough so that we could transfer the two flaps through a single microanastomosis. After the operation, patients could swallow and pronounce well, and the wound contracture was minimal so that we could get aesthetically good result.

서낙동강 수문 운영에 따른 동적 수질 변화 연구

김정민,김영도,Kim, Jung Min,Kim, Young Do 대한토목학회 2013 대한토목학회논문집 Vol.33 No.4

호소형 하천으로 정체수역 특성을 갖는 서낙동강에서의 대저수문 유입량과 녹산수문 방류량은 오염총량관리 시행계획 대상유역인 낙본N 단위유역의 수질관리에 있어서 매우 중요한 영향을 미친다. 하지만 기준유량을 산정하기 위한 실측자료는 매우 부족하고, 대저수문과 녹산수문의 운영자료는 수문개도시 최대가능방류량만을 사용하고 있으므로 실측 방류량과는 많은 차이를 보이고 있다. 본 연구에서는 대저수문과 녹산수문의 운영자료를 수집하고, 이를 환경부 수질측정망 월별 수질변화와의 비교를 통해 분석하였다. 또한 대저수문과 녹산수문의 운영에 따른 서낙동강 본류의 비정상상태의 유량변화와 이에 따른 수질변화를 실측하였다. 낙동강 본류 수위, 서낙동강 수위, 조위 등의 영향을 받는 대저수문 유입과 녹산수문 방류에 의한 서낙동강 유량변화를 실측하였으며, 이는 대저수문과 녹산수문의 최적 운영을 통한 서낙동강의 수질 개선 대책 수립의 기초자료로 활용될 수 있을 것으로 판단된다. The inflow from Daejeo gate and the outflow from Noksan gate in Seonakdong river, which is a reservoir-like river with the characteristics of stagnant water, is very important for TMDLs (Total Maximum Daily Load) of Nakbon N unit watershed. However, there are very few measured data for calculating base flow. The operating data is much different from the actual measured data because the probable maximum flowrate is used for gate operation. In this study, the operating flowrate data of Daejeo and Noksan gates are compared with the monthly water quality data from Ministry of Environment monitoring station. The dynamic change of the flowrate and the water quality is also measured for the operation of Daejeo and Noksan gates. The flowrate of Seonakdong river is measured, which is affected by the gate operation, the water elevation difference of Nakdong river and Seonakdong river, and the tidal elevation. The results of this study can be used for establishing the water quality improvement measures by the optimal gate operation.

토픽 분할에 의한 토픽맵 매칭 및 통합 기법

김정민,정현숙,Kim, Jung-Min,Chung, Hyun-Sook 한국정보처리학회 2007 정보처리학회논문지D Vol.14 No.7

본 논문에서는 토픽맵의 모델 특성을 고려한 토픽맵 매칭 및 통합 기법을 제안한다. 이전까지의 대부분의 스키마 매칭 연구들은 계산 시간의 효율성을 고려하지 않고 매칭 기법의 범용성 및 정확성을 높이기 위한 목적으로 개발되어 왔다. 그러나 현재 표준적인 온톨로지 언어로 RDF/OWL과 토픽맵이 사용되고 있으며 앞으로 많은 온톨로지들이 이들 언어로 구현될 것이다. 따라서 본 논문에서는 토픽맵 데이터 모델의 구조적 특성 및 제약조건을 고려하여 토픽 분할, 토픽명기반 매칭연산, 속성기반 매칭연산, 계층구조기반 매칭연산, 연관관계기반 매칭연산 및 통합 알고리즘을 개발함으로써 효과적이면서 효율적인 토픽맵 매칭 및 통합이 가능함을 보인다. In this paper, we propose a topic maps matching and merging approach based on the syntactic or semantic characteristics and constraints of the topic maps. Previous schema matching approaches have been developed to enhance effectiveness and generality of matching techniques. However they are inefficient because the approaches should transform input ontologies into graphs and take into account all the nodes and edges of the graphs, which ended up requiring a great amount of processing time. Now, standard languages for developing ontologies are RDF/OWL and Topic Maps. In this paper, we propose an enhanced version of matching and merging technique based on topic partitioning, several matching operations and merging conflict detection.

음악과 음성 판별을 위한 웨이브렛 영역에서의 특징 파라미터

김정민,배건성,Kim, Jung-Min,Bae, Keun-Sung 대한음성학회 2007 말소리 Vol.61 No.-

Discrimination of music and speech from the multimedia signal is an important task in audio coding and broadcast monitoring systems. This paper deals with the problem of feature parameter extraction for discrimination of music and speech. The wavelet transform is a multi-resolution analysis method that is useful for analysis of temporal and spectral properties of non-stationary signals such as speech and audio signals. We propose new feature parameters extracted from the wavelet transformed signal for discrimination of music and speech. First, wavelet coefficients are obtained on the frame-by-frame basis. The analysis frame size is set to 20 ms. A parameter $E_{sum}$ is then defined by adding the difference of magnitude between adjacent wavelet coefficients in each scale. The maximum and minimum values of $E_{sum}$ for period of 2 seconds, which corresponds to the discrimination duration, are used as feature parameters for discrimination of music and speech. To evaluate the performance of the proposed feature parameters for music and speech discrimination, the accuracy of music and speech discrimination is measured for various types of music and speech signals. In the experiment every 2-second data is discriminated as music or speech, and about 93% of music and speech segments have been successfully detected.

$bla_{SHV-2a}$와 $bla_{SHV-12}$ 항균제 내성 유전자의 분자적 진화 및 확산에 IS26 Mobile Element의 개입

김정민,신행섭,조동택,Kim, Jung-Min,Shin, Haeng-Seop,Cho, Dong-Taek 대한미생물학회 2000 大韓微生物學會誌 Vol.35 No.3

A clinical isolate of Klebsiella pneumoniae K7746 produced the extended-spectrum ${\beta}$-lactamase (ESBL) SHV-12. A 6.6 kb BamHI fragment containing the $bla_{SHV-12}$ gene of K7746 strain was cloned into pCRScriptCAM vector resulting in the recombinant plasmid p7746-Cl. The restriction map of 3.6 kb inserted DNA and sequences immediately surrounding $bla_{SHV-12}$ of p7746-C1 were homologous to plasmid pMPA2a carrying $bla_{SHV-2a}$. In addition, both $bla_{SHV-12}$ and $bla_{SHV-2a}$ were expressed from a common hybrid promoter made of the -35 region derived from the left inverted repeat of IS26 and the -10 region from the $bla_{SHV}$ promoter itself. The results indicate that $bla_{SHV-12}$ and $bla_{SHV-2a}$ may have evolved from a common ancestor in the sequential order of $bla_{SHV-2a}$ first, followed by $bla_{SHV-12}$. Furthermore, by the PCR mapping method using primers corresponding to the IS26 and $bla_{SHV}$, the association between IS26 and $bla_{SHV}$ was studied in 12 clinical isolates carrying $bla_{SHV-2a}$, 27 clinical isolates carrying $bla_{SHV-12}$, and 5 reference strains carrying $bla_{SHV-1}$ to $bla_{SHV-5}$. All 39 strains carrying $bla_{SHV-2a}$ or $bla_{SHV-12}$ were positive by the PCR, providing confirmative evidence that IS26 has been involved in the evolution and dissemination of $bla_{SHV-2a}$ and $bla_{SHV-12}$. But 5 reference strains carrying $bla_{SHV-1}$ to $bla_{SHV-5}$ were negative by the PCR. Therefore, we concluded that the molecular evolutionary pathway of $bla_{SHV-2a}$ and $bla_{SHV-12}$ may be different from that of other $bla_{SHV-ESBL}$, e.g., $bla_{SHV-2}$, $bla_{SHV-3}$, $bla_{SHV-4}$, and $bla_{SHV-5}$.

Gelidium amansii Extract, a Potent α-glucosidase and α-amylase Inhibitor, Alleviates Postprandial Hyperglycemia in Diabetic Mice

Jae-Eun Park(박재은),Jung-Min Kim(김정민),Ji-Sook Han(한지숙) 한국생명과학회 2017 생명과학회지 Vol.27 No.9

우뭇가사리(Gelidium amansi)는 홍조류로서 우뭇가사리과(Gelidiaceae)에 속한다. 현재까지 우뭇가사리의 항산화 및 항비만 효과 등의 기능들이 연구되었으나 식후 혈당 수치에 미치는 영향에 관한 연구는 부족한 실정이다. 이에 본 연구에서는 Gelidium amansii extract (GAE)가 탄수화물 가수분해 효소(α-glucosidase, α-amylase)에 미치는 억제 효과 및 streptozotocin (STZ)으로 유도된 당뇨병 마우스의 식후고혈당에 미치는 완화효과를 조사하였다. 정상군과 STZ으로 유도된 당뇨병 마우스에 수용성 전분(2 g/kg body weight)을 경구투여한 후 GAE (300 mg/kg body weight) 또는 acarbose (100 mg/kg body weight)를 단독 또는 함께 투여하였다. 혈당은 꼬리채혈을 통해 0, 30, 60, 120분 간격으로 측정하였다. α-glucosidase와 α-amylase에 대한 GAE의 IC50 값은 각각 0.099±0.009 mg/ml와 0.178±0.038 mg/ml의 결과값을 나타내어, 양성대조군인 acarbose보다 더 효과적이었다. STZ으로 유발된 당뇨병 마우스의 식후 혈당 수치는 대조군에 비해 GAE 투여 시 유의적으로 더 낮았다(p<0.05). 또한 GAE 투여는 당뇨병 마우스에서 포도당 반응에 대한 곡선하면적 감소와 관련이 있었다(p<0.05). 이러한 결과는 GAE가 α-glucosidase, α-amylas와 같은 탄수화물 가수분해 효소를 억제함으로써 식후 고혈당을 완화시키는 유용한 천연기능성 식품이 될 것으로 사료된다. Gelidium amansii shows antioxidant and anti-obesity effects; however, the effect on postprandial blood glucose levels is not known. The objective of the present study was to investigate the inhibitory effect of Gelidium amansii extract (GAE) on carbohydrate-digesting enzymes and its ability to alleviate postprandial hyperglycemia in streptozotocin (STZ)-induced diabetic mice. Gelidium amansii was extracted with 80% ethanol and concentrated for use in this study. The α-glucosidase and α-amylase inhibition assays were performed using the colorimetric method. ICR normal and STZ-induced diabetic mice were orally administered GAE (300 mg/kg body weight) or acarbose (100 mg/kg body weight) alone or soluble starch (2 g/kg body weight). Blood samples were taken from the tail vein at 0, 30, 60 and 120 min. Our results indicated that GAE markedly inhibited α-glucosidase and α-amylase activities with IC50 values of 0.099±0.009 mg/ml and 0.178±0.038 mg/ml, respectively, and was a more effective inhibitor than acarbose, the positive control. Further, the postprandial blood glucose levels of STZ-induced diabetic mice in the GAE-administered group were significantly lower than those of control group mice (p<0.05). Moreover, the area under the curves (AUC) significantly decreased with GAE administration in STZ-induced diabetic mice (p<0.05). These results indicate that GAE may be effective in decreasing postprandial blood glucose levels by inhibiting carbohydrate-digesting enzymes such as α-amylase and α-glucosidase. Therefore, GAE could be used as a potential functional food for alleviating postprandial hyperglycemia.