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TRT Pose를 이용한 모바일 로봇의 사람 추종 기법
최준현,주경진,윤상석,김종욱,Choi, Jun-Hyeon,Joo, Kyeong-Jin,Yun, Sang-Seok,Kim, Jong-Wook 대한임베디드공학회 2020 대한임베디드공학회논문지 Vol.15 No.6
In this paper, we propose a method for estimating a walking direction by which a mobile robots follows a person using TRT (Tensor RT) pose, which is motion recognition based on deep learning. Mobile robots can measure individual movements by recognizing key points on the person's pelvis and determine the direction in which the person tries to move. Using these information and the distance between robot and human, the mobile robot can follow the person stably keeping a safe distance from people. The TRT Pose only extracts key point information to prevent privacy issues while a camera in the mobile robot records video. To validate the proposed technology, experiment is carried out successfully where human walks away or toward the mobile robot in zigzag form and the robot continuously follows human with prescribed distance.
최준현 ( Junhuyn Choi ),김완태 ( Wantae Kim ),김상배 ( Sangbae Kim ),배인국 ( Inkook Bae ),서주범 ( Joobeom Seo ) 한국폐기물자원순환학회(구 한국폐기물학회) 2020 한국폐기물자원순환학회 춘계학술발표논문집 Vol.2020 No.-
Arsenic is one of the most dangerous inorganic pollutants, causing serious health and environmental emergencies in many areas of the world. For this reason, all over the world, arsenic concentration in soil is being rigorously regulated. In this study, a flotation process is proposed for separating the arsenicbearing minerals to recycle the soil surrounding the Janahang refinery in South Korea, which contains a high level of arsenic. To maximize the arsenic removal, several experimental parameters were systematically investigated. X-ray diffraction revealed that the contaminated soil was mainly composed of arsenopyrite (FeAsS), arsenic trioxide (As<sub>4</sub>O<sub>6</sub>), arsenic pentoxide (As<sub>2</sub>O<sub>5</sub>), and quartz (SiO<sub>2</sub>). Flotation experiments with various concentrations of potassium amyl xanthate (PAX) showed that arsenic removal increased with increasing PAX concentration. The additions of activators (Na<sub>2</sub>S, CuSO<sub>4</sub>, Na<sub>2</sub>S+CuSO<sub>4</sub>) in pulp pH greatly increased the arsenic removal. In addition, oil agglomerate flotation was conducted to enhance the arsenic removal by improving the separation of fine particles. The results showed that arsenic removal increased with increasing non-polar oil concentration. Based on the results obtained from the optimization tests, a flotation process by which the arsenic-contaminated soils can be recycled was successfully designed.
5% 여성 Dummy 적용에 따른 KNCAP 대응 방안에 대한 연구
최준현(Jun-hyun Choi),김봉석(Bong-seok Kim),최환준(Hwan-jun Choi) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
This study is not only to evaluate the injury of 5th percentile female dummy with respect to New KNCAP, but also to achieve the KNCAP target using methodological approach of variable restraint systems. In this paper, investigating dominant fatal factors using CAE analysis and optimizing restraint systems variations to reduce Head, Neck injury and Chest deflection are explained.
김사덕,최준현,Kim, Sa-dug,Choi, Joon-Hyun 국립문화재연구소 2013 保存科學硏究 Vol.34 No.-
봉화 북지리 마애여래좌상은 거대석불로 중립질의 복운모화강암으로 구성되어 있다. 불상에 대한 비파괴 정밀진단 결과, 표면박리 박락, 입상분해 등 다양한 표면손상이 확인되며 물성 또한 취약한 것으로 확인되었다. 또한 사면안정성 평가 결과 전도파괴, 평면 및 쐐기파괴 등의 가능성 제기되었다. 따라서 과학적 보존처리를 통해 암석 물성 강화와 구조적 안정성을 회복시켰으며 기존 보호각이 통풍이 원활치 못한 점과 누수문제 등이 확인되어 이를 보완할 수 있는 보호각으로 개축하였다. Bukjiri Seated Rock-carved Buddha of Bonghwa is a rock carved Buddhist Statues on the Two-Mica Granite with mid-size grains. The non-destructive diagnosis on the statues showed that their surfaces had been damaged by exfoliation or granular decomposition and their physical properties are also found to be weak. In addition, the evaluation of slope stability showed that there are the possibility of toppling failure, or planar and wedge failure. So, we have recovered the physical strength and structural stability of rock using the scientific conservation treatment. We also founded that the existing shelter was damaged by the poor ventilation and water leakage. So we constructed it in a way that there is no water leakage while the ventilation is good.
홍종욱,황진주,최준현,신희내,이요한,한병일,이오희,Hong, Jong-Ouk,Hwang, Jin-Ju,Choi, Joon-Hyun,Shin, Hee-Nai,Lee, Yo-Han,Han, Byung-Il,Le, Oh-Hee 국립문화재연구소 2009 保存科學硏究 Vol.30 No.-
The Seated iron Vairocana Buddha statue of Dopiansa Temple, Cheolwon was designated National treasure No. 63, it is very important to rearch about Korean Buddha statue because it has an inscription on the back indicates that it was made in 865 A.D., the fifth year of the reign of King Gyeongmun(861-875) of Unified Silla(668-935), through the devoted faith of some 1,500 Buddhist followers of the Cheorwon-gun area. In this conservation treatment, for the Seated iron Vairocana Buddha statue of Dopiansa Temple, Cheolwon plating layer and cashew paint layer of the iron pedestal were removed and for the paint the Body of the Buddha, fake metal layer and plaster layer were removed, stabilizing treatment and coating treatment were done, and removal and restoration of earlobe which had been damaged and later was restored with plaster in the regilding in 1988, and the white hair on forehead was replaced with material of rock crystal, and conch-shaped hair damaged was restored on 35 spots.
유병주(Byong-Ju Yoo),박지승(Ji-Seung Park),이상기(Sang-Ki Lee),최준현(Jun-Hyun Choi) 한국자동차공학회 2005 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2005 No.11_3
The purpose of this investigation was to develop a better understanding of the effect of restraint system and vehicle pulse. TTF with DOE (Design of Experiments). To this end, several vehicle pulses and restraint systems were used in an occupant simulation with MADYMO, from which the corresponding injury criteria were calculated according to US-NCAP assessments. A solution procedure using numerical optimization is proposed. The pulses of 14 vehicles were benchmarked. And 4 idealized frontal crash pulses were sampled. To get exact results, a number of air bag drop test and a seat belt elongation test were performed and correlated with simulation.<br/> Generally two analysis methods, a real experiment and computer simulation, are utilized to design safety occupant protect system at 56㎞/h full frontal crash. However, the computer simulation is often used due to budget restrictions. It would be optimized to obtain all the data from computer simulation to identify the design tendency. In this research, orthogonal arrays were employed in DOE study. The number of simulation was allocated to 32 rows of an orthogonal array, Based on the proposed methods, Vent Hole. Seat belt Load Limiter. Vehicle Pulse, TTF as factors were optimally designed to meet the occupant protection requirements (US-NCAP). The results show the main effect of each factor and the interactive effects between factors.
포말부선 기술을 이용한 중국 오염농경지내 비소화합물의 선택적 제거
이승우(Seungwoo Lee),전칠성(Chilsung Jeon),이은성(Eunseong Lee),유경민(Kyungmin Yoo),최준현(Yoo?Junhyun Choi),김현중(Hyunjung Kim) 대한환경공학회 2016 대한환경공학회지 Vol.38 No.7
이 논문은 실험실 규모의 표면분쇄와 부유선별을 이용하여 비소로 오염된 중국 농경지 토양을 처리하기 위한 분쇄시간의 변화 및 C5H11OCS₂K, Na₂S와 CuSO₄의 사용량 변화에 대한 평가를 제시한다. 현장시료는 비소농도 76.51 mg/kg으로 한국과 중국의 기준치를 모두 초과하였고, 토양시료 내 비소화합물의 형태는 단계추출법에 의해 ‘잔류상’이 지배적인 것으로 나타났다(80% 이상). 또한 X-선 회절분석을 통하여 밝혀진 비소성분은 FeAsS, As₄O6, As₂O5 화합물형태로 존재하는 것으로 확인되었다. 표면분쇄공정에 의해 원시료로부터 탈리된 입자의 비소농도는 분쇄경과시간 5분경 최대치에 달했으며, 이때의 농도는 981.66 mg/kg를 나타냈다. 비소함량이 높은 분쇄입자를 원시료로부터 선택적으로 분리하기 위해 부유선별공정에 사용된 C5H11OCS₂K, Na2S과 CuSO₄의 최적 주입량은 각각 200 g/ton으로 결정되었고, 추가로 수행된 2차 부유선별인 청소부선을 통해서 침강물에서의 최대 비소제거 효율은 72.74%까지 증가하였다. 표면분쇄와 포말부선공정을 조합하여 처리된 정화토양의 입도는 >2, 0.075-2 mm와 <0.038 mm이었고, 이 정화토양의 중량분율은 각각 1.76, 18.00, 64.44 wt% 그리고, 최종정화산물의 평균 비소농도는 16.45 mg/kg로 산출되었다. Effects of grinding time and chemicals dosage in arsenic removal from contaminated paddy soil in China were investigated using lab scale attrition and froth flotation combining process. Arsenic concentration in the field soil was 76.51 mg/kg, exceeding Korean and Chinese standards, and predominant arsenic compounds fraction in sequential extraction was “residual” (over 80%). After wet sieving, soil with >2 mm and < 0.038 mm showed concentration lower than ‘Warning Level’ in Korea. Soil with 0.038-0.075 mm, showing the highest concentration, was discarded since it occupied minor weight fraction (10.1%). Thus soil between 0.075 and 2 mm was only used in the combining process. The highest Arsenic concentration in progeny fragments smaller than 0.038 mm reached up to 981.66 mg/kg after 5 min of attrition. Optimal dosage of collector (C5H11OCS₂K) and modifier (Na₂S and CuSO₄) in froth flotation process for the selective separation of the chipped progeny particles from the parent fragments were determined both as 200 g/ton. Arsenic removal efficiency in froth flotation process was 38.47% and it was increased to 72.74% in additional flotation process, scavenging. Average arsenic concentration after overall process - wet sieving, attrition and froth flotation - was estimated to 16.45 mg/kg.