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Chuho Yi,Seungdo Jeong,Jungwon Cho 한국산학기술학회 2012 SmartCR Vol.2 No.1
Map-building and localization for robots are the most basic technology required to create autonomous mobile robots. Unfortunately, they are difficult problems to comprehensively handle. If expensive sensors or a variety of external devices are used, then the problems can be resolved. However, there are still limits for various environments or platforms. Therefore, many researchers have proposed various different methods over a long period of time, and continue to do so today. In this paper, we first look at the state of existing research for map representations used in map-building and localization. We divide them into four main categories and compare the differences between them. These identified properties between the four categories can be used as good standards for choosing appropriate sensors or mathematical models when creating map-building and localization applications for robots.
의료기사의 직업만족도, 근무처여건, 신체이상경험의 비교연구 - 치과기공사와 임상병리사 중심으로
이주호(ChuHo Yi),김지환(JiHwan Kim) 고려대학교 보건과학연구소 2004 보건과학논집 Vol.30 No.2
This study is to analyze the difference of job satisfaction and condition of workshop and stress of dental laboratory technicians and clinical laboratory technologists who work at laboratory, clinic and hospital. A self-administered questionnaire survey was conducted of 250 dental laboratory technicians and 250 clinical laboratory technologists who work in the area of Seoul, from July 19 to October 9, 2004.<BR> The results were as follows ;<BR> 1. In dental laboratory technicians and clinical laboratory technologists the total mean score of job satisfaction were 3.08 and 3.07 respectively, condition of workshop were 3.55 and 3.51 respectively.<BR> There was no significant difference between dental laboratory technicians and clinical laboratory technologists.<BR> 2. In dental laboratory technicians and clinical laboratory technologists, the total mean score of stress were 2.84 and 3.34 respectively.<BR> There was significant difference between dental laboratory technicians and clinical laboratory technologists.<BR> It is considered that being different from the existing studies this study has its value for utilization in that it examined the features by sorting them into two groups of organizations, that is, the dental laboratory technicians and the clinical laboratory technologists, and presented the data that can improve and supplement each one"s merits and demerits.
직업만족도에 영향을 미치는 요인에 관한 연구 - 서울시 치과기공사, 임상병리사를 중심으로 : 직업만족도에 영향을 미치는 요인에 관한 연구
이주호(ChuHo Yi),김웅철(WoongChul Kim) 고려대학교 보건과학연구소 2004 보건과학논집 Vol.30 No.2
This study was carried out to explore dental laboratory technicians" and clinical laboratory technologists" characteristics that have influence on their job satisfaction. A self-administered questionnaire survey was conducted of 250 dental laboratory technicians and 250 clinical laboratory technologists who work in the area of Seoul, from July 19 to October 9, 2004. The results were as follows ; 1. The total mean score for job satisfaction, condition of workshop, faithfulness, subjective health level of dental laboratory technicians and clinical laboratory technologists were 3.35 and 3.47 respectively. Subjective health level was significant difference between dental laboratory technicians and clinical laboratory technologists. 2. The most significant variables for job satisfaction was effort for payment in dental laboratory technicians and superiority of task in clinical laboratory technologists. 3. The explanatory power of regression equation on the job satisfaction related to the satisfaction according to working organizations was 41.1% with dental laboratory technicians and 54.1% with clinical laboratory technologists. As a result of this study, we could find the fact that the clinical laboratory technologists working at the hospital, clinic show the higher satisfaction and recognition than that of the dental laboratory technicians working at the hospital, clinic, private dental laboratories.
이주호(Chuho Yi),이상헌(Sangheon Lee),정승도(Seungdo Jeong),서일홍(Il Hong Suh),최병욱(Byung-Uk Choi) 大韓電子工學會 2010 電子工學會論文誌-SP (Signal processing) Vol.47 No.1
실내 환경에서 문은 주어진 주변 환경을 이해하기 위한 매우 중요한 정보로써, 복도와 방을 구분할 수 있는 기준이 된다. 문은 이동 로봇을 위한 자연 표식 등으로 널리 사용되고 있으나, 로봇에서 획득한 영상내의 특징을 이용한 기존의 문 인식 방법의 경우 연산량이 많기 때문에 실시간으로 구현하는데 어려움이 있다. 본 연구에서는 복도 환경에서 문을 인식하기 위한 새로운 방법을 제안한다. 먼저 허프 변환(Hough transform)을 사용하여 문을 구성할 가능성이 큰 직선들을 추출하고 시각 퍼지(Visual fuzzy) 시스템에서 적용하여 문 후보 영역을 검출하게 된다. 이후 문 후보 영역에서 문 고리 후보 영역들을 뽑고 이를 이차적인 시각퍼지 시스템에 적용하여 최종적으로 문을 검증한다. 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.
Nonisotropic Propagation of Light in Human Forearm
Sang-Hyun Park,Chuho Choi,윤길원,Hak-Soo Shin,Joon-Mo Yang,Kwang-Sup Soh,Sun Mi Choi,Yeonhee Ryu 한국물리학회 2006 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.48 No.II
Light propagation in the skin of the human forearm was investigated in vivo and in situ. In this study, a sensitive photomultiplier tube with a spectral range of 300 650 nm was used to detect the extremely weak light that is propagated in skin from 17 mm up to 33 mm. We devised a control system that enabled us to guide the optical fibers so that the input and the detection could be exactly located on the skin in complete darkness. We obtained an effective attenuation coefficient whose values were 0.21 ± 0.03 cm.1 and 0.28 ± 0.06 cm.1 in the longitudinal and the transversal directions, respectively, over a long distance ( 17 mm). Those value were much smaller than the previously known value of 2.7 3.3 cm.1 for a short distance ( 2 mm). In addition, we found that light propagated better longitudinally than transverse, which contrasted with the isotropic propagation at short distances. These results might have significance for phototherapy. Light propagation in the skin of the human forearm was investigated in vivo and in situ. In this study, a sensitive photomultiplier tube with a spectral range of 300 650 nm was used to detect the extremely weak light that is propagated in skin from 17 mm up to 33 mm. We devised a control system that enabled us to guide the optical fibers so that the input and the detection could be exactly located on the skin in complete darkness. We obtained an effective attenuation coefficient whose values were 0.21 ± 0.03 cm.1 and 0.28 ± 0.06 cm.1 in the longitudinal and the transversal directions, respectively, over a long distance ( 17 mm). Those value were much smaller than the previously known value of 2.7 3.3 cm.1 for a short distance ( 2 mm). In addition, we found that light propagated better longitudinally than transverse, which contrasted with the isotropic propagation at short distances. These results might have significance for phototherapy.