준공 BIM 구축을 위한 Graph-based SLAM 기반의 실내공간 3차원 지도화 연구

정재훈,윤상현,허준,Jung, Jaehoon,Yoon, Sanghyun,Cyrill, Stachniss,Heo, Joon 한국건설관리학회 2016 한국건설관리학회 논문집 Vol.17 No.3

현재 국내 대부분의 토목 건축 구조물이 BIM 정보가 부재한 상황에서 준공 BIM(as-built BIM)의 수요가 점차 증가하고 있다. 준공 BIM 구축을 위한 공간자료 취득에는 고밀도의 포인트 클라우드를 생성할 수 있는 레이저 스캐너가 주로 활용되고 있다. 하지만 기존의 고정식 스캔 시스템은 이동이 번거롭고, 정밀한 위치 선정이 필요 하며, 스캔 자료 정합을 위해 별도의 표지를 설치하거나 공액점을 추출하는 과정이 필요하다. 본 연구에서는 수작업을 최소화하기 위해 기존의 고정식 스캔 시스템을 대체할 수 있는 이동식 스캔 시스템을 제안하고자 하며, 기반 기술로 graph-based SLAM을 적용하였다. 테스트 장비는 총 세 개의 2차원 스캐너를 탑재하고 있으며, 중앙의 한 개는 수평으로 설치되어 graph 구축을 통한 이동경로취득에 사용되었고, 좌우 두 개는 수직으로 설치되어 시스템 진행의 연직 방향으로 주변 구조물에 대한 3차원 스캔 정보 취득에 사용되었다. 개발된 graph-based SLAM은 이동경로 상에 누적된 위치오차를 해소하기 위한 loop closure 처리 방법으로 Adaboost 기계학습을 적용하였다. 이는 특히 본 연구에서 사용한 장비와 같이 기계학습을 위한 다수의 feature 정보를 제공할 수 있는 멀티 스캐너 시스템에 적합한 방식이며, 두 실내공간을 대상으로 한 테스트에서 단일 스캐너 대비 false positive rate를 각각 7.9% 및 13.6%까지 줄일 수 있었다. 최종적으로 연구대상지역의 2차원 및 3차원 지도 구축을 통해 개발된 graph-based SLAM의 효용성을 확인하였다. In Korea, the absence of BIM use in existing civil structures and buildings is driving a demand for as-built BIM. As-built BIMs are often created using laser scanners that provide dense 3D point cloud data. Conventional static laser scanning approaches often suffer from limitations in their operability due to the difficulties in moving the equipment, the selection of scanning location, and the requirement of placing targets or extracting tie points for registration of each scanned point cloud. This paper aims at reducing the manual effort using a kinematic 3D laser scanning system based on graph-based simultaneous localization and mapping (SLAM) for continuous indoor mapping. The robotic platform carries three 2D laser scanners: the front scanner is mounted horizontally to compute the robot's trajectory and to build the SLAM graph; the other two scanners are mounted vertically to scan the profiles of surrounding environments. To reduce the accumulated error in the trajectory of the platform through loop closures, the graph-based SLAM system incorporates AdaBoost loop closure approach, which is particularly suitable for the developed multi-scanner system providing more features than the single-scanner system for training. We implemented the proposed method and evaluated it in two indoor test sites. Our experimental results show that the false positive rate was reduced by 13.6% and 7.9% for the two dataset. Finally, the 2D and 3D mapping results of the two test sites confirmed the effectiveness of the proposed graph-based SLAM.

The Factors Affecting University Teachers’ Perceptions of the EFL Industry

Cyril Reyes(Cyril Reyes ),Jee Eun Lee(Jee Eun Lee) 한국영어교과교육학회 2023 영어교과교육 Vol.22 No.2

나쁜 예술작품도 “예술작품”인가?

Cyril Barrett,오병남 서울대학교 인문대학 예술문화연구소 1995 예술문화연구 Vol.5 No.-

Effect of Electrolyte Concentration on the Electrochromic properties of Tungsten Oxide Films: Experiments and Simulation

( Cyril Bubu Dzakpasu ),( Williams Agyei Appiah ),이용민 한국공업화학회 2022 한국공업화학회 연구논문 초록집 Vol.2022 No.1

The Impact of Emergency Remote Teaching on EFL Instruction

Cyril Reyes,이지은 한국영어교과교육학회 2022 영어교과교육 Vol.21 No.3

This paper documents the transition from Emergency Remote Teaching (ERT) to post-ERT English as a Foreign Language (EFL) teaching practice by investigating the experiences of EFL university instructors in South Korea. Using a mixed methodology, the researchers found quantitative evidence to possibly formulate a standardized ERT practice in the field of EFL. The multiple regression tests found that teachers identified managing grades and student messaging as benefits of remote teaching; the same tests also showed self-regulation, collecting assignments, and creating English content as ERT challenges. These are the specified areas of training and professional development that teachers have reported as the benefits and challenges of ERT practice. A key finding of this paper is from the qualitative data. The interviews revealed a salient example of ERT’s lasting impact. Some of the teachers in this study had two groups of students: online and in-person. Along with documenting this hybrid of in-person and remote teaching, this study provided a platform for teachers to voice their experiences and concerns about this transitory period. The results reveal a more authentic representation of how ERT has transformed EFL practice in Korean Higher Education.

2P-386 Effects of Li-ion content in WO3 electrode on electrochromic performance

( Cyril Bubu Dzakpasu ),한태영,( Williams Agyei Appiah ),김상헌,이용민 한국공업화학회 2017 한국공업화학회 연구논문 초록집 Vol.2017 No.1

Energy saving and storage technologies based on electrochemical reactions have been extensively investigated for solving global warming and energy crisis issues. Recently, the electrochromic (EC) is spotlighted to improve energy efficiency in buildings by preventing heat transfer through colored windows. Herein, we investigated the effect of the lithium ion content in the WO3 electrode on the electrochromic performance such as color change rate and cycle life. WO3/ITO/glass electrodes were fabricated by using an RF-sputter, and then assembled in beaker-type three-electrode electrochromic cells with an electrolyte of 1M LiClO4 in propylene carbonate. As the lithium ions content was controlled by current and time, the color change rate and cycle life were carefully evaluated to determine an optimum lithium ion content within the WO3/ITO/glass electrode.

La résolution

Cyril Grimaldi 한국민사법학회 2013 民事法學 Vol.65 No.-

La résolution est classiquement définie comme l’anéantissement d’uncontrat en raison de son inexécution. En droit français, l’article 1184 duCode civil demeuré inchangé depuis 1804la prévoit. Aujourd’hui, il existetrois types de résolutionla résolution judiciaire, unilatérale et de plein droitpar le jeu d’une clause résolutoire. En premier lieu, s’agissant des conditions de la résolution, on trouve desconditions de fond et des conditions procédurales. Les conditions de fond, d’abord, consistent, en une inexécution desobligations du débiteur d’une part, et en l’absence de renonciation ducréancier à agir en résolution d’autre part. Pour obtenir la résolution d'uneconvention, le créancier doit uniquement établir que son cocontractant n'apas exécuté ses obligations et que cette inexécution présente une certainegravité. La seconde condition tient à l’absence de renonciation du créancierà la résolution. S’il est certain que le créancier ne peut renoncer à touteaction en cas d’inexécution, il est aujourd’hui acquis que la renonciationanticipée à la seule résolution est valable. Pourtant, le principe de larenonciation anticipée à l’action en résolution connaît toutefois certaineslimites, trois, précisément: le droit de sortir du contrat; l’article R. 132-1,7° du Code de la consommation en cas de faute intentionnelle, dolosive oulourde du débiteur. A l’égard de conditions procédurales, Il existe une condition communeaux différents types de résolution, la mise en demeure, et des conditionspropres à chacun, la résolution judiciaire, unilatérale et la clause résolutoire. La résolution judiciaire concerne l’appréciation du manquement que les juges du fond sont souverains pour apprécier si la gravité de l'inexécutionde l'obligation justifie le prononcé de la résolution. La résolution unilatéraleest prononcée par le créancier en cas de manquement grave du débiteur. La clause résolutoire est mise en oeuvre par le créancier victime d’uneinexécution visée par la clause. En deuxième lieu, entant qu’effet rétroactif de la nullité et de larésolution, il reste deux, la restitutions et des dommages-intérêts. Entre les parties, à l’égard de la restitution, l’on doit faire comme si lecontrat n’existait plus depuis qu’il a été anéanti. Les restitutions peuventse faire en nature ou par équivalent. À l’égard des tiers, l’on doit faireégalement comme si le contrat n’avait jamais été conclu entre les parties. La résolution, comme la nullité, est en principe opposable aux tiers sansformalités supplémentaires. Lorsqu’un contrat est annulé ou résolu, outre les restitutions, les partiespeuvent se réclamer des dommages-intérêts si les conditions de laresponsabilité sont réunies, c’est-à-dire si l’inexécution est imputable audébiteur et susceptible d’engager sa responsabilité.

Investigating Rural – Urban Migration in Tanzania: A Case of Kilimanjaro, Mbeya and Mtwara Regions

Cyril Kalembana Komba,Mangasini Atanasi Katundu 한국외국어대학교(글로벌캠퍼스) 아프리카연구소 2010 Asian Journal of African Studies Vol.27 No.-

This paper examines process and benefits of rural-urban migration to rural communities within three regions of Kilimanjaro, Mbeya and Mtwara in Tanzania. Data collection was done using semi-structured questionnaire administered to 243 respondents. Data were analysed using descriptive statistics. Results show that, employment searching, business activities, poverty, land shortage and education influence rural-urban migration. Findings further, reveal socio-economic contribution and benefits(cash, radios, TV, cell-phones) rural people receive from their relatives migrated to urban areas. This study recommends an establishment of policy and programmes to enhance agricultural production, small scale industries and encourage off farm activities.

Great Heterogeneity of Commercial Fruit Juices to Induce Endothelium-Dependent Relaxations in Isolated Porcine Coronary Arteries: Role of the Phenolic Content and Composition

Cyril Auger,Ce´cile Arnold,Ce´line Marx,Brigitte Pollet,Vale´rie B. Schini-Kerth 한국식품영양과학회 2015 Journal of medicinal food Vol.18 No.1

Since polyphenol-rich products such as red wine, grape juice, and grape extracts have been shown to induce potent endothelium-dependent relaxations, we have evaluated whether commercial fruit juices such as those from berries are also able to induce endothelium-dependent relaxations of isolated coronary arteries and, if so, to determine whether this effect is related to their phenolic content. Among the 51 fruit juices tested, 2/12 grape juices, 3/7 blackcurrant juices, 4/5 cranberry juices, 1/6 apple juices, 0/5 orange juices, 2/6 red fruit and berry juices, 3/6 blends of red fruit juices, and 0/4 non-red fruit juices were able to induce relaxations achieving more than 50% at a volume of 1%. The active fruit juices had phenolic contents ranging from 0.31 to 1.86 g GAE/L, which were similar to those of most of the less active juices with the exception of one active grape juice (2.14 g GAE/L) and one active blend of red fruit juices (3.48 g GAE/L). Altogether, these findings indicate that very few commercial fruit juices have the ability to induce potent endothelium-dependent relaxations, and that this effect is not related to their quantitative phenolic content, but rather to their qualitative phenolic composition.

Conservative approach of a symptomatic carious immature permanent tooth using a tricalcium silicate cement (Biodentine): a case report

Cyril Villat,Brigitte Grosgogeat,Dominique Seux,Pierre Farge 대한치과보존학회 2013 Restorative Dentistry & Endodontics Vol.38 No.4

The restorative management of deep carious lesions and the preservation of pulp vitality of immature teeth present real challenges for dental practitioners. New tricalcium silicate cements are of interest in the treatment of such cases. This case describes the immediate management and the follow-up of an extensive carious lesion on an immature second right mandibular premolar. Following anesthesia and rubber dam isolation, the carious lesion was removed and a partial pulpotomy was performed. After obtaining hemostasis, the exposed pulp was covered with a tricalcium silicate cement (Biodentine, Septodont) and a glass ionomer cement (Fuji IX extra, GC Corp.) restoration was placed over the tricalcium silicate cement. A review appointment was arranged after seven days, where the tooth was asymptomatic with the patient reporting no pain during the intervening period. At both 3 and 6 mon follow up, it was noted that the tooth was vital, with normal responses to thermal tests. Radiographic examination of the tooth indicated dentin-bridge formation in the pulp chamber and the continuous root formation. This case report demonstrates a fast tissue response both at the pulpal and root dentin level. The use of tricalcium silicate cement should be considered as a conservative intervention in the treatment of symptomatic immature teeth.