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.

상악전치부 심미에 대한 인식도 평가

정재훈,오상천,Jung Jae-Hoon,Oh Sang-Chun 대한치과보철학회 2003 대한치과보철학회지 Vol.41 No.5

Statement of problem : The beauty has a little different meaning according to a time, culture, and nation. Purpose : This study was undertaken to determine the Korean perception of the altered upper anterior dental esthetics including the lack of symmetry, the midline deviation, the gingival exposure, the inclination of incisal plane, the type of incisal plane, and the type of gingival line. Material and Method : 670 subjects were participated in this survey. A questionnaire accompanied by 12 sets of computer-manipulated images using 3D MAX 4.2 software was used to record the ranking of the geometric preference related to the anterior esthetic discrepancies in three or four degrees of alteration. The statistical significance of the differences between the groups was determined by a one-way ANOVA and a t-test. Results : The results obtained were as follows: 1) The Korean perception of the anterior dental esthetics according to the subjects' occupation, sex, and age was most affected by occupation. 2) The masked image emphasizing the dentition and lips appeared stranger than the non-masked image at the same alteration. 3) The lack of symmetry, which was expressed as a unilateral discoloration of the tooth, showed incongruity in any teeth of the anterior dentition. The incongruity was more severe as the degree occurred closer to the midline. 4) The deviation of midline was showed more severe strangeness as the degree of deviation increased. However, more than half of the subjects did not perceive a deviation of 5mm. 5) During smiling, the exposure of the upper gingiva showed more severe incongruity as the degree of gingival exposure increased. 77% of the subjects perceived strangeness at the gingival exposure of 4.5mm. 6) The inclination of the incisal plane appeared stranger as the degree of inclination increased. 62% of subjects perceived strangeness at the $7.5^{\circ}$ inclination of the incisal plane. 7) The type of incisal plane showed increasing strangeness in the order of convex/downward, straight/horizontal, and concave/upward. 80% of subjects perceived strangeness at concave/upward. 8) The type of gingival line was showed increasing incongruity in the order of the same, a little above, and a little under the zenith of the lateral incisor to the line joining the zenith of the central incisor and the canine. However, less than half the subjects did not perceive strangeness at any alteration of the gingival line. Conclusion : The Korean perception of the upper anterior dental esthetics was different to the westerner's perception in the some respects.

고관절 주위 골절환자에서 술 전 색 도플러 초음파를 이용하여 진단한 심부 정맥 혈전의 빈도

정재훈,이경재,민병우,손은석,구태원,Jung, Jae-Hoon,Lee, Kyung-Jae,Min, Byung-Woo,Son, Eun-Seok,Koo, Tae-Won 대한정형외과초음파학회 2014 대한정형외과 초음파학회지 Vol.7 No.2

목적: 고관절 주위 골절 환자에서 술 전 색 도플러 초음파 검사를 이용하여 심부 정맥 혈전증을 진단하고 그 발생 빈도를 알아 보고자 하였다. 대상 및 방법: 2013년 6월부터 2014년 5월까지 본원에 내원한 고관절 주위 골절 환자 중 이전에 심부 정맥 혈전의 과거력이 없으며 술 전 색 도플러 초음파 검사에 동의한 환자 27예를 대상으로 하였으며 남자가 8예, 여자가 19예이었다. 평균 연령은 74.3세(41-87)였다. 고관절 주위 골절의 진단명은 대퇴 경부 골절 15예, 대퇴 전자간 골절 11예, 비구 골절이 1예였다. 모든 수술은 본원 내원 후 48시간 이내에 시행하는 것을 원칙으로 하였으며 내원 24시간 이내에 색 도플러 초음파 검사를 시행하였다. 결과: 심부 정맥 혈전은 총 6예(22.2%)에서 발견되었다. 이중 2예(7.4%)는 근위 심부 정맥 혈전이었고 4예(14.8%)는 원위 심부 정맥 혈전이었다. 심부 정맥 혈전 발생 군이 평균 79세(75-87), 발생하지 않은 환자 군이 평균 72세(65-86)로 유의하게 많았다(p=0.038). 결론: 고관절 주위 골절 환자에게 수술 이전 실시한 색 도플러 초음파 검사상 22.2%로 비교적 높은 빈도로 심부 정맥 혈전이 발견되었다. 고관절 주위 골절 환자에서 술 전 심부 정맥 혈전증에 대한 보다 적극적인 검사가 필요할 것으로 사료된다. Purpose: To evaluate the incidence of deep vein thrombosis (DVT) before hip fracture by duplex color Doppler ultrasonography. Materials and Methods: From June 2013 to May 2014, 27 patients who had agreed to perform color Doppler ultrasonography before hip fracture surgery were evaluated for the incidence of DVT. Patients who had history of DVT were excluded. Five patients were men and 19 patients were women. The mean age was 74.3 years old (41-87). There were 15 cases of femoral neck fracture, 11 cases of intertrochanteric fractures and one case of acetabular fracture. Surgical intervention underwent within 48 hours from admission and duplex color Doppler ultrasonography was carried out at the day of admission. Results: DVT occurred in six cases (22.2%). Four cases (14.8%) occurred in proximal deep vein and two cases (7.4%) occurred in distal deep vein. The mean period of immobilization was longer in patients who had DVT. But there was no significant difference. The mean age was 79 years old (75-87) in patients who had DVT and 72 years old (65-86) in patients who had not. There was significant difference (p=0.038). Conclusion: The incidence of DVT which was diagnosed by duplex color Doppler ultrasonography before hip fracture surgery was relatively high (22.2%). So it is necessary to undergo duplex color Doppler ultrasonography more aggressively to rule out DVT before hip fracture surgery.

식편압입의 발현에 관한 임상적 연구

정재훈,오상천,동진근,Jung, Jae-Hoon,Oh, Sang-Chun,Dong, Jin-Keun 대한치과보철학회 2000 대한치과보철학회지 Vol.38 No.1

The purpose of this study was to investigate the causes of food impaction and to explore solutions as well. For this study, 39 patients with food impaction were selected. 77 contact areas in these patients were investigated mobility, tightness of contact area, gingival index, plaque index, attachment loss, alveolar bone loss, proximal caries, marginal ridge distance and occlusal relationships. The results were as follows ; 1. Teeth without distal support were found to be the most frequent site of food impaction (41.6%). Food impaction was found to be more frequent in the upper teeth (65.2%) than the lower teeth (33.8%). 2. Food impaction was found in tight contact cases (71.4%). Alveolar bone loss was not found in the early stage of food impaction (83.1%) 3. The distance between the marginal ridges of food impaction sites (mean=0.48mm) was short-er than that of the control group. (mean=0.77mm) (p<0.001) 4. In 18.2% of the cases, proximal carries were found at the food impaction site. 5. Food impaction affected patient's occlusion with the following frequencies, cusp to marginal ridge relationship (72.7%), cusp to fossa relationship (3.9%) and stepped relationship (23.4%).

고차 다층구조 신경회로망을 이용한 LCD 모니터의 색 보정

정재훈,이동욱,안강식,조석제,Jung, Jae-Hoon,Lee, Dong-Wook,Ahn, Kang-Sic,Cho, Seok-Je 한국정보처리학회 2004 정보처리학회논문지B Vol.11 No.2

본 논문에서는 고차 다층구조 신경회로망을 이용한 LCD 모니터의 색 보정 방법에 관하여 제안하였다. LCD 모니터는 다양한 디스플레이 시스템 구성요소로 인해 비선형적인 특성을 지닌다. 이러한 비선형적 특성들을 해결하고 양질의 영상을 나타내기 위해서는 LCD 모니터좌표와 입력되는 색 자극치 사이의 비선형 색 좌표변환이 필요하다. 고차 다층구조 신경회로망은 학습을 통해 입력되는 색 자극치를 효과적으로 모니터에 가상한다. 실험을 통해 제안한 방법이 칼라 영상의 재현에 효과적임을 확인하였다. This paper presents a new color correction method for color reproduction on LCD-based monitor by means of high-order multilayer neural networks. LCD monitors have nonlinear characteristics from various displaying system components. To overcome these nonlinearities and produce quality image, we need a nonlinear transformer for color coordinate transformation between the LCD monitor coordinates and the input color stimulus values. A high-order multilayer neural network is effectively trained to learn a mapping to determine the required color value of monitors for producing a given color stimulus. From the experimental results, the proposed method is effective in reproducing the color images.

조절 가능한 온도감도를 지닌 광섬유격자 온도센서

정재훈,남희,이병호,Jung, Jae-Hoon,Nam, Hui,Lee, Byoung-Ho 대한전자공학회 1999 電子工學會論文誌, D Vol.d36 No.9

온도 팽창률이 다른 두 개의 금속을 광섬유 브래그 격자에 부착하여 그 온도감도를 조절할 수 있는 새로운 온도센서를 제안하였다. 이러한 방법으로 온도감도를 기존의 브래그격자에 비해 3.3까지 향상시켰으며 금속의 길이를 변화시켜 그 온도감도를 여러 가지로 조절할 수 있었다. By attaching two metals with different thermal expansion coefficients to a fiber Bragg grating, we show that the temperature sensitivity is successfully improved to 3.3 times that of bare fiber Bragg grating and controlled by changing the metal length.

급성 아토피 피부염 마우스 모델에서 한약조합약물의 염증반응 진정효과

정재훈,김경준,Jung, Jae-Hoon,Kim, Gyung-Jun 대한한방안이비인후피부과학회 2015 한방안이비인후피부과학회지 Vol.28 No.1

Object : The object of this study was effected of composed of 4 herbal medicines(Rubus coreanus, Rehmanniae Radix, Houttuynia cordata, Betulae cortex) on acute atopic dermatitis mice. Methods : BALB/c mice were divided 4 groups ; normal group, negative control group of acute atopic dermatitis mice induced by DNCB, treated apply to the back skin with the herbal medicine group, and treated orally with herbal medicine group. Treated with herbal medicine and DNCB during 2 weeks. After treated, measured WBCs, RBCs, and platelet in the blood, and analysed mRNA expression of spleen. Result : Composed herbal medicines could reduce WBCs, lymphocytes, monocytes, neutrophils, and eosinophils in the mouse blood. And, could down TNF-${\alpha}$ levels in spleen. In the skin tissue histology results, herbal medicines reduce the cells and T cells. Conclusion : Composed herbal medicines help to another inflammatory disease because they reduce the cells and T cells in the skin tissues. And they have inhibitory effects of TNF-${\alpha}$ mRNA expression, and Th 2 immune responses. Therefore herbal medicines use for an acute atopic dermatitis treatment.

거대 분자운의 원적외선 특성

정재훈,김현구,김봉규,Jung, Jae-Hoon,Kim, Hyun-Goo,Kim, Bong-Gyu 한국천문학회 2006 天文學論叢 Vol.21 No.2

Infrared color-color diagram of 10 giant molecular clouds are examined to explore the dust property from the COBE Diffuse Infrared Background Experiment of the 100, 140, and $240{\mu}m$ emission. Four of them, Taurus, Mon OB1, Gem OB1, and Chameleon, show the anti-correlation in $R_{100/140}-R_{140/240}$ plot and the horizontal distribution in $R_{100/240}-R_{140/240}$ plot, which disagree with those of theoretical calculation. These could be explained by the depletion of $100{\mu}m$ and the excess of $140{\mu}m$ emission, though no existing dust model could support them. Mean color temperature of the anti-correlation region appears to be lower than that of the linear region, whose temperatures are 15.3, 17.0 K, respectively. And the linear region shows large dispersion in the plot of intensity relation. Both imply that a star formation would be more active, but not homogeneous, in the linear region compared to the anti-correlation region.

갑상설관낭종에서 발생한 유두상암종 4예

정재훈,한명월,노종렬,최승호,김상윤,남순열,Jung, Jae Hoon,Han, Myung Woul,Roh, Jong-Lyel,Choi, Seung-Ho,Kim, Sang Yoon,Nam, Soon Yuhl 대한기관식도과학회 2012 大韓氣管食道科學會誌 Vol.18 No.1

Carcinoma arising in a thyroglossal duct cyst is a not common disease. It is detected in approximately 1% of thyroglossal duct cyst, therefore the clinical manifestation of the patient with carcinoma is undistinguishable from the common cystic lesion. Clinically, it may be confounded with a benign lesion and diagnosed after operation. The mainstream of treatment is the Sistrunk operation, however, there is no definite agreement regarding further treatment in addition to an excision of the cyst. The role of total thyroidectomy and the radioactive iodine therapy have been discussed for adjuvant treatment. We have experienced four cases of papillary carcinoma arising in thyroglossal duct cyst. In the three of the cases, the patients underwent Sistrunk operation, while the other one had additional total thyroidectomy and postoperative radioactive iodine therapy. There was no complication in the perioperative period and no signs of recurrence or metastasis during follow-up period.

로드헤더 장비사양 검토 및 굴착효율 예측 모델 개발

정재훈,임주휘,이재원,강한별,김도훈,신영진,Jae Hoon Jung,Ju Hyi Yim,Jae Won Lee,Han Byul Kang,Do Hoon Kim,Young Jin Shin 한국터널지하공간학회 2023 한국터널지하공간학회논문집 Vol.25 No.3

The use of roadheaders has been increasing to mitigate the problems of noise and vibration during tunneling operations in urban area. Since lack of experience of roadheader for hard rock, the selection of appropriate machines and the evaluation of cutting rates have been challenging. Currently, empirical models developed overseas are commonly used to evaluate cutting rates, but their effectiveness has not been verified for domestic rocks. In this paper, a comprehensive literature review was conducted to assess the rock cutting force, cutterhead capacity, and cutting rate to select the appropriate machine and evaluate its performance. The cutterhead capacity was reviewed based on the literature results for the site. Furthermore, a new empirical model and simplified method for predicting cutting rates were proposed through data analysis in relation to operation time and rock strength, and compared with those of the conventional model from the manufacturer. The results show good agreement for high strength range upper 80 MPa of uniaxial compressive strength.