단안 카메라를 이용한 LKAS 시험평가 방법에 관한 연구

배건환,이선봉,Bae, Geon Hwan,Lee, Seon Bong 한국자동차안전학회 2020 자동차안전학회지 Vol.12 No.3

ADAS (Advanced Driver Assistance Systems) uses sensors such as camera, radar, lidar and GPS (Global Positioning System). Among these sensors, the camera has many advantages compared with other sensors. The reason is that it is cheap, easy to use and can identify objects. In this paper, therefore, a theoretical formula was proposed to obtain the distance from the vehicle's front wheel to the lane using a monocular camera. And the validity of the theoretical formula was verified through the actual vehicle test. The results of the actual vehicle test in scenario 4 resulted in a maximum error of 0.21 m. The reason is that it is difficult to detect the lane in the curved road, and it is judged that errors occurred due to the occurrence of significant yaw rates. The maximum error occurred in curve road condition, but the error decreased after lane return. Therefore, the proposed theoretical formula makes it possible to assess the safety of the LKA system.

특수체육에서의 3D 프린팅 기술 적용 가능성 탐색과 실제

배건환,노형규 한국특수체육학회 2020 한국특수체육학회지 Vol.28 No.3

The purpose of this study was to explore the applicability in the research of adapted physical activity based on the merits and characteristics of 3D printing technology, which is considered as one of the core technologies of the Fourth Industrial Revolution, and to provide the basic data taken to make new approaches related to it. To this end, the concepts and the cases of practical usage of 3D printing-related technologies, including 3D printing, 3D scanning, and 3D modeling are introduced. Accordingly, first, the areas in which 3D printing technology is applied in adapted physical activity is divided into the usage in everyday life, entertainment, and the field of competition and the possibilities were presented afterwards. and then, the practical examples of application were proposed related to each categories. In detail, First, the production of customized products and devices was explained with 3D printed personalized insoles for people with cerebral palsy to help their gait. Second, the case of the 3D printed bicycle foothold developed by Seoul assistive device center was presented. Third, the design of the new equipment was explained with an example of building a universally designed hand cycle with 3D modeling. Last but not least, the cases of reproducing the binding joint of a damaged mono-ski and developing the linkage of bi-ski outrigger were the exemplification of manufacturing the parts of adaptive ski equipment. 3D printing technology which displays its strength in multi-item, low-volume production can be useful in the research of adapted physical activity where there are various situations and individual needs of different subjects, thus modification is the key. Through this study, the continuity in the research regarding the usage of 3D printing technology in adapted physical activity is highly anticipated. 본 연구는 4차 산업 혁명의 핵심기술 중 하나로 손꼽히고 있는 3D 프린팅(3D Printing) 기술의 장점과 특징을 토대로 특수체육 연구 분야에서의 적용 가능성을 탐색하고, 그와 관련된 새로운 접근이 이루어지기 위한 기초 자료를 제시하는 것에 목적이 있다. 이를 위해 3D 프린팅을 포함하여 3D 스캐닝(3D Scanning), 3D 모델링(3D Modeling) 등 3D 프린팅 관련 기술들의 개념과 활용 사례를 소개하고 이를 바탕으로 향후 특수체육 분야에서의 3D 프린팅 기술 접목에 관한 가능성을 제시하였다. 따라서 먼저 특수체육에서 3D 프린팅 기술 적용의 범주를 일상생활 활용, 오락적 활용, 경쟁적 활용 영역으로 나누어 탐색하여 그 전망을 확인하였다. 이어서, 각각의 범주와 연관된 실제 적용 사례를 제시하였다. 그 내용으로 첫째, 뇌성마비 보행 보조 3D 프린팅 개인맞춤형 인솔(Insole) 제작 사례를 들어 맞춤형 제품 및 기구의 제작에 대해 설명하였다. 둘째, 서울시보조기기센터의 맞춤형 자전거 발판 제작 사례를 제시하였다. 세 번째로는 새로운 장비의 고안에 대해 설명하며 3D 모델링으로 유니버설 디자인(Universal Design)을 적용한 핸드사이클을 디자인한 예시를 들었다. 마지막으로 장애인 스키 장비 부속품 제작에 대한 예시로 파손된 모노스키(Mono-ski)의 바인딩 결합부를 재현한 사례와 바이스키(Bi-ski) 아웃리거(Outrigger) 결합 장치 제작 사례를 제시하였다. 다품종 소량생산에 적합하다는 특징을 가진 3D 프린팅 기술은 다양한 상황과 각기 다른 대상자들의 개별적 요구가 존재하며 이에 따른 수정과 변형이 핵심인 특수체육 영역에서 유용하게 사용될 수 있을 것이다. 본 연구에서 제시한 적용 사례와 활용 방안을 토대로 향후 특수체육 연구에서 3D 프린팅 기술을 적절히 활용한 후속 연구들이 꾸준히 이어질 수 있기를 기대한다.

국내도로 환경에서의 HDA 시험평가 방법에 관한 연구

배건환,김봉주,이선봉 사단법인 한국자동차안전학회 2019 자동차안전학회지 Vol.11 No.4

Autonomous vehicle is a car which drives itself without any human interaction. SAE provides technical definitions for autonomous and international standards for test evaluation. Accordingly, automobile industry is actively researching development and evaluation of various ADAS (Advanced Driver Assistance Systems), :representative technology of autonomous technology. Recently, ADAS is in the commercialization level such as ACC, LKAS, AEB, and HDA etc. And it also has issues about safety evaluation. The purpose of HDA in ADAS is reduced the driving load on highway. It has a function which can maintain lane keeping and control distance from forward vehicle. This function is evaluated to be useful for accident prevention. Therefore, this paper proposes the safety evaluation scenario of HDA, considering the domestic highway design criteria and the situation that may arise on the actual highway. We compared and analyzed the data acquired through simulation and actual vehicle test. And verified the reliability of the proposed safety evaluation scenario. The verified result is expected safety evaluation of HDA is possible even under the bad condition, which cannot be tested.

텍스트 마이닝 기반 토픽 모델링을 활용한 한국특수체육학회지 연구 동향 분석

배건환,노형규 한국특수체육학회 2022 한국특수체육학회지 Vol.30 No.2

The purpose of this study was to grasp the overall research trends of the Korean Journal of Adapted Physical Activity by identifying the themes of the studies published in the Journal of the Korean Journal of Adapted Physical Activity for the past 29 years, and analyzing the issues, trends, and characteristics of each period. To this end, text mining-based topic modeling analysis was performed on 924 papers with English abstracts among 951 papers published in the Korean Journal of Adapted Physical Activity from 1993 to 2021. LDA(Latent Dirichlet Allocation) algorithm-based topic modeling was applied using Python 3.7 Package. As a result of the analysis, a total of 6 topics were derived: 'exercise program effect', 'athlete social support', 'social/psychological approach', 'special schools(class) field', 'athlete training', 'children and parents'. In addition, in order to understand the research trends according to the time series, the period was divided into 6 sections and analyzed. Looking at the trend of change in topic share by period, the topic of 'exercise program effect' maintained a constant share (22.4%, 20.1%, 24.6%) from the 1st period to the 3rd period, and after a significant decrease in the 4th period (14.5%) The 5th period (16.2%) showed a slight increase, and the most recent period, the 6th period (7%), showed a significant decrease. The topic of 'athlete social support' decreased significantly from the 1st period (21.1%) to the 2nd period (9%), then increased again through the 3rd and 4th periods (13.2%, 21.4%), and then increased again in the 5th period (21.4%) ) increased slightly in the 6th period (22.2%) after the stagnation period. The topic of 'social/psychological approach' showed an inclination of steadily increasing from the 1st period (2.7%) to the 4th period (13.8%), decreasing in the 5th period (9.2%), and then rebounding sharply again in the 6th period (19%). The topic of 'special schools(class) field' showed characteristics such as tendency to form a high-ranking share by period, repeating an increase or decrease in general, and in particular, an explosive increase in the 2nd period (32.1%), and ranked 1st in the overall period's combined share (24.5%). Except for the 4th period (6.9%), ‘athlete training’ continued to maintain a share in the early to mid-range of 10%, and showed a tendency to appear steadily. Lastly, the 'children and parents' topic maintained a share of around 20% from the 1st to the 3rd period (19%, 21.6%, 21%), and showed a share of around 16% from the 4th to the 6th period (16.6%, 16.8%, 15.8%), steadily forming the middle rank. These results are meaningful in that we can identify and predict the future direction of adapted physical activity by analyzing and arranging the current status and trends of research in the Korean Journal of Adapted Physical Activity. It is believed that the results of this study can be used as basic data for future research for the expansion and development of adapted physical activity research areas. 본 연구는 지난 29년간 한국특수체육학회지에 게재된 연구들의 주제를 파악하고 시기별 이슈, 주제 출현 추이 및 특징을 분석하여 한국특수체육학회지의 전반적인 연구 동향을 파악하고자 하였다. 이를 위해 1993년부터 2021년까지 한국특수체육학회지에 게재된 951개 논문 중 영문초록이 존재하는 924개 논문을 대상으로 텍스트 마이닝 기반 토픽 모델링 분석을 실시하였다. Python 3.7 Package를 활용해 LDA(Latent Dirichlet Allocation) 알고리즘 기반 토픽 모델링 기법을 적용하였으며 분석 결과 ‘운동 프로그램 효과’, ‘선수 사회적 지원’, ‘사회·심리학적 접근’, ‘특수학교(급) 현장’, ‘선수 트레이닝’, ‘아동과 부모’라는 총 6개의 토픽이 도출되었다. 또한 시계열에 따른 연구 동향을 파악하기 위해 시기를 6개 구간으로 구분하여 분석을 진행하였다. 시기별 토픽 점유율의 변화 추이를 살펴보면 ‘운동 프로그램 효과’ 토픽은 제1시기부터 제3시기까지 일정 점유율을 유지(22.4%, 20.1%, 24.6%)하다 제4시기(14.5%) 에서 대폭 감소 후 제5시기(16.2%) 소폭 증가, 가장 근래인 제6시기(7%)에서는 대폭 감소하는 경향을 나타냈다. ‘선수 사회적 지원’ 토픽은 제1시기(21.1%)에서 제2시기(9%)로 가면서 대폭 감소한 이후 제3,4시기(13.2%, 21.4%)를 거치며 다시 증가하였고 제5시기(21.4%) 정체 구간 이후 제6시기(22.2%)에서 소폭 증가하였다. ‘사회·심리학적 접근’은 제1시기(2.7%)부터 제4시기(13.8%)까지 꾸준히 증가하다 제5시기(9.2%)에서 감소한 이후 제6시기(19%)에서 다시 크게 반등하는 추이를 보였다. ‘특수학교(급) 현장’ 토픽은 전반적으로 증감을 반복하며 시기별 점유율 상위권을 형성하는 경향을 보였으며 특히 제2시기(32.1%)에서의 폭발적 증가, 전체 시기 통합점유율(24.5%) 1위 등의 특징이 있었다. ‘선수 트레이닝’은 제4시기(6.9%)를 제외하면 지속적으로 10% 초중반대의 점유율을 유지하며 꾸준히 출현하는 경향을 나타냈다. 마지막으로 ‘아동과 부모’ 토픽은 제1시기부터 제3시기까지(19%, 21.6%, 21%)는 점유율 20% 내외를 유지하였고 제4시기부터 제6시기까지(16.6%, 16.8%, 15.8%)는 16% 내외의 점유율을 나타내어 꾸준히 중위권을 형성하는 추이를 보였다. 이러한 결과는 기존 한국특수체육학회지 내 연구물의 현황과 추세를 분석 및 정리하여 특수체육이 향후 나아갈 방향성을 파악하고 전망할 수 있다는 점에서 의의가 있다. 본 연구 결과는 특수체육 연구 영역 확장 및 발전을 위한 후속 연구의 기초자료로 활용할 수 있을 것으로 사료된다.

첨족 뇌성마비 장애인의 3D 프린팅 맞춤형 인솔 착용을 통한 보행 경험 연구: 사용자 참여 디자인을 중심으로

배건환 ( Gun-hwan Bae ),노형규 ( Hyoung-kuy Roh ) 한국특수체육학회 2021 한국특수체육학회지 Vol.29 No.2

본 연구는 사용자 참여 디자인을 통해 3D 프린팅 개인맞춤형 인솔을 제작하고 그것이 첨족 뇌성마비 장애인의 보행에 어떤 경험과 의미를 주는지 탐색하고 확인하는데 목적이 있다. 연구는 수도권에 거주중인 남, 여 만 8세 이상 뇌성마비 장애인 중 보행과 면담이 가능하고 연구 참여에 자발적으로 동의한 자 3명을 대상으로 2020년 7월부터 11월까지 진행되었다. 인솔 착용 기간 중 참여관찰과 심층 면담이 진행되었으며 수집된 자료는 개방적 코딩과 귀납적 주제분석을 실시하였다. 더불어 질적 연구 결과의 보완과 더욱 충실한 논의 제공을 위해 개인맞춤형 인솔의 착용 전과 착용 후 상태에서 근전도, 지면반력과 같은 운동역학적 변인에 대한 분석을 추가적으로 진행하였다. 연구는 전문가 집단의 지속적 검토를 받으며 진행하였으며 분석 자료에 대한 연구참여자의 확인 및 삼각검증이 이루어졌다. 이러한 과정을 통해 사용자 참여 디자인을 적용한 3D 프린팅 개인맞춤형 인솔의 제작 절차에 대한 연구문제 1의 핵심 주제어는 ‘손뼉이 마주치다’, ‘첫발을 내디디며’, ‘한 걸음씩 나아가다’, ‘언덕 위에 다다르다’, ‘고생 끝에 낙’으로 도출되었다. 또한 사용자 참여 디자인을 적용한 3D 프린팅 개인맞춤형 인솔의 제작 및 사용과정에서 첨족 뇌성마비 장애인들이 겪는 경험에 대한 연구문제 2의 핵심 주제어는 ‘유레카: 새로운 경험’, ‘작은 소용돌이: 나에게 찾아온 것들’로 확인되었다. 연구참여자들은 개인맞춤형 인솔이 기존에 접해왔던 일반 인솔, 보조기 등과는 다른 새로운 제품이라는 인식을 갖고 있었으며, 3D 프린팅과 사용자 참여 디자인 방식을 통해 본인이 원하는 인솔을 스스로 만들고 사용하는 것 역시 기존에 경험해보지 못한 새로운 경험으로 인식하고 있었다. 또한 3D 프린팅 개인맞춤형 인솔을 착용하며 신체적, 심리적으로 변화하는 자신의 모습을 자각하고 있었다. 근전도와 지면반력의 운동역학적 변인의 분석 결과는 연구참여자들이 언급한 심리적 변화에 대한 내용을 실제적으로 뒷받침하고 있었다. 본 연구를 통해 향후 3D 프린팅 기술을 적용한 맞춤형 인솔 착용이 뇌성마비인들의 보행에 줄 수 있는 긍정적 영향을 확인하였으며, 이를 통해 일상생활 및 운동과 관련된 신체활동의 범위를 확장시킬 수 있을 것으로 사료된다. This study aims to produce 3D printing personalized insoles through the process of participation in the design of the individual users themselves and to explore what experiences and meanings are given to the walking of people with cerebral palsy with equinus deformity. To achieve this goal, the researcher selected three people who voluntarily agreed to participate in the research among men and women over 8 years old living in the metropolitan area. The research process was conducted from July 2020 to November 2020. Participant observations and in-depth interviews were conducted during the period of wearing the insole, and the researcher transcribed all the collected data and carried out an open coding and inductive thematic analysis. Furthermore, to complement the results of the qualitative study and provide more faithful discussion, additional biomechanical analysis such as EMG and GRF were conducted before and after wearing a personalized insole. In this study, the procedure was carried out under continuous review by an expert group, and to secure the truth of the study, the affirmation of the analysis data by research participants and the triangulation was used. Through this process, 5 core themes of research question 1 on the manufacturing process of 3D printing personalized insoles applying user participation design, 'Bursts of applause', ‘Taking the first step’, ‘Going one step at a time’, ‘Reach on the hill’, ‘Every cloud has a silver lining’ were derived. In addition, 2 core themes of research question 2 on the experiences of people with cerebral palsy with equinus deformity in the process of making and using 3D printing personalized insoles with user participation design, ‘Eureka: a new experience’ and 'Little whirlpools: things that come to me’ were derived. The study participants were aware of their changing physically and psychologically while wearing 3D printing personalized insoles, and the results of the biomechanical analysis supported what the research participants mentioned about these changes. Through this study, it is believed that wearing customized insoles applying 3D printing technology in the future can have a positive effect on the gait of cerebral palsy, and through this, it is expected that the range of physical activities related to daily life and exercise can be expanded.

LKAS 시험평가의 시뮬레이션 모델링 기법에 관한 연구

배건환(Geon-Hwan Bae),이선봉(Seon-bong Lee) 한국산학기술학회 2020 한국산학기술학회논문지 Vol.21 No.3

첨단 운전자 보조시스템(ADAS, Advanced Driver Assist System)의 주요 기술에는 적응형 순항 제어(ACC, Advanced Cruise Control), 주행 조향보조 시스템(LKAS, Lane Keeping Assist System), 자동 긴급제동 시스템(AEB, Autonomous Emergency Braking) 등이 있다. ADAS 중 LKAS는 카메라(camera)와 적외선 센서(sensor)를 사용하여 운전자가 의도하지 않은 차선이탈이 발생하였을 때, 조향 보조장치를 제어하여 주행 차선으로 복귀하는 시스템이다. 이러한 시스템의 안전성 평가와 검증을 위해 실차시험을 진행한다. 그러나 LKAS 동작 후 임의의 추가 조향각이 인가될 경우에 대한 연구는 미흡하다. 본 논문에서는 선행연구에서 제안한 시나리오에 대해 Prescan을 이용하여 추가조향각 인가 모델링(modeling)기법을 개발하고 시뮬레이션(simulation) 하고, 실차시험을 통해 취득한 데이터(data)와의 비교분석으로 모델링 기법의 타당성을 검증하였다. 앞바퀴부터 차선까지 최대 거리오차는 0.56 m이며, 시뮬레이션과 실차시험의 차선 복귀 속도의 차이로 인해 발생하였다. 시뮬레이션과 달리 실차시험은 주행 차선으로 복귀 속도가 느려 이탈하는 차의 횡방향 변화가 상대적으로 적어 시뮬레이션과 오차가 발생한 것으로 판단된다. 시뮬레이션과 실차시험값의 비교분석 결과 차선복귀 속도 차이는 있지만 앞바퀴부터 차선까지 거리가 약 0.5m로 수렴하는 경향성을 나타내어 신뢰성을 확인할 수 있었다. The leading technologies of the ADAS (Advanced Driver Assist System) are ACC (Advanced Cruise Control), LKAS (Lane Keeping Assist System), and AEB (Autonomous Emergency Braking). LKAS is a system that uses cameras and infrared sensors to control steering and return to its running lane in the event of unintentional deviations. The actual test is performed for a safety evaluation and verification of the system. On the other hand, research on the system evaluation method is insufficient when an additional steering angle is applied. In this study, a model using Prescan was developed and simulated for the scenarios proposed in the preceding study. Comparative analyses of the simulation and the actual test were performed. As a result, the modeling validity was verified. A difference between the front wheels and the lane occurred due to the return velocity. The results revealed a maximum error of 0.56m. The error occurred because the lateral velocity of the car was relatively small. On the other hand, the distance from wheels to the lanes displayed a tendency of approximately 0.5 m. This can be verified reliably.

단안 카메라를 이용한 전방 차량과의 거리 계산 방법에 관한 연구

배건환(Bae Geon Hwan),이선봉(Lee Seon Bong) 한국통신학회 2019 한국통신학회 학술대회논문집 Vol.2019 No.6

리듬 청각 자극을 적용한 젊은 성인의 트레드밀 보행 안정성 평가

한수지,배건환,윤석훈 한국체육대학교 체육과학연구소 2022 스포츠사이언스 Vol.40 No.1

The purpose of this study is to present an effective method of applying the auditory signal speed that can improve the walking stability by evaluating the gait stability when applied to the rhythmic auditory stimulus speed considering both the treadmill speed and step length of both sides. The subjects of this study were 10 young adult males in their 20s(age: 25.9 ±2.3 yrs., height: 176.3 ± 6.4 cm, body mass: 71.5± 10.3 kg), who were classified as normal in the Korean version of Montreal Cognitive Assessment Score(K-MoCA: 28.9±1.7 points). The selected study subjects applied their preferred speed and performed treadmill gait for 5 minutes each, 1 time for normal gait, 1 time for BPM gait, 1 time for MBPM gait, for a total of 15 minutes. Gait asymmetry(upperarm angle), gait variability(step time, medio-lateral and vertical displacement of the center of mass, loading rate), gait coordination(stance phase; knee-ankle CRP and CRP variability, swing phase; hip-knee CRP variability) showed a statistically significant difference. Since the gait of young adults is close to the normal gait pattern, the spatio-temporal gait parameters according to the rhythmic auditory stimulus was not affected. Rather, the asymmetry of upperarm angle increased when the rhythmic auditory stimulus was provided. On the other hand, rhythmic auditory stimulation was shown to reduce gait variability, improve coordination between lower extremity joints, and decrease coordination variability, enabling stable and efficient gait performance.

3D 프린팅 개인맞춤형 노 손잡이 보조 그립이 장애인 조정 선수의 경기력에 미치는 영향

노형규,배건환 한국체육대학교 체육과학연구소 2023 스포츠사이언스 Vol.41 No.2

This study aims to explore the process of developing 3D-printed customized equipment in sports for the disabled through the process of manufacturing 3D-printed customized oar assitive grips for rowers with disabilities in Korea and to determine the impact of the developed equipment on their performance. The subjects of this study were three rowers who were registered as PR3-PI in the International Rowing Federation’s World Rowing master classification list in 2022, had been selected as national team for para-rowing within the last 3 years, and voluntarily expressed their willingness to participate in the study. The selected research subjects participated in the equipment design improvement process over a total of 3 sessions after the prototype product was produced. At the same time, muscle activity measurements were conducted before and after the application of 3D-printed equipment for each session to verify its effectiveness. The results of this study were as follows. First, the process of developing 3D-printed customized equipment for sports for the disabled was found to involve establishing a strategy for developing sports for the disabled equipment through the formation of an equipment development research team and conducting internal research meetings, conducting a user-centered equipment development process through active participation of the equipment users, repeatedly improving and testing the equipment design using 3D printing, producing and applying the final cutomized equipment, and verifying the effectiveness of the developed equipment. Secondly, the results of comparing muscle activity before and after the application of the 3D-printed customized oar assistive grip made in this study showed that it had a positive effect on improving athletic performance by compensating for individual constraints according to the physical functions and characteristics of each athlete. This research has significance in that it can be used as a basis for the production and dissemination of customized equipment in sports for the disabled in the future, as well as providing a new perspective on ways to improve performance in elite sports.

GPS주행자료를 이용한 퍼지형 자동운전 알고리즘 개발

이종달,배건환,권기욱,이영욱 영남대학교 공업기술연구소 2001 工業技術硏究所論文集 Vol.29 No.1

So as to develop an automatic driving model for ITS, 4 driving courses have been set up to examine the reasonable driving pattern of experienced drivers who are using GPS driving data. The Sugeno-type fuzzy model was constructed by inputting the actually measured driving data, and its suitability was examined.