Unity Engine 기반 수중 로봇 3차원 포지셔닝 프로그램 구현

최철호,김종훈,김준영,박준,박성욱,정세훈,심춘보,Choi, Chul-Ho,Kim, Jong-Hun,Kim, Jun-Yeong,Park, Jun,Park, Sung-Wook,Jung, Se-Hoon,Sim, Chun-Bo 한국스마트미디어학회 2022 스마트미디어저널 Vol.11 No.9

A number of studies related to underwater robots are being conducted to utilize marine resources. However, unlike ordinary drones, underwater robots have a problem that it is not easy to locate because the medium is water, not air. The monitoring and positioning program of underwater robots, an existing study for identifying underwater locations, has difficulty in locating and monitoring in small spaces because it aims to be utilized in large spaces. Therefore, in this paper, we propose a three-dimensional positioning program for continuous monitoring and command delivery in small spaces. The proposed program consists of a multi-dimensional positioning monitoring function and a ability to control the path of travel through a three-dimensional screen so that the depth of the underwater robot can be identified. Through the performance evaluation, a robot underwater could be monitored and verified from various angles with a 3D screen, and an error within the assumed range was verified as the difference between the set path and the actual position is within 6.44 m on average.

Indium(III) 화합물의 Acetonitrile 과 DMAP 착물의 합성 및 특성

최철호,Choi, Zel Ho 대한화학회 1998 대한화학회지 Vol.42 No.2

Tris(pentafluorophenyl)indium acetonitrile complexes have been prepared from the reaction of Indium trihalides (halogen=Cl, Br) and bis(pentafluorophenyl)cadmium in acetonitrile, and characterized by elementary analysis, $^13C{^1H}-,\; ^1H-\;and\; ^{19}F-NMR$ spectroscopy and mass spectrometry. The Indium (III) compounds were formed stable 1:1 adducts with acetonitrile. $In(C_6F_5)_3{\cdot}DMAP$ has been prepared from the ligand exchange reaction of In$(C_6F_5)_3 {\cdot} CH_3CN$ with DMAP in $CH_2Cl_2 {\cdot} DMAP$ has higher donating character and replaced the $CH_3CN$ through the ligand transfer reaction.

기획특집 - BIM기술 도입 및 단계별 발전 전략

최철호,Choi, Cheol-Ho 한국기술사회 2009 技術士 Vol.42 No.5

BIM technology has been introduced in various fields of the construction industry recently. The owners of the public construction projects are already interested in BIM technology and they started to apply BIM technology in their projects. This paper introduces the successful BIM cases of overseas and domestics projects and shows how to introduce and apply BIM technology in the architectural design firms and construction companies and how to train their engineers with BIM technology.

LCD 구동 시스템에서 전력 소비 및 전자기 장애를 줄이기 위한 데이타 코딩 방법

최철호,최명렬,Choi, Chul-Ho,Choi, Myung-Ryul 한국정보과학회 2000 정보과학회 컴퓨팅의 실제 논문지 Vol.15 No.11

We propose a data coding scheme for reducing' power consumption and ElVII in transmitting a sequence of data from LCD controller to LCD driver. The proposed coding scheme makes use of reducing data transitions in general text image of PC. It can be implemented with a little hardware and applied to the real-time applications of LCD driving system. We have executed computer simulations of the proposed coding scheme and compared the results of the proposed scheme with those produced by the existing coding schemes. The proposed coding scheme, compared to the existing ones, reduces the switching activity significantly in both of text and picture images. 본 논문에서는 LCD(Liquid Crystal Display) 컨트롤러와 LCD 구동 칩 사이의 신호 전송에서 전력 소비 및 전자기 장애(EMI)를 줄이기 위한 데이타 코딩 방법을 제안하였다. 제안한 방식은 컴퓨터의 일반적인 텍스트 화면에 대한 데이타 천이(transition)를 감소시키는 방식으로 하드웨어 구조가 간단하여 실시간 처리가 요구되는 LCD 구동 시스템에 적용하기 용이하다. 제안한 방식의 성능 분석을 위해 컴퓨터를 이용한 시뮬레이션을 수행하였으며 기존의 코딩 방식과의 성능 비교 및 평가를 하였다. 시뮬레이션을 통해 제안한 방식이 기존 방식에 비하여 텍스트 화면과 그림 화면에 대해서 switching activity를 현저히 줄일 수 있음을 확인하였다.

운동 시차를 이용한 실시간 입체 영상 변환 방법

최철호,권병헌,최명렬,Choi, Chul-Ho,Kwon, Byong-Heon,Choi, Myung-Ryul 한국정보처리학회 2003 정보처리학회논문지B Vol.10 No.4

본 논문에서는 일반적인 2차원 영상에서 운동 시차론 이용하여 서로 다른 원근 깊이를 갖는 입체 영상을 생성하고, 2차원 영상에서 운동 물체의 운동 방향과 속도에 상관없이 3차원 효과를 제공할 수 있는 입체 영상 변환 방법을 제안하고자 한다. 입체 영상은 제안한 움직임 검출, 영역 분할, 그리고 깊이 지도 생성 방법을 이용하여 인접한 2차원 영상 사이에서 운동 시차를 계산하여 생성된다. 제안한 방법은 다양한 영상원에 대해서 실시간으로 입체 영상 변환이 가능하며, MTD 방식과의 성능 비교를 통하여 제안한 방법의 성능 평가를 수행하였다. We propose a real-time stereoscopic image conversion method that can generate stereoscopic image with different perspective depth using motion parallax from 2-D image and offer realistic 3-D effect regardless of the direction and velocity of the moving object in the 2-D image. The stereoscopic image is generated by computing the motion parallax between adjacent two 2-D images using the proposed method for motion detection, region segmentation and depth map generation. The proposed method is suitable for real-time stereoscopic conversion processing on various image formats. It has been verified the proposed method by comparing between the stereoscopic image of the proposed method and that of MTD.

Tetrakis(pentafluorophenyl)indium(Ⅲ) 음이온 착물의 합성과 특성

최철호,Choi, Zel Ho 대한화학회 1999 대한화학회지 Vol.43 No.1

The anionic complexes, [ln($C_6F_5)_4$]-, which are thermal and moisture sensitive, have been prepared by the reaction of In($C_6F_5)_3{\cdot}D(D=CH_3CN$, O($C_2H_5)_2$) with the system ($CH_3)_3SiC_6F_5$/CsF, $C_6F_5$MgBr or Cd($C_6F_5)_2$. The stable anionic indium(III) complexes are obtained through cation exchange with PNPCI ([PNP]= bis(triphenylphosphino)ammonium). The pure substance is obtained by column chromatography. These new anionic complexes are unambiguously identifed by NMR-spectroscopy, IR spectroscopy, molecular weight, DTA/TG and elemental analysis.

구리를 함유한 탄소소재의 납 및 카드뮴 분석에 관한 연구

최철호,Choi, Zel-Ho 한국결정성장학회 2010 한국결정성장학회지 Vol.20 No.6

Quantitative analytical condition for lead and cadmium in copper contained carbon materials using solvent extraction followed by inductively coupled plasma-atomic emission spectrometry was studied. Copper contained carbon samples were dissolved by nitric acid-perchloric acid digestion. Lead and cadmium were determined after separation with KCN masked copper by an dithizone-chloroform solvent extraction. Recovery efficiency of analyte elements was satisfactory, and most of matrix elements causing interference could be effectively eliminated by the separation. Lead and cadmium were quantitatively determined without influence of sample matrix, by applying it procedure to artifact sample.

BIM 교육 및 기술도입 전략

최철호(Choi Cheolho) 대한건축학회 2010 建築 Vol.54 No.1

일본의 지방분권과 관련법제개정의 동향

최철호(Choi Chol-Ho) 부산대학교 법학연구소 2006 법학연구 Vol.47 No.1

지방분권추진위원회의 권고를 받아서 1999년 제정된 일본의 地方分權推進一括法에 따른 분권개혁의 가장 큰 특징으로는 기관위임사무의 폐지와 이의 대응제도로서 사무구분의 재구성이었다. 즉, 국가와 지방의 관계를 상하 · 주종의 관계로 하여 지방자치단체의 자주성 · 자립성의 확보에 큰 장해요인으로서 집권적 행정의 핵심으로 되어 있었던 제도 중의 하나가 바로 이 기관위임사무제도였었는데 이번 지방분권개혁 과정에서 이의 폐지를 핵심적 과제로 설정하여서 추진한 결과 종전의 기관위임사무를 自治事務와 法定受託事務의 2개의 사무로 재구성하였다. 따라서 종래에는 도시계획법에 있어서 도시계획사무의 대부분이 시정촌(기초자치단체)에서는 단체위임사무, 도도부현(광역지방자치단체)에서는 국가의 기관위임사무로 되어 있었던 것이 지방분권일괄법에 따라 그 대부분이 자치사무로 되어서 종래와 같은 국가의 포괄적 · 일반적인 지휘 · 감독권은 형식적으로는 모두 소멸하고 도시계획제도에 있어서 상당 부분 지방자치단체의 자주성, 자립성을 확보할 수 있었다. 마찬가지로 환경법 분야에서도 환경관련사무의 많은 부분이 지방자치단체가 독자적으로 집행할 수 있는 자치사무로 되었다. 이러한 지방분권개혁을 통해서 과거에는 지방자치단체가 제정하는 조례를 적용할 수 없었던 기관위임사무가 없어지고 조례를 적용할 수 있는 자치사무가 확대되어서 지방자치가 법제도로서 보충되었다고 하겠다. 본 논문은 도시계획행정과 환경행정에 있어서 일본의 지방분권개혁과정의 개요를 관련법제도의 변천 등을 정리 · 평가하는 것을 통해서 분석하여 향후 우리나라에서 추진해 나가는 지방분권개혁에 시사점을 얻고자 하는데 그 목적이 있다. The main topic of this thesis is the study of Significance and its Problems of the amendment of Local Autonomy Law and City Planning Law, Environmental Law, by analyzing the theory about the new classification of Local Governments’ Affairs. In past, Since most part of Local Government’s Affairs were the functions to be given from Government named "Delegated Affair", Local Government performed the functions as lower-administration of Government according to Government’s ordinance. But by amendment of Local Autonomy Law and City Planning Law, Environmental Law in 1999-2000, most of the Government's Affairs were changed to "Original Local Governments’ Affair" and to "Legally Entrusted Affair". Owing to decentralization reform, much part of Local Government’s affairs that used to be under the control of Government can be independently handled by local governments now. As a result, the city planning and environmental affairs that were not affected by the ordinances enacted by a local government in the past are under the control of local government now. And the local government’s authority on city planning and environment administration has been expanded. In general, the regulation standards of environment protection laws are national minimum. Therefore, to protect the local environment, the local government should be able to enact ordinances that have higher legal and regulation standards than the national standards and are applied to wider scope. The purpose of this study is to clarify the affairs of local government for future city planning and environment administration by organizing and evaluating the important points of decentralization regarding city planning and environment administration. Finally according to investigating the Local Autonomy Law and City Planning Law, Environmental Law and Legal System enacted and implemented by Japan which experienced revision of legal system of Local Autonomy Law and City Planning Law prior to Korea, I hope that It will be applied to improve the legal system of Local Autonomy Law and City Planning Law in Korea.

환경행정의 통제수단으로서의 주민소송의 역할

최철호(Choi Chol-Ho) 한국비교공법학회 2006 공법학연구 Vol.7 No.4

The resident's suit against a local government is a system introduced to ensure local governments' financial responsibility. All conducts of a local government are not subject to resident's suits. When an executive body or an employee of a local government commits an illegal financial action, which might cause damage to the local government, a resident can bring a lawsuit against the executive body or the employee for one of the following; ①Demanding the cease and desist of the action, ②Demanding the revocation of the disposition, or ③Claiming damages or restitution for the illegal action. However, almost all actions of a local government involve money in one way or another and there is almost no administrative activity that does not entail financial expenditure. Thus, the system of resident suit, which allows residents to watch closely whether the taxes they paid are used properly, is to control illegal actions of a local government by directly targeting the financial actions (financial expenditure), the results of illegal actions. For example, when a local government gives a permission to a company to carry out a public project that affects environment (causal action, precedent action) and the local government pays the company (financial action, subsequent action), a resident can sue the local government claiming that this financial action of construction cost payment is illegal. But the real purpose of the suit is to revoke the construction permission instead of the construction cost payment. In the process of resident's suit, the local government's action of construction permission becomes the real issue. In this sense, it is expected that the resident's suit can function as a means to control environment administration to a certain extent. The purpose of this study is to provide information on the types and cases of resident's suits filed for environment protection in Japan so that the resident's suit system to be introduced to Korea in 2006 can function as a means to control local finance as well as environment administration.