Improving practicality of SLAM requires various sensors to be fused effectively in order to cope with uncertainty induced from both environment and sensors. In this case, combining sonar and vision sensors possesses numerous advantages of economical efficiency and complementary cooperation. Especially, it can remedy false data association and divergence problem of sonar sensors, and overcome low frequency SLAM update caused by computational burden and weakness in illumination changes of vision sensors. In this paper, we propose a SLAM method to join sonar sensors and stereo camera together. It consists of two schemes, extracting robust point and line features from sonar data and recognizing planar visual objects using multi-scale Harris corner detector and its SIFT descriptor from pre-constructed object database. And fusing sonar features and visual objects through EKF-SLAM can give correct data association via object recognition and high frequency update via sonar features. As a result, it can increase robustness and accuracy of SLAM in indoor environment. The performance of the proposed algorithm was verified by experiments in home –like environment.

This paper is to show how properly the contagious concepts stemmed from Deleuze can be applied to literary text, even if Deleuzean reading that has flooded as yet home or abroad is hard to practice. However, we always feel it troublesome that the challenge is so hard and even fatuous in the sense that Deleuze’s texts are inclined to decline to be grasped by readers. Moreover, even the poem of T. S. Eliot’s also would get out of reader’ obsessional desire to ‘territorialize’ the poem. In the dilemma, we find a aphorism of Lacan’s as a western high monk: we can’t read all texts of an author and can’t grasp all of his/her identity even if he/she has scoured all of his/her texts thoroughly. Thus what we know is no less than broken knowledge, so someone who argues that he/she is a know-all must be totalitarian or paranoiac. Deleuzean reading can be practiced in view of not ‘systematic reading’ but ‘affective reading.’ The former chases after comprehensive ideas as if readers would be gods in the Olympus mount, but the latter enjoys ‘intensity’ or velocity of each part composing of text as asserted by Spinoza. After passing through this poem, the trend of ‘deterritorialization’ is perceived just like a form of melody, ‘rondo,’ in which main melody is recurring with marginal variations intervened every movement and at last reduced to ultimate themes which can be summarized such as state of thought without image, enlightenment and revision. To reach the poetic truth, Eliot mobilizes a collage of intertextual images such as a gruesome world of Dante’s hell to which ‘line of flight’ or ‘singularity’ as death takes human in which confession makes possible atonement or salvation. “a patient etherized” means lethargic being castrated by the norm or value of community and paralyzed by the conventional images in ‘socius’ such as primitive, despotic and capitalistic state. “yellow fog” seems to veil falsehood of reality, but indicates difficulty of rational judgement and “time” as ‘abstract machine’ of self-contradiction frees oneself from oneself with the same identity made up of present(‘chronos’), past and future(‘aion’) articulated only by human as subject of thought. Ego riding on timetable is determined to be confined in routine of life, which means that we must take off each conventional mask. Thus “ragged claws” cut causation as ‘rigid line’ of world and Apostle John and “Lazarus” as saints undergo metamorphosis of death or rebirth in that the one was martyred and the other returned from across Lethe of oblivion as Zarathustra would face against his fate. “the eternal Footman” functions as self-disciplined subject succeeding to regime or prisoner contained in ‘panopticon.’ “Hamlet” and “the Fool” mean that the former as ‘war machine’ tries to subvert ‘the State apparatus’ or ‘molar aggregates,’ and the latter denies despotic ‘normalization’ or generalization. Contrary to the mundane situation, “mermaids” and “sea-girls” stand for becoming-imperceptible through ‘decoded flow’ happening when the poetic narrator fed up with stuffed images drowns himself as moving ‘phenotext’(the signifying system) to ‘genotext’(not reducible to the language system), and awakes himself in the revision of Things. At last Eliot completes “the love song” with the esoteric tree diagram erasing image by image, and shows us the terrible road to enlightenment.

플레이어의 움직임을 직접 반영하는 체감형 게임은 키보드와 마우스를 사용하는 일반적인 컴퓨터 게임에서 느낄 수 없는 실감난 조작법과 몰입감을 제공한다. 우리는 플레이어에게 기존의 게임과 다른 재미를 주기 위해 사용자의 스윙이 반영되는 체감형 탁구게임을 제작했다. 이 때, 사용자가 휘두르는 실제 라켓을 가상 공간으로 옮겨서 가상 공간의 공을 칠 수 있게 하기 위해서는 실세계 탁구라켓의 공간정보를 가상세계 공간에 맵핑 해야 한다. 한 대의 카메라를 사용하는 환경에서 오브젝트 추출이나 색깔정보만으로는 체감형 탁구게임에서 요구하는 정확한 공간 정보를 얻을 수 없다. 그래서 Augmented Reality (AR) 기술을 게임 개발에 사용했다. 그리고 시스템이 플레이어의 간단한 제스처를 인식해서 게임에서 필요한 부과적인 입력처리를 가능하도록 했고, 빠르고 간단하게 사용자의 제스처를 인식하기 위해서 스캔라인 방식을 사용했다. 본 논문은 비전기반의 AR과 제스처 인식을 사용하는 실감형 탁구게임을 제안한다.

T. S. Eliot’s darkest poem, “The Hollow Men”(1925) dramatizes the spiritual and emotional sterility of the hollow men who are at the bottom of the abyss. In “The Hollow Men”, the hollow men or stuffed scarecrow men in the sinful or fallen “death’s dream kingdom” are called to rearrange their death-in-life but they are appalled to do any significant actions or decisions. And they don’t have any courage to take part in the final meeting in “twilight kingdom,” a kind of painful but hopeful transitional stage between “death’s dream kingdom” and “death’s other Kingdom”, because they face the truth about themselves and their past lives in this “dream crossed twilight between birth and dying.” So they shrink from crossing to the “death’s other Kingdom,” Kingdom of God where there are blessed divine vision of “eyes”, “perpetual star”, and “multifoliate rose.” In spite of the potentiality of their salvation, they are unable to attain rebirth or vision in the higher dream because of their inertia and spiritual aridity. The unhappy period in his life at the time of publishing “The Hollow Men” led Eliot to change his life and convert to Christianity in 1927. In this respect we can regard “The Hollow Men”, as a prelude or a vision of Eliot‘s New Life from nadir of despair through humility to thirst for divine love.

The need to have the effects of horticultural therapy as a scientific treatment according to horticultural therapy processes progressed by the therapist's intentions and to have horticultural therapist acknowledged as a special occupation has been recognized. Consequently, this study has been performed in hopes of specialty enhancement, joint responsibility during treatment and an exhaustion solution of therapists for horticultural therapy with the execution of the "supervision" through a phased practical training system as a specialized education method of therapists. The present status of the "horticultural therapy supervision" was researched with horticultural therapists and reserve horticultural therapist as subjects and the present form was illustrated, and the method and contents of how they wanted to receive this supervision was researched through surveying. Also, whether there is a difference in administrative, educational, and supporting horticultural therapy supervision and overall horticultural therapy supervision according to the horticultural therapist and reserve horticultural therapist group, horticultural therapy(main treatment) experience, horticultural therapy performance degree, horticultural therapist foster curriculum type.

In this paper, we describe an image processing algorithm which is able to recognize the road lane. This algorithm performs to recognize the interrelation between AGV and the other vehicle. We experimented on AGV driving test with color CCD camera which is setup on the top of vehicle and acquires the digital signal. This paper is composed of two parts. One is image preprocessing part to measure the condition of the condition of the lane and vehicle. This finds the information of lines using RGB ratio cutting algorithm, the edge detection and Hough transform. The other obtains the situation of other vehicles using the image processing and viewport. At first, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, if vehicle knows the driving conditions which are lane angle, distance error and real position of other vehicles, we should calculate the reference steering angle.