Plexiform schwannoma is a rare benign tumor originated from Schwann cell with low probabilities of becoming malignant. While it has a multi-nodular character compared to the original form, its nature can be confirmed by immunohistochemical studies such as S-100 protein stain. It is rare in the nasal cavity and therefore not many cases were reported in Korea. The authors present a case of plexiform schwannoma on the nasal vestibule with a size of 2 cm.

Computer vision-based displacement measurement is regarded as an excellent alternative to conventional displacement measurement devices due to its convenient installation process with high accuracy. Based on the strong potential, this study proposes a computer vision approach for displacement measurement with enhanced field applicability. Main features of the proposed method are (1) robustness against adverse light conditions and (2) convenient camera installation that allows the camera to be arbitrarily placed. An adaptive image processing procedure is developed to overcome false identification of target markers that can be induced by strong lights. Location information of the identified markers are used to obtain displacement using the homography transformation, which allows the camera to be installed in any place as long as the target markers are in the line of sight. With these features, the computer vision approach is experimentally proven to be practical in field testing for measuring structural displacement.

In this paper, we propose a new algorithm of the guidance line extraction for autonomous agricultural robot based on vision camera in paddy field. It is the important process for guidance line extraction which finds the central point or area of rice row. We are trying to use the central region data of crop that the direction of rice leaves have convergence to central area of rice row in order to improve accuracy of the guidance line. The guidance line is extracted from the intersection points of extended virtual lines using the modified robust regression. The extended virtual lines are represented as the extended line from each segmented straight line created on the edges of the rice plants in the image using the Hough transform. We also have verified an accuracy of the proposed algorithm by experiments in the real wet paddy.

Purpose: The purpose of this study is to report a case of psychological support and supervision for a university soccer team. Methods: Psychological support was provided to 32 players in the C university soccer team. 10 or so essential psychological skills including the importance of psychological training, goal setting, strategies to be motivated, enhancing confidence, teamwork, self-regulation, or concentration training were systematized with CAU10 Program, and this was designed properly to the event of soccer. Results: Total 11 sessions were composed of education, practice, and discussion with 80 minutes in each week. To examine the effects of psychological support, SIMS, TEOSQ, and PS test sheets were used. According to the results of the T-Test, it exerted significant effects on the factors of intrinsic motivation (p<.05), confidence (p<.01), and goal setting (p<.05). Conclusion: For field training and supervision, they received training for license grade 2 and then made plans for field training. Submitting an application form for training to Korean Society of Sport Psychology, they got approved. The psychological support team consisted of five trainees and two supervisors. In each team, one or two trainees were arranged, and they were formally appointed as a mental coach by the director, coaching staff, or players. In this case, the soccer team included trainees attending graduate school or having experience to work as a player. Once a week, they were provided with field support, supervision, and irregular field observation and counseling, and also, supervision was done once a week with two grade 1 supervisors. Mainly about preparation for education, ideas to make contents, demonstration for education, or counseling, they were provided with feedback, and this was written as a report for each session. It has been found that field training and supervision have positive effects on grade 2 sport psychology counselor trainees in terms of securing expertise and experience, knowhow, confidence for field support, or contents for psychological support.

국내 폐 디스플레이 발생량은 2015년 157만대 정도 규모에서 2025년 1,123만대 정도로 약 7배 이상 증가할 것으로 예상되고 있다. 하지만 현재 폐 디스플레이 재활용 기술 개발은 제품을 구성하는 단일부품에 대해 일부만 진행 중에 있다. 디스플레이를 구성하는 금속, 필름/시트, LCD 패널, 플라스틱, PCB, CCFL, 전선 등으로부터 유가자원을 회수하고, 이를 소재화하는 것은 경제 및 환경적으로 매우 중요한 산업임에도 불구하고, 폐 제품을 부품 종류별로 최종 재활용 업체에 선별 납품하는 폐 디스플레이 분리/해체 플랜트 구축 현황은 국가적으로 매우 미흡한 실정이다. 현재 국내에서 폐 디스플레이 제품의 각 모듈별 분해과정은 재활용 센터를 중심으로 이루어지고 있으나, 디스플레이 제조사 및 모델별 구성 부품과 나사 위치가 달라서 수작업을 통해 공정을 진행하는데 많은 애로사항이 있으므로 분해공정에 있어서 제품별 정보인식/제공과 자동화 기술 도입을 통해 작업 효율을 높일 필요성이 있다. 본 발명의 핵심은 스마트 인식 장치를 이용하여 폐 디스플레이의 모델을 빠른 속도로 판별하고 후단의 공정에 필요한 데이터를 제공하는 것으로 정확한 폐 디스플레이의 모델 인식이 가능하도록 하고 각각의 공정에 필요한 정보를 제공하여 폐 디스플레이 해체 및 선별 작업의 효율성을 극대화 시키고 생산성을 향상시키는데 있다.

SHM에서 변위는 구조물의 동적 특성을 파악하는 핵심정보다. 이를 구조물과 직접 접촉하여 자기장 변화를 전기적신호(LVDT), 직접적으로 측정하는 방안으로 LVDT, GPS, LDV Displacement is one of the most fundamental responses, containing useful information regarding dynamic behavior of a structure. Traditional displacement measurement devices such as LVDT have disadvantages in its high-cost and few options on installation place. For the sake of economic reason, vision-based displacement measurement systems using low-cost cameras have been developed, yet these approaches still have difficulties in finding appropriate camera positions; camera should be placed perpendicular to targets. This study presents a new vision-based displacement measurement system using the planar homography method that gives accurate displacement, allowing the camera to have an arbitrary angle toward target. The vision-based system is experimentally verified using a low-cost camera and a target with four circles.

최근 3차원 분야의 지속적인 발전으로 인해 보다 사실적이고 실감나는 영상을 경험할 수 있게 되었고 게임과 같은 다양한 응용분야에서 활용가능하게 되었다. 특히 가상환경에서의 객체들과 상호작용하며 이를 제어하는 증강현실 분야에 많은 발전을 가져왔다. 본 연구는 한 대의 카메라를 활용한 가상 양시점화 방법을 통해 3차원 공간의 객체를 제어하는 3차원 사용자 인터페이스를 제안한다. 이를 위해 임의의 두 카메라 위치 사이의 변환 정보를 담고 있는 호모그래피(homography) 행렬을 계산하고, 한 대의 카메라에서 얻은 2차원 손 좌표, 호모그래피 행렬 그리고 카메라의 투영행렬을 이용하여 3차원 좌표의 복원을 수행한다. 이러한 방법을 통해 보다 정확하고 빠른 3차원 정보를 얻을 수 있게 된다. 이는 두 대의 카메라를 동시에 구동할 때보다 연산량이 감소하여 실시간 처리에 효과적일 수 있으며 경제적인 부담도 줄일 수 있는 장점을 가지고 있다.

The paper has the aim to search for why humans should feel spiritual emptiness in spite of material fullness. This is the epistemological reality that humans differ from animals loyal to satiety of stomach. Humans are created with reason as the tool to admire and worship the amazing grace of the Creator and get closer to divinity leading humans to heaven. Eliot as a kind of common human pursued through his poems the ultimate themes such as origin of existences, goal of life, and good / evil, while Augustinus that relied on The Absolute God as the donor of reason as a part of divinity told us them in terms of theology. In the sense, Eliot pursuing the ultimate themes like life and death and also Augustinus resorting to the sacred providence of God, mean representing common people’s desire trying to grasp eternity in spite of having transient longevity. The only two things that we humans including Eliot and Augustinus can know are the terrible realities that we are absurdly thrown into the world and necessarily face with death as the unavoidable and gloomy termination. The pious vision from the saint of Hippo on Eliot’s some ultimate themes is aimed for the practice of ‘caritas’ that means sacred love to both the Absolute and ordinary people. In conclusion, R. Descartes depending upon human’s own apparent thought rather than turning to God, F. Nietzsche declaring the death of God, and K. Marx disregarding divinity and reducing human to molecular state would commit errors because they misused reason given by God that they hated, and produced the proposition of ‘Cogito ergo sum’, the Birth of Tragedy, and the Capital, which also can be recognized as a reality of double bind.

This paper studies how to combine devices such as monocular/stereo cameras, motors for panning/tilting, fisheye lens and convex mirrors, in order to solve vision-based robotic problems. To overcome the well-known trade-offs between optical properties, we present two mixed versions of the new systems. The first system is the robot photographer with a conventional pan/tilt perspective camera and fisheye lens. The second system is the omnidirectional detector for a complete 360-degree field-of-view surveillance system. We build an original device that combines a stereo-catadioptric camera and a pan/tilt stereo-perspective camera, and also apply it in the real environment. Compared to the previous systems, we show benefits of two proposed systems in aspects of maintaining both high-speed and high resolution with collaborative moving cameras and having enormous search space with hybrid configuration. The experimental results are provided to show the effectiveness of the mixing collaborative and hybrid systems.

This paper presents a localization system using ceiling images in a large indoor environment. For a system with low cost and complexity, we propose a single camera based system that utilizes ceiling images acquired from a camera installed to point upwards. For reliable operation, we propose a method using hybrid features which include natural landmarks in a natural scene and artificial landmarks observable in an infrared ray domain. Compared with previous works utilizing only infrared based features, our method reduces the required number of artificial features as we exploit both natural and artificial features. In addition, compared with previous works using only natural scene, our method has an advantage in the convergence speed and robustness as an observation of an artificial feature provides a crucial clue for robot pose estimation. In an experiment with challenging situations in a real environment, our method was performed impressively in terms of the robustness and accuracy. To our knowledge, our method is the first ceiling vision based localization method using features from both visible and infrared rays domains. Our system can be easily utilized with a variety of service robot applications in a large indoor environment.

This paper presents a method, Exposure Controlled Temporal Filtering (ECF), applied to visual motion tracking, that can cancel the temporal aliasing of periodic vibrations of cameras and fluctuations in illumination through the control of exposure time. We first present a theoretical analysis of the exposure induced image time integration process and how it samples sensor impingent light that is periodically fluctuating. Based on this analysis we develop a simple method to cancel high frequency vibrations that are temporally aliased onto sampled image sequences and thus to subsequent motion tracking measurements. Simulations and experiments using the ‘Center of Gravity’ and Normalized Cross-Correlation motion tracking methods were performed on a microscopic motion tracking system to validate the analytical predictions

한국스포츠심리학회의 스포츠심리상담사 자격제도 시행을 계기로 자격 취득자가 크게 늘면서 학회가 활력을 띠고 스포츠심리상담에 대한 현장의 요구가 증가한 것은 자격제도 도입의 긍정적인 효과로 평가된다. 하지만 현장수련을 거치지 않고도 자격을 취득하는 현재의 운영절차는 자격제도의 전문성, 공신력, 경쟁력에 위협 요인으로 작용해 왔다. 본 논문에서는 스포츠심리상담사 자격취득 요건에 현장수련을 정착시키기 위해 필요한 제도적 개선방안과 운영측면의 준비사항을 제안하였다. 먼저 최근 시행된 자격연수에 대한 평가 자료를 토대로 자격취득자의 현장수련에 대한 요구를 파악하였다. 다음으로 현장수련을 강화할 수 있는 운영 시스템을 갖추기 위해 `선 자격연수, 후 현장수련` 절차로 자격제도를 운영할 것을 제안하였다. 마지막으로 현장수련 과정에서 수퍼비전과 사례발표를 체계적으로 운영하기 위한 세부적인 절차를 구상하였다. 선 자격연수 후 현장수련의 자격제도 운영 시스템은 수퍼비전과 사례발표를 강조하는 현장수련을 활성화시켜 자격취득자의 전문성 강화에 도움이 될 뿐만 아니라 스포츠심리학의 현장 연구에도 긍정적인 파급 효과를 가져올 것으로 기대된다.

T. S. Eliot as a “moralist” or “critic of life” shows deep concern for the moral question, ‘how to live.’ Because Eliot experienced the tragic vision of life, he apprehended clearly the differences between failed “unlived life,” and genuine “buried life” or “fullness of life” as expressed in the characters of Henry James and in Matthew Arnold’s poem. “Portrait of a Lady” is a prime example of the “unlived life.” Like a spectator of life, the young male speaker in “Portrait of a Lady” leads a spiritually and morally dead “unlived life.” He shrinks away from his real life and a human relationship with the older lady, who wants friendship or sympathy from him. His passivity and selfishness toward life result in frustration, self-destructiveness and nothingness. So he as a force of evil obstructs the spiritual growth of the other people like a lady, and cannot change his fake life into a new meaningful life in a society. Eliot understands well the negative aspect of life, and by describing it vividly in “Portrait of a Lady,” he warns us not to waste life vainly but try to “live fully” finding a kind of deep, vital, satisfying, emotional “buried life” as a whole human being.

A village grove is the one fostered and protected for a district's traditional life near the vicinity of a ruderal village. This research is done to grasp potential natural vegetation, to use a basis data needed for its management and preservation as well as restoration project by examining the vegetation and flora targeting a village grove of the southern district of Gyeonggi-do which has been seriously damaged subsequent to a rapidly progressing city development. According to the survey, there appeared an outgrowth flora of Pteridophyta consisting of 69 families, 136 genera, 20 varieties, 3 forms, 170 species-totalling to 193 taxa. Urbanization index was revealed to 4.55% and naturalization rate 6.74%. In life-cycle pattern, perennials were found to show the highest distribution rate; in infiltration-multiplication strategies, human wave tactics type was found to be the highest 51%, consisting of 98 species, and naturalization rate also was revealed to be 6.74%. The vegetation unit was divided into a total of 11 patterns, such as a community of Pinus densiflora community, Pinus densiflora-Pinus rigida community, Pinus densiflora-Castanea crenata community, Pinus rigida community, Pinus rigida-Castanea crenata community, Pinus rigida-Quercus acutissima community, Castanea crenata community, Castanea crenata-Quercus acutissima community, Quercus acutissima community, Quercus acutissima-Robinia pseudo-acacia community and Robinia pseudo-acacia community. Quercus acutissima community is of a community type dominated by Quercus acutissima, in place of Pinus densiflora community selected by natural succession.

Visual odometry is a popular approach to estimating robot motion using a monocular or stereo camera. This paper proposes a novel visual odometry scheme using a stereo camera for robust estimation of a 6 DOF motion in the dynamic environment. The false results of feature matching and the uncertainty of depth information provided by the camera can generate the outliers which deteriorate the estimation. The outliers are removed by analyzing the magnitude histogram of the motion vector of the corresponding features and the RANSAC algorithm. The features extracted from a dynamic object such as a human also makes the motion estimation inaccurate. To eliminate the effect of a dynamic object, several candidates of dynamic objects are generated by clustering the 3D position of features and each candidate is checked based on the standard deviation of features on whether it is a real dynamic object or not. The accuracy and practicality of the proposed scheme are verified by several experiments and comparisons with both IMU and wheel-based odometry. It is shown that the proposed scheme works well when wheel slip occurs or dynamic objects exist.

Collision avoidance is a fundamental and important task of an autonomous mobile robot for safe navigation in real environments with high uncertainty. Obstacles are classified into static and dynamic obstacles. It is difficult to avoid dynamic obstacles because the positions of dynamic obstacles are likely to change at any time. This paper proposes a scheme for vision-based avoidance of dynamic obstacles. This approach extracts object candidates that can be considered moving objects based on the labeling algorithm using depth information. Then it detects moving objects among object candidates using motion vectors. In case the motion vectors are not extracted, it can still detect the moving objects stably through their color information. A robot avoids the dynamic obstacle using the dynamic window approach (DWA) with the object path estimated from the information of the detected obstacles. The DWA is a well known technique for reactive collision avoidance. This paper also proposes an algorithm which autonomously registers the obstacle color. Therefore, a robot can navigate more safely and efficiently with the proposed scheme.

This paper describes a new method for indoor environment mapping and localization with stereo camera. For environmental modeling, we directly use the depth and color information in image pixels as visual features. Furthermore, only the depth and color information at horizontal centerline in image is used, where optical axis passes through. The usefulness of this method is that we can easily build a measure between modeling and sensing data only on the horizontal centerline. That is because vertical working volume between model and sensing data can be changed according to robot motion. Therefore, we can build a map about indoor environment as compact and efficient representation. Also, based on such nodes and sensing data, we suggest a method for estimating mobile robot positioning with random sampling stochastic algorithm. With basic real experiments, we show that the proposed method can be an effective visual navigation algorithm.

최근 실감형 게임 (augmented game) 이라는 새로운 게임 장르에 대한 연구가 다양하게 시도되고 있으며 실감형 게임이란 사용자가 실제 환경을 돌아다니며 컴퓨터에 의해 만들어진 가상의 적 또는 물체를 이용하여 진행하는 게임이다. 실감형 게임은 게이머에게 새로운 즐거움을 제공할 수 있지만 비싼 가격의 'backpack' 시스템을 이용하기 때문에 일반 게이머에게 저렴한 가격에 게임을 제공하치가 어렵다. 이를 위해 모바일 기기의 카메라를 이용한 실감형 게임들이 다양하게 제안되고 있지만, 가상의 적을 실제 공간에 접목하기 위해 대부분 색상 마커나 패턴 마커를 이용하기 때문에 마커가 미리 설치 되어 있는 장소에서만 게임이 가능한 단점을 가지고 있다. 본 논문에서는 흥미도가 높고 가격 부담없는 게임을 제공하기 위해 기존의 갤러그를 실감형 게임에 접목한 모바일 기기에서의 실감형 갤러그를 소개한다. 실감형 갤러그는 모바일 화면상에서 실제 환경에 가상의 적을 접목하기 위해 실제 환경에 있는 물체를 그대로 이용하여, 크기분변의 특징변환(SIFT)와 유클리디언 거리(Euclidean distance)를 이용하여 물체를 인식한다. 가상의 적은 이식된 특정 물체의 주위에 임의로 출현하며, 게임흥미도를 높이기 위해 여러 개의 특정 물체를 이용하고, 게이머는 가상의 적이 출현하는 특정 물체에 모바일 기기를 직접 움직여 공격한다. 결론적으로 실감형 갤러그는 모바일 카메라에 의해 입력받은 실제 환경 과 모바일 기기에 의해 자동으로 생성원 가상의 적 사이의 상호작용 (interaction) 을 제공하는 새로운 게임 패러다임(paradigm) 을 통하여 게이머에게 가격 부담없는 새로운 즐거움을 제공할 것이다.

This paper deals with a tangible interface system that introduces robot as remote avatar. It is focused on a new method which makes a robot imitate human arm motions captured from a remote space. Our method is functionally divided into two parts: capturing human motion and adapting it to robot. In the capturing part, we especially propose a modified potential function of metaballs for the real-time performance and high accuracy. In the adapting part, we suggest a geometric scaling method for solving the structural difference between a human and a robot. With our method, we have implemented a tangible interface and showed its speed and accuracy test.