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.

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.