본 연구에서는 대공간의 동계시 인체발열에 따른 실내온열환경의 변화를 실측하고 난방조건 및 외부환경과 관련하여 대공간에서 형성되는 실내온열환경의 특성을 파악하는 것을 목적으로 한다. 본 논문에서는 대공간의 실내수직 및 수평온도분포, 객석의 온도분포, 실내표면온도분포, 객석의 풍속분포, 실내온열쾌적성 등의 실내온열환경을 검토한다.

본 연구에서는 기존 대공간의 난방시에 발생될 수 있는 분포상의 문제점을 실측실험을 통해 확인하여, 궁극적으로는 대공간의 열환경 개선과 효율적인 난방설계를 위한 기초데이터를 제시하고자 하였다. 본 연구에서는 인체부하 미고려시의 동절기 대공간의 실내온열환경 실측실험을 비난방시와 난방시로 구분하여 실시하였으며 공간내 수평 및 상하온도분포특성, 취출기류의 거동특성, 실내쾌적온열환경 특성, 환기량 평가 등 대공간의 실내열환경을 포괄적으로 검토하였다.

This study was undertaken to investigate the distribution characteristics of the hazardous agents in indoor environment in 7 vessels in Incheon harbor from July to August, 2004. The measured parameters include several indoor air pollutants (PM10, CO2, HCHO, and TVOCs) and physical parameters (noise, vibration, temperature, and humidity). The levels of pollutants and hazardous components in vessels were compared with standards and guidelines of indoor air quality on the Ministry of Environment and the Ministry of Labor in Korea. The major results obtained from this study were as followed : The PM10 and CO2 levels in every vessel did not exceed the indoor air standard of 150 ㎍/㎥ and 1000 ppm, respectively. The level of PM10 showed a decreasing tendency as the weight of vessels is increased. The airbornce concentration of HCHO was the highest one by exceeding its standard in a 500 ton vessel. The noise level in engine room exceeded the workplace standard (90 dB(A)) recording above 100 dB(A). The TVOCs level in every engine room was more than its standard (500㎍/㎥). Based on our preliminary study of indoor air pollutants in vessels, it is suggested that long and middle term plan for the management of IAQ should be established through future investigation of vessels.

Uncertainty evaluation was performed for the measurement of Volatile Organic Compounds(VOC) in indoor air. The analytical procedure and result were validated by evaluating every uncertainty source related to the measurement method. An easy approach for uncertainty evaluation for indoor VOC measurement was tested using relative standard uncertainty method which is simple in the evaluation of a measurement uncertainty in case of indoor VOC measurement. The measurement uncertainties of toluene, ethylbenzene, m+p-xylene, styrene and o-xylene in indoor air are obtained as less than or close to 10%, and those results were validated by using Gum-workbench uncertainty evaluation program. Based on the evaluation, uncertainties were found to come largely from two major sources, uncertainty related to the concentration of standard Tenax tube which was used for calibration in measurement, and the to air sampling process. This study could be used as a good example in evaluating uncertainties in the measurement of indoor-air VOC at buildings including a newly-built apartment.

문명의 발달과 함께 수면부족으로 인한 여러 가지 스트레스와 질환이 증가하게 되어 최근 수면연구에 대한 관심이 증가하고 있다. 본 연구는 다양한 온열환경 조건에서의 쾌적한 수면을 위한 온열환경을 제시하기 위해, 5명의 여성 피험자를 대상으로 22℃, 26℃, 30℃의 일정온도 조건과 25℃에서 1시간 후와 2시간 후에 각각 1, 2℃를 상승시켜주는 변동온도 조건하에서 수면생리신호를 측정하였다. 그리고, 수면단계 평가를 이용하여 총 수면시간, 깊은 수면의 비율, 그리고 최초 수면시작 시간에서 최초의 서파 수면이 나타나기까지의 지연시간 등의 수면효율을 평가하였다. 그 결과, 일정온도 조건에서는 26℃에서 총 수면시간(466.7±10.25분)과 깊은 수면의 비율(33.1±4.95%)은 타 조건에 비해 높게 나타났고, 최초 서파수면까지의 지연시간(9.8±3.33분)은 타 조건에 비해 낮게 나타나 쾌적한 수면을 위한 가장 적절한 온열조건임을 관찰할 수 있었다. 그리고 변동온도 조건에서는 4가지 온열조건간에는 큰 차이가 나타나지 않았지만, 모든 조건에서 일정온도 조건보다는 좋은 결과를 나타내었다. 또한 수면 중 신체 움직임과 설문 분석에서도 동일한 결과를 보였다. 본 연구를 통해, 수면생리신호를 이용한 수면 쾌적성 분석은 수면의 질적인 상태를 관찰하는데 매우 적합한 파라메터를 도출할 수 있으며, 여러 가지 수면환경 조건을 평가하는데 매우 유용한 지표가 될 수 있음을 보였다.

본 실험에 앞서, 하우스 4개동에 대한 대칭성 실험을 실시하였으나, 각 하우스간에는 최대1℃이내의 작은 온도차만이 계측되었다. 하우스 개폐장치 조작 불능시를 가정하여 천.측창을 인위적으로 폐쇄한 경우, 하우스 내 온도는 외 기온보다 약 16℃ 높은, 즉 사실상 작물이 생육 할 수 없는 고온상태를 나타내었다. 천.측창을 개방한 상태에서는 환기팬을 추가로 가동시키더라도 이에 따른 추가적인 실온저하는 관찰되지 않았다. 비교적 분무 입경이 큰 스프링클러에 의한 환수시의 냉각효과를 검토한 결과, 하우스 내 온도는 스프링클러 작동과 동시에 급속히 하강함으로서, 관수는 하우스 실온저하에 크게 기여하고 있음이 확인되었다. 스프링클러 관수시와 비관수시로 구분하여 하우스 내 열환경을 비교한 결과, 관수시와 비관수시 모두 하우스의 천.측창을 개방하여 외기를 도입한 경우가 하우스 실온 저하에 효과적으로 작용한 것으로 조사되었다. 하우스 내 작물 체감온도에 근사한 온도지표인 실내 흑구온도는 비관수시의 경우 실내 공기온도보다 현저히 놀게 나타났으나, 관수시의 온도는 실내 공기온도에 근접한 온도를 나타내었다. 비관수시 천.측창을 개방한 경우 하우스 내 온도분포는 연직방향, 수평방향 모두 1℃ 정도의 극히 작은 온도차만이 계측됨으로서, 하우스 내는 극히 균일한 온도를 유지하고 있음이 확인되었다

A noble method was developed for determining indoor greenery ratio through a digital camera and image analysis. Photographs with 10 different exposure compensations level were taken at indoor room using the function of “Partial color (green)” in a digital camera under varied indoor light conditions. RGB photographs were converted into Lab mode using [Image/Mode] function of Photoshop software program. The number of green pixels were calculated within 1 to 127 level (equivalent to -127 to -1 of Hunter a* value) through “Channel a” in [Histogram] function of the software. Greenery ratio was calculated by maximum green pixel number of an exposure compensation in relation to total pixel number, as maximum green pixels number would be obtained under a certain exposure compensation level when it minimizes achromatic color by partially excessive lower or higher light condition within certain area of photograph. When greenery ratio obtained from this method was compared with general greenery calculation of green area through manual selection, coefficient of determination was 0.9852, indicating appropriate greenery ratio estimating method. When applied to vertical planter of veranda and office, greenery ratio varied at 0.53～14.96%. In our experimental condition, error of the function, “Partial color” by the digital camera was within 0.013, while the error of the function, “Channel a” by the software was within 0.005.

In this paper, we propose a new method for improving the accuracy of localizing a robot to find the position of a robot in indoor environment. The proposed method uses visible light for indoor localization with a reference receiver to estimate optical power of individual LED in order to reduce localization errors which are caused by aging of LED components and different optical power for each individual LED, etc. We evaluate the performance of the proposed method by comparing it with the performance of traditional model. In several simulations, probability density functions and cumulative distribution functions of localization errors are also obtained. Results indicate that the proposed method is able to reduce localization errors from 7.3 cm to 1.6 cm with a precision of 95%.

본 연구는 효과적 벽면녹화 기술향상을 위하여 식물 생육, 시공 편리성, 공간 활용성 등 통합적 실용성을 갖춘 기능성 모듈을 개발하여 실내환경개선 효과를 알아보고자 하였다. 이를 공기정화 장치가 부착된 ‘Bio Green Wall System’에 구조화하여 직접 제작 설치 및 실용화하였다. ‘Bio Green Wall System’ 구조로 인해 식물에 의한 공기정화와 탄소봉에 의한 2차 공기정화 및 습도 조절이 가능하였고, 송풍 구조로 인해 화분의 후방으로 향해 있는 식물 뿌리에 산소를 공급하여 식물이 건강하게 생육하였다. 기능성 모듈 개발을 통해 다양한 식물의 선택이 가능하고, 간단한 공정으로 실내 및 실외의 여러 장소에 설치 및 이동이 가능하며, 식물의 교체나 보수도 신속하고 편리하게 할 수 있게 되었다. 실험결과, 식물이 없는 대조군보다 벽면녹화 설치 후 TVOCs와 미세먼지(PM10) 농도가 크게 감소하였으며, TVOCs는 ‘Bio Green Wall System’에서 일반 벽면녹화보다 더 많이 감소하였다. HCHO는 벽면녹화 설치 후 유의하게 감소하였으나 CO2에서는 유의한 차이가 없었다. 따라서 본 연구에서 개발된 ‘Bio Green Wall System’은 실내공기정화에 매우 효과적이며 특허출원한 기능성 모듈도 우수한 성능을 갖춘 것으로 나타났다.

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.

The most important factors relating to the indoor air environment are temperature, airflow, humidity, and contaminant concentration. A sensitivity analysis of indoor environment factors was carried out to grasp influences along with changes of atmospheric conditions. An integrated multizone model was used to predict these sensitivities. This model was applied to an apartment with six zones. Airflow rates are influenced very seriously by changes of wind direct or wind velocity, but are influenced very slightly by changes of outdoor air temperature and are not influenced at all by changes of outdoor air humidity or contaminant concentration. Indoor air temperatures are influenced very directly by changes of outdoor air temperature, but are influenced very slightly by wind direction or wind velocity and are not influenced at all by changes of outdoor air humidity or contaminant concentration. Indoor air humidities are influenced very directly by changes of outdoor air humidity, but are not influenced at all by changes of outdoor air contaminant concentration and have little or no influence by changes of wind direction, wind velocity, or outdoor air temperature. Indoor air contaminant concentrations are influenced very seriously by changes of wind direct or wind velocity, but are influenced somewhat by changes of outdoor air contaminant concentration and are influenced very slightly by changes of outdoor air temperature and are not influenced at all by changes of outdoor air humidity.

본 연구에서는 슈퍼요트의 쾌적한 실내환경조성을 목적으로 기초자료를 수집하였으며, 요트가 주로 운항되는 여름철 실내공간에 형성되는 실내환경성능에 대해 실측을 통해 분석함으로써 다음과 같은 결과를 얻었다. 1) 외부와 연결된 살롱의 문을 닫을 경우 선박배기가스의 실내유입은 거의 없으나 문을 여는 경우에는 급속히 실내공기가 오염되므로 쾌적한 실내공기환경을 유지하기 위해 실내환기방법 및 환기량에 대한 대책이 필요하다. 2) 운항 시에는 모든 실이 선원보호 소음규제치인 60dB을 넘고 있어 실내의 소음대책이 시급하다. 3) State cabin과 Guest cabin은 에어컨가동에 의해 과냉됨으로써 실내 환경이 쾌적범위를 벗어나고 있어 이에 대한 대책이 필요하다.

One of the main problems of topological localization in a real indoor environment is variations in the environment caused by dynamic objects and changes in illumination. Another problem arises from the sense of topological localization itself. Thus, a robot must be able to recognize observations at slightly different positions and angles within a certain topological location as identical in terms of topological localization. In this paper, a possible solution to these problems is addressed in the domain of global topological localization for mobile robots, in which environments are represented by their visual appearance. Our approach is formulated on the basis of a probabilistic model called the Bayes filter. Here, marginalization of dynamics in the environment, marginalization of viewpoint changes in a topological location, and fusion of multiple visual features are employed to measure observations reliably, and action-based view transition model and action-associated topological map are used to predict the next state. We performed experiments to demonstrate the validity of our proposed approach among several standard approaches in the field of topological localization. The results clearly demonstrated the value of our approach.

Reliable functionalities for autonomous navigation and object recognition/handling are key technologies to service robots for executing useful services in human environments. A considerable amount of research has been conducted to make the service robot perform these operations with its own sensors, actuators and a knowledge database. With all heavy sensors, actuators and a database, the robot could have performed the given tasks in a limited environment or showed the limited capabilities in a natural environment. With the new paradigms on robot technologies, we attempted to apply smart environments technologies-such as RFID, sensor network and wireless network- to robot functionalities for executing reliable services. In this paper, we introduce concepts of proposed smart environments based robot navigation and object recognition/handling method and present results on robot services. Even though our methods are different from existing robot technologies, successful implementation result on real applications shows the effectiveness of our approaches. Keywords:Smart Environments, Service Robot, Navigation

Interior space in most buildings is divided into several zones. The most important factors relating to the indoor air environment are temperature, airflow, humidity, and contaminant concentration. An integrated multizone model to predict these environmental factors simultaneously was developed. Also, a computer program for this model was written by the language of VISUAL BASIC. The proposed model was applied to a apartment with five rooms that had been tested by Chung11). Comparison of predicted results by this study with measured results by Chung showed that their variations were within 14% for airflow rates, 1% for temperatures, 12% for humidities, and 5% for concentrations. It was seen that the opening operation schedule of building has a significant effect on the air moisture and contaminant removal. Thus, this model may be available for predicting the indoor air environment and may be contributed to design the ventilation plan for controling of indoor air quality.

This paper presents URS (Ubiquitous Robotic Space) Modeling and service technique for the robotic security service while bridging between virtual space and physical space. First, this paper introduces a concept of virtual URS and responsive virtual URS. Second, this paper addresses modeling of URS which covers modeling of indoor geometry and environment sensor. Third, this paper describes virtual URS services including interactive virual-physical bridging service.

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.

Thermal neutrality is not enough to achieve thermal comfort. The temperature level can be the optimal, and still people may complain. This situation is often explained by the problem of local discomfort. Local discomfort can be caused by radiant asymmetry, local air velocities, too warm and too cold floor temperature and vertical temperature difference. This temperature difference may generate thermal discomfort due to different thermal sensation in different body parts. Therefore, thermal comfort can not be correctly evaluated without considering these differences. This study investigates thermal discomfort sensations of different body parts and its effect on overall thermal sensation and comfort in air-heating room. Experimental results of evaluating thermal discomfort at different body parts in an air-heating room showed that thermal sensation on the shoulder was significantly related to the overall thermal sensation and discomfort. Although it is known that cool-head, warm-foot condition is good for comfort living, cool temperature around the head generated discomfort

Draft is defined as an unwanted local cooling of the human body caused by air movement. It is a serious problem in many ventilated or air conditioned buildings. Often draft complaints occur although measured velocities in the occupied zone maybe lower than prescribed in existing standards. Purpose of this study is to clarify the evaluation of thermal comfort based on temperature and air velocity in winter. Experiments were performed in an environmental chamber in winter. Indoor temperature and air velocity was artificially controlled. The experiments were performed to evaluate temperature conditions and air velocity conditions by physiological and psychological responses of human. According to physiological responses and psychological responses, it was clear that the optimum air velocity is about 0.15 m/s and 0.30 m/s.