과수원 로봇의 무인 자율과 수확량 모니터링을 위한 비전 센서 활용

유승연 ( Seung-yeon Yu ),지세민 ( Semin Ji ),김용현 ( Yong-hyun Kim ),김학진 ( Hak-jin Kim ) 한국농업기계학회 2022 한국농업기계학회 학술발표논문집 Vol.27 No.2

과수원 내 무인 로봇은 스스로 주행하면서 과실 생육 상태 정보를 실시간으로 관찰해 과수원 관리에 도움을 줄 수 있다. 과수원의 canopy로 인해 GNSS 수신이 원활하지 못한 문제를 해결하고 산재된 장애물을 회피하는 동시에 과실의 생육 상태를 감지하기 위한 목적으로 비전 센서의 활용 빈도가 높다. 본 연구에서는 2022년 9월 1일 농촌진흥청 농용로봇경진대회의 일환으로 비전 센서를 활용하여 자율주행과 과실 생육 상태 모니터링 기능을 수행할 수 있는 ROS 기반 로봇 플랫폼을 구축하였다. Turtlebot3 Burger에 2D LiDAR 센서와 IMU 센서, camera 2개를 설치하여 사용하였고, 과수 모형과 상자로 과수 환경을 모사한 실험 환경을 구성하였다. 2D LiDAR를 로봇 하단 전방에 설치하고 전방의 대각선 방향을 바라보도록 감지 범위를 설정함으로써 과수 열 중앙으로 주행함과 동시에 장애물이 존재 시 회피가 가능한 주행 알고리즘을 구성하였다. 선회 시 회전각은 2D LiDAR로 측정한 과수원 벽까지의 거리 값을 이용하여 계산하였다. 로봇의 odometry를 계산 시 IMU 센서의 초기화 문제로 인해 발생하는 특정 bias를 보정하여 정확도를 높였다. 과실의 생육 상태 정보는 다양한 환경에서 물체를 인식하기 위해 주로 사용되는 YOLOv5를 활용하여 생육 상태에 따른 과실의 이미지를 학습시켜서 모델을 만들었다. 과수원 전체의 과실 생육 상태 정보를 파악하는 것에서 더 나아가 과수별 과실의 생육 상태를 관찰하기 위해 이미지 상에서 특징점이 없는 각 과수를 구별해야 한다. 과수 하나를 인식할 수 있는 구역을 설정했고 각 구역에서의 odometry 값을 구하여 좌측 이미지와 우측 이미지의 과수 번호를 계산하였다. 이미지의 생육 상태에 따른 과실 개수와 계산한 과수 번호를 결합하여 과수별 과실 생육 상태를 맵핑하는 방식으로 과수 구별 문제를 해결하였다. 실험 결과, 로봇 플랫폼은 90% 이상의 확률로 충돌없이 안정적으로 주행하였고, 과실의 모니터링 결과는 90% 이상의 정확도를 보였다.

3부위 최적맥파의 주파(h1) 비율 분석을 통한 전체 체순환 평가방법

유승연 ( Seung-yeon Yu ),박은성 ( Eun-sung Park ),최예빈 ( Ye-bin Choi ),이용흠 ( Yong-heum Lee ) 대한경락경혈학회 2016 Korean Journal of Acupuncture Vol.33 No.3

Objectives : Recently, people who have normal brachial blood pressure(BP) are being threatened by high-risk disease such as stroke. The aim of this study is to suggest that new method to assess systemic circulation. It can be performed by analyzing optimal blood pulse wave on 3 sites belonging to subjects that have normal BP. Methods : We respectively extracted main peaks(h1) of optimal blood pulse wave on left/right temporal artery(LR1=h1), radial artery(LR2=h1) and dorsalis pedis artery(LR3=h1). We obtained h1 from 30 subjects who are discreetly chosen and have normal BP. Main peak(h1) can be extracted by using 3D pulse imaging analyser(DMP-1000+, DAEYOMEDI Co., Korea) that has 5-level pressure method. We analyzed the ratio of [LR1/LR2] and [LR3/LR2]. Results : In the case of male group, the results are [LR1/LR2=0.7100.177] and [LR3/LR2=0.9290.317]. In the case of female group, the results are [LR1/LR2=0.6680.121] and [LR3/LR2=0.7050.195]. Especially, it is statistically verified that the result of ratio [LR3/LR2] is much higher in male group than in female group(p<0.05). Conclusions : We suggested the standard ratio of [LR1/LR2] and [LR3/LR2] for normal subjects, respectively. It can be adopted as a new method to evaluate the systemic circulation.

간호장교의 심폐소생술에 대한 지식, 수행능력 및 실제 수행정도에 관한 연구

유승연 ( Seung Yeon Yoo ),유정아 ( Jeong A Yu ) 국군간호사관학교 군진간호연구소 2011 군진간호연구 Vol.29 No.1

임상간호사의 포커싱적 태도와 감정노동이 간호업무성과에 미치는 영향

유승연 ( Yoo Seung Yeon ),유정희 ( Yu Jung Hee ) 병원간호사회 2017 임상간호연구 Vol.23 No.3

Purpose: Focusing manner is very powerful mind-body self-help and self-awareness competence. So focusing manner may affect nurses' emotional labor and nursing performance, but few are known about it to date. The purpose of this study was to identify the degree of focusing manner, emotional labor, nursing performance of clinical nurses, and the factors that affect nursing performance. Methods: In order to collect data, structured questionnaires were administered to 212 nurses who worked at 2 university hospitals located in D city. Data were analyzed by t-test, ANOVA, correlation and multiple regression using SPSS/WIN 20.0. Results: Nursing performance had positive relationship with focusing manner (r=.45, p<.001), and negative relationship with emotional labor (r=-.25, p<.001). And the most prediction factor influencing nursing performance was focusing manner (β=.41, p<.001) and the other factors were age (β=.30, p=.002), and emotional labor (β=.14, p=.012). The total variance was 37.1% by those predictors (F=25.87, p<.001). Conclusion: Based on the results of this study, it is necessary to develop and educational program on focusing manner-oriented psychotherapy in order to improve the nursing performance. Also, the management system for controlling emotional labor needs to be set up for nurses in clinical settings.

아토피피부염의 중증도와 심박변이도의 상관성 연구

유승민,유승연,김민희,윤영희,최인화,Yu, Seung-Min,Yoo, Seung-Yeon,Kim, Min-Hee,Yun, Young-Hee,Choi, In-Hwa 대한한방안이비인후피부과학회 2011 한방안이비인후피부과학회지 Vol.24 No.3

Background : There are findings indicating that the autonomic nervous system (ANS) is affected negatively in atopic dermatitis (AD). Heart rate variability (HRV) is a tool to examine ANS. But, studies investigation the relationship between AD and HRV is rare. Objective : The aim of this study was to investigate the correlation between atopic dermatitis severity and HRV and to find out the role of ANS in AD. Methods : Retrospective chart review was performed. The Severity Scoring Atopic Dermatitis (SCORAD) index and HRV parameter was investigated and analyzed. Results : There were 55 patients (25males and 30 females) who met the criteria. Objective SCORAD had significant positive correlation with HRT and Subjective SCORAD had significant negative correlation with SDNN, TP and VLF. Intensity item of SCORAD index had negative correlation with most HRV parameters, but TP, LF and LF/HF ratio had significant positive correlation with dryness. Conclusion : This study supports the concept that atopic dermatitis is a stress-responsive disorder and involves autonomic nervous system dysfunction.

계절별 강수 패턴에 따른 하천 식생 변화 양상 연구

정희정 ( Hee-jeong Jeong ),유승연 ( Seung-yeon Yu ),조은지 ( Eun-ji Cho ),지용주 ( Yong-joo Ji ),김용석 ( Yong-suk Kim ),오현경 ( Hyun-kyung Oh ),이종성 ( Jong-sung Lee ),장현도 ( Hyun-do Jang ),조동길 ( Dong-gil Cho ) 한국지리정보학회 2023 한국지리정보학회지 Vol.26 No.2

국내에서는 모래와 자갈로 구성된 하천에서 식생이 과도하게 번성하는 현상이 전국적인 문제로 대두되고 있으며 그 요인을 봄철 강수량 감소와 연강수량 , 증가로 지적하고 있다. 본 연구는 경주시 소재 남천을 대상으로 강수 패턴 변화가 하천 식생에 미치는 영향을 파악하고 출현 식생의 면적변화, 그리고 생태적 특성 분석을 목적으로 수행되었다. 연구 결과, 남천의 여름철 월강수량은 2007년 이후로 감소하는 양상을 보였으며 사주면적 대비 식생면적은 지속적으로 증가하였다. 범람이 발생하지 않는 수준의 강수가 지속될 때 귀화식물 비율은 꾸준히 증가했으나, 귀화식물이 차지하는 면적은 적었다. 또한 일정 수위가 유지될 때, 단일종의 우점으로 인해 종다양성이 낮았으며 우점하는 종은 주로 자생식물이었다. 자생식물의 우점은 귀화식물의 생육을 억제하였으나, 식생면적은 더 크게 증가하였다. 따라서 하천식생의 활착과 번성을 해소하기 위해서는 자생식물과 귀화식물의 구분보다 식생확산 자체에 대한 관리가 필요하다. 여름철 집중 호우로 인한 고수위와 범람지속은 식물군락을 교란시켰고 이후 형성된 식생은 주로 자생식물이었다. 하천생태계에서 이와 같은 범람은 자생식물의 출현과 과도하게 형성된 식생군락에 긍정적인 요소로 작용하므로 식생 관리계획 수립 시 고려해야 할 것이다. In Korea, excessive vegetation in rivers made up of sand and gravel is emerging as a nationwide problem, which is attributed to increased spring precipitation and decreased annual precipitation. Therefore, this study was conducted for the purpose of identifying the effect of changes in precipitation patterns on river vegetation in Namcheon, Gyeongju, and analyzing the area of vegetation and ecological characteristics. As a result of the study, the amount of monthly precipitation in the summer of Namcheon decreased after 2007, and the area of vegetation increased continuously compared to the area of the sandbank. The proportion of naturalized plants increased steadily when precipitation continued to a level that did not cause flooding, but the area occupied by naturalized plants was small. Also, when the water level is maintained, the species diversity is low due to the dominance of a single species, and the dominant species was mainly native plants. Dominance of native plants inhibited the growth of naturalized plants, but the vegetation area increased even more. Therefore, it is necessary to manage the spread of vegetation itself rather than the division of native plants and naturalized plants in order to eliminate the active growth and prosperity of river vegetation. High water levels and continuous flooding caused by torrential rains in summer disturbed the plant communities, and vegetation formed afterwards was mainly native plants. Such flooding in river ecosystems is a positive factor for the emergence of native plants and over-formed vegetation communities, so it should be considered when establishing a vegetation management plan.

플립-플롭(Flip-flops) 보행이 건강한 성인의 시-공간적 변수와 발목 관절 움직임에 미치는 영향

장예은(Ye-Eun Jang),김하경(Ha-Kyung Kim),김정은(Jung-Eun Kim),김예담(Ye-Dam Kim),유승연(Seung-Yeon Yu),박재영(Jae-Yeong Park),김동우(Dong-Woo Kim),오재섭(Jae-Seop Oh) 한국임상움직임치료학회 2022 한국임상움직임치료학회지 Vol.2 No.1

Background: The flip-flop, popular for its light design and convenience, has practical advantages, but is unstable compared to closed shoes. This feature of the flip-flop causes a change in walking patterns. In previous studies, there are many studies on the kinetic and kinematic characteristics of flip-flop walking; however, there are various conclusions on the effect of flip-flop walking on temporal and spatial parameters, and ankle motion change during flip-flop walking. Objectives: The purpose of this study was to investigate the effect of flip-flop walking on spatio-temporal variables and ankle motion compared to sneakers walking. Methods: Twenty-one healthy subjects were participated. Xsens-DOT was used to track body movements. Steplab was used to analyze, visualize, and quantify tracked data. Participants were instructed to walk naturally in sneakers that fit their feet, and 50 steps were measured, five steps later for adaptation. In the same way, the measurement was performed wearing flip flops. The paired t-test was used to investigate the difference between sneakers walking and flip-flop gait. Statistical significance levels were set to α = 0.05. Results: There was no statistically significant difference in walking speed and stride length in spatio- temporal parameter. However, compared to sneakers walking, the maximum toe distance during flip-flop walking decreased statistically significantly (p < 0.05). The ankle motion was significantly reduced in both toe off angle and heel contact angle during flip-flop walking (p < 0.05). Conclusions: Walking wearing flip-flops increases the risk of falls and reduces push off capacity. Therefore, people who are fatal to falls and vulnerable to fatigue should not walk wearing flip-flops.

임신성 고혈압의 중증도에 따른 임상적 고찰

김선희 ( Sun Hee Kim ),류현미 ( Hyun Mee Ryu ),김연주 ( Yon Joo Kim ),정진훈 ( Jin Hoon Chung ),임하정 ( Ha Jung Lim ),우혁준 ( Hyuk Jun Woo ),조연경 ( Yeon Kyung Cho ),유승연 ( Seung Youn Yu ),최준식 ( Jun Seek Choi ),안현경 ( Hy 대한주산의학회 2004 Perinatology Vol.15 No.2

임신성 고혈압으로 진단된 산모의 임상적 자료를 분석하여 임신성 고혈압 연구에 기초를 삼고자 본 연구를 수행하였다. 2000년 11월부터 2001년 10월까지 1년 동안 삼성제일병원 산부인과에서 산전 진찰을 받고 분만하여 임신결과가 확인된 8,159예의 산모 중 임신성 고혈압으로 진단 된 212명의 산모를 대상으로 의무기록을 후향적으로 조사하여 임신성 고혈압의 발생빈도와 다태임신 및 임신성 당뇨와 임신성 고혈압과의 관계 및 모체와 신생아 합병증의 분포 등을 경증과 중증 임신성 고혈압으로 분류하여 비교 분석하였다. 연구 기간 중 임신성 고혈압의 발생율은 2.6%였고, 경증이 53.3%, 중증이 46.7%, 자간증은 한 예도 없었다. 중증도에 따른 임신성 고혈압의 발생 빈도는 임신부의 나이, 분만 횟수, 쌍태 임신 여부, 임신성 당뇨 여부에 따라서는 유의한 차이를 보이지 않았지만, 분만 주수 21~28주 군과 33~36주 군에서는 중증 임신성 고혈압의 빈도가 경증에 비해 의미 있게 많았고 (p<0.05), 신생아 체중이 5 백분위수 미만인 군에서 통계적으로 의미 있게 중증 임신성 고혈압의 빈도가 경중에 비해 많았다 (p<0.05). 모성 합병증은 중증 임신성 고혈압에서 산모 빈혈과 조기진통의 합병증이 경증에 비해 통계적으로 유의하게 증가 하였다(p<0.05). 태아 및 신생아 합병증은 자궁내 발육 지연이 중증 임신성 고혈압에서 의미 있게 증가 된 것( p<0.05)을 제외하고는 나머지 합병증은 임신성 고혈압의 중증도에 따른 차이를 보이지 않았다. The aim of present study was to establish the baseline data for pregnancy induced hypertension (PIH). From November 2000 through October 2001, a total of 212 women diagnosed as PIH and delivered at Samsung Cheil Hospital were included in this study. We reviewed the obstetric and neonatal records, then analyzed the incidence, maternal complications, and neonatal outcomes according to the severity of PIH. The incidence of PIH was 2.6% (mild and severe form was 59% and 41%, respectively). In maternal age, parity, number of fetus (singletone or multiple pregnancy), and gestational diabetus, there was no significant different incidence between mild and severe form of PIH. But, the women with severe PIH delivered more frequently at 21~28 and 33~36 gestational weeks than in mild form (p<0.05). Among fetuses with intrauterine growth restriction (IUGR), a group with birth weight below the population 5 percentile was more frequent in severe than in mild form of PIH (p<0.05). As to maternal, fetal and neonatal complications of PIH, maternal anemia, preterm labor, and IUGR were more frequently founded in severe form of PIH than in mild. We could not found significant different frequency in other complication (disseminated intravascular coagulation, abruptio placenta, pulmonary edema, low apgar score, meconium stained, respiratory distress syndrome, and intracranial hemorrhage) between mild and severe form of PIH.

남녀 고등학생의 교복이미지 선호와 교복 변형행동의 비교 연구

황진숙,안명화,용유진,유승연 한국의류산업학회 2002 한국의류산업학회지 Vol.4 No.3

The purposes of this study were 1) to investigate school uniform image preferences and the uniform modifications of male and female high school students, and 2) to find the differences between male and female students in the uniform image preferences and uniform modifications. The subjects used for the study were 195 male and 201 female high school students. The uniform image preferences consisted of three factors: comfortable & simple, unique & individual, and intelligent & classic. The uniform modifications were measured by the modifications in jacket width, sleeve length, shoulder width, slacks(skirt) length, slacks(skirt) width, and slacks(skirt) waist length. The results showed that male and female students were different in regard to uniform image preference; male students preferred unique image than did female students in their school uniforms. In addition, male and female students differed concerning uniform modifications. Generally, female students modified uniforms more than did male students. Finally, the study compared male and female students in regard to the relationships between uniform image preferences and the uniform modifications. For male and female students, the unique image preference was significantly related to the modifications in different parts of uniform.