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Robot Operating System 기반 고속 자율주행 모바일 로봇의 개선된 벽면추종 주행방식
한승한,최용래,양재필,황형준,김기훈,신주혜,장동영,심동하 한국생산제조학회 2019 한국생산제조학회지 Vol.28 No.3
This study demonstrates an -based high-speed autonomous mobile robot using an improved wall-following driving algorithm. The right triangular method is a popular wall-following technique. However, it cannot provide a sufficiently fast response for the abrupt change in wall direction at a corner, resulting in crashes. Therefore, a mixed-mode method is proposed by using the triangle bisection method at a corner to achieve high-speed cornering. The autonomous robot detects a corner using a corner recognition algorithm. The implemented robot employs ROS for system operations and LIDAR sensor to scan wall faces. The maximum measured speed around corners is 2.8 m/s (10.1 km/h), which is 75% higher than that of the triangular method. The robot passes through a right angle corner without crashing at a maximum speed of 1.8 m/s (6.5 km/h). The implemented robot platform and algorithm can be applied and expanded for the development of high-speed autonomous mobile robots.
COVID-19로 인한 노인의 신체활동, 사회참여 및 정신건강 변화 분석
한승아,김민준,감현준,박현미,김도희,허웅,이정훈,오태웅 한국체육학회 2023 한국체육학회지 Vol.62 No.4
The purpose of this study is to figure out a change in physical activity, social participation and mental health of the elderly caused by COVID-19 and to look into which influence this change has upon mental health of old people. Targeting 184 senior citizens aged 65 or older who are dwelling in Y city of Gyeonggi Province, who have no problem with cognitive function, and who are free to communicate, the offline questionnaire survey was conducted over a total of three months from August of 2022 to October. To examine a change due to COVID-19, the Paired samples T-test was carried out. To verify the relative influence among physical activity, social participation and mental health of the elderly, the correlation analysis was implemented. According to the research results, first, elderly people’s physical activity, social participation and mental health caused by COVID-19 appeared to have a statistically significant difference(p<.001). Second, the correlation was indicated to be r=0.302, p=.000 between physical activity and mental health and to be r=0.147, p=.046 between social participation and mental health. Thus, there was a low positive(+) correlation.