Papers by Type [by Year]

Thesis paper

• Yu-Cheol Lee, “Hierarchical Global Localization with Radio Signals and Spatial Maps,” Ph.D. Thesis, Track of Robotics Program, Department of Electrical Engineering, KAIST, February 2020. KAIST Lib.

• Yu-Cheol Lee, “Development of a Grid-based Map Building and Localization Methods Using Sonar Sensors for an Autonomous Mobile Robot,” M.S. Thesis, Track of Mechanical Engineering, Department of Mechanical and Industrial Engineering, POSTECH, February 2006. (Korean) POSTECH LIb.

Book Chapters

1. Wonpil Yu, Jae-Yeong Lee, Heesung Chae, Yu-Cheol Lee, Minsu Jang, Joo-Chan Sohn, Hyosung Ahn, Young-Guk Ha and Yong-Moo Kwon, “Ubiquitous Robotic Space and Its Real-world Applications”, book chapter in “Networking Humans, Robots and Environments”, (Eds.) Nak Young Chong, Bentham Science Publishers, ISBN: 978-1-60805-732-0, pp. 165-192, 2013. DOI

International Journal (SCI/SCIE)

1. Yu-Cheol Lee†, "FILM: Floor and Inter-floor Localization Method for Mobile Robots Moving on Stairs," preparing for submission.

2. Yu-Cheol Lee†, "LSMCL: Long-term Static Mapping and Cloning Localization for Autonomous Robot Navigation Using 3D LiDAR in Dynamic Environments," Expert Systems With Applications, vol. 241, 122688, pp.1-12, 2024. DOI (JCR 6.4%, IF 8.5 in 2022)

3. Jinghuan Shang, Xiang Li, Kumara Kahatapitiya, Yu-Cheol Lee†, Michael Ryoo†, "StARformer: Transformer with State-Action-Reward Representations for Robot Learning," IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 45, No. 11, pp. 12862-12877, 2023. DOI (JCR 0.54%, IF 24.314 in 2021)

4. Yu-Cheol Lee†, “SRS: Spatial-Tagged Radio-Mapping System Combining LiDAR and Mobile-Phone Data for Indoor Location-Based Services,” Advanced Engineering Informatics, vol.52, 101560, pp.1-12, 2022. DOI (JCR 3.8%, IF 7.862 in 2021)

5. Chul Hee Bae*, Yu-Cheol Lee*, Wonpil Yu, and Sejin Lee†, “Spherically Stratified Point Projection: Feature Image Generation for Object Classification Using 3D LiDAR Data,” Sensors, vol.21, no.23, 7860, 2021. DOI (* These authors contributed equally to the work.) (JCR 21.1%, IF 3.576 in 2020) 

6. Yu-Cheol Lee and Hyun Myung†, “Hierarchical Sampling Optimization of Particle Filter for Global Robot Localization in Pervasive Network Environment,” ETRI Journal, Vol.41, No.6, pp.782-796, 2019. DOI [Inforgraphics]

7. Yu-Cheol Lee and Hyun Myung†, "Indoor Localization Method based on Sequential Motion Tracking Using Topological Path Map," IEEE Access, vol.7, no.1, pp.46187-46197, 2019. DOI (JCR 18.3%, IF 4.098 in 2018) 

8. Yu-Cheol Lee, Jong-Hwan Lim†, Dong-Woo Cho†, Wan Kyun Chung, "Sonar Map Construction for Autonomous Mobile Robots Using a Data Association Filter,” Advanced Robotics (AR), Vol.23, No.1-2, pp.185-201, 2009. DOI

9. Sangik Na, Hyo-Sung Ahn, Yu-Cheol Lee and Wonpil Yu, “A Tethering Device for Mobile Robot Guidance,” International Journal of Advanced Robotic Systems (IJAR), Vol. 6, No. 2, pp.73-78, 2009. DOI

Refereed International Conference Proceeding

1. Yu-Cheol Lee and Wonpil Yu, “3D Portable Mapping System to Build Radio Fingerprints and Spatial Map,” in Proc. of 11th International Conference on ICT Convergence (ICTC), pp. 1647-1649, Juju, Korea, 2020. DOI

2. Yu-Cheol Lee and Jaeyeon Lee, “Kinematic Constraint Method for Human Gesture Recognition based on Weighted Dynamic Time Warping,” in Proc. of 6th International Conference on IT Convergence and Security (ICITCS), pp. 105-109, Prague, Czech Republic, 2016. DOI

3. Yu-Cheol Lee and Jaehong Kim, “Multi-floor Localization Method for Mobile Robots Using Elevator,” in Proc. of 16th International Conference on Control, Automation and Systems (ICCAS), pp. 869-872, Gyeongju, Korea, 2016. DOI

4. Yu-Cheol Lee, “A Reliable Range-free Indoor Localization Method for Mobile Robots,” in Proc. of 11th IEEE International Conference on Automation Science and Engineering (CASE), pp. 720-727, Gothenburg, Sweden, 2015. DOI

5. Yu-Cheol Lee and SeungHwan Park, “Localization method for mobile robots moving on stairs in multi-floor environments,” in Proc. of IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp.4014-4020, San Diego, CA, USA, 2014. DOI

6. Yu-Cheol Lee, Byungjae Park and SeungHwan Park, “Coarse-To-Fine Robot Localization Method Using Radio Fingerprint and Particle Filter,” in Proc. of 10th IEEE International Conference on Automation Science and Engineering (CASE), pp. 290-296, Taipei, Taiwan, 2014. DOI

7. Byungjae Park, Yu-Cheol Lee and Woo Yong Han, “Trajectory Generation Method using Bezier Spiral Curves for High-Speed On-Road Autonomous Vehicles,” in Proc. of 10th IEEE International Conference on Automation Science and Engineering (CASE), pp. 927-932, Taipei, Taiwan, 2014. DOI

8. SeungHwan Park, Yu-Cheol Lee and Gon-Woo Kim, “Implementation of Spatial Visualization for a Tele-Operated Robot in a Complex and Hazardous Environment,” in Proc. of 10th IEEE International Conference on Automation Science and Engineering (CASE), 285-289, Taipei, Taiwan, 2014. DOI

9. Yu-Cheol Lee and SeungHwan Park, “3D Map Building Method with Mobile Mapping System in Indoor Environments,” in Proc. of 16th International Conference on Advanced Robotics (ICAR), Montevideo, Uruguay, 2013. DOI

10. Yu-Cheol Lee, Christiand, Joochan Sohn and Sunghoon Kim, "2D RGB Depth Map Building for Outdoor Mobile Robots Using Particle Filter," in Proc. of IEEE International Symposium on Computational Intelligence and Informatics (CINTI), pp. 201-206, Pudapest, Hungary, 2012. DOI

11. Wonpil Yu, Yu-Cheol Lee, Sunglok Choi, Heesung Chae, and Ji Hoon Joung, "Automated Robotic Service in Large-Scale Exhibition Environments," in Proc. of IEEE International Conference on Automation Science and Engineering (CASE), pp. 1156-1161, Seoul, Korea, 2012. DOI

12. Yu-Cheol Lee, Christiand, Wonpil Yu and Sunghoon Kim, “Satellite Image based Topological Map Building Method for Intelligent Mobile Robots,” in Proc. of IEEE Intelligent Vehicles Symposium (IV), pp.867-872, Alcala de Henares, Spain, 2012. DOI

13. Yu-Cheol Lee, Christiand, Heesung Chae and Sunghoon Kim, “Applications of Robot Navigation Based on Artificial Landmark in Large Scale Public Space,” in Proc. of IEEE International Conference on Robotics and Biomimetic (ROBIO), pp.721-726, Phuket Island, Thailand, 2011. DOI

14. Yu-Cheol Lee, Christiand, Wonpil Yu and Jae-Il Cho, “Adaptive Localization for Mobile Robots in Urban Environments Using Low-Cost Sensors and Enhanced Topological Map,” in Proc. of 15th International Conference on Advanced Robotics (ICAR), pp.569-575, Tallinn, Estonia, 2011. DOI

15. Yu-Cheol Lee, Christiand, Wonpil Yu and Sunghoon Kim, “Urban Localization Method for Mobile Robots Based on Dead Reckoning Sensors, GPS, and Map Matching,” in Proc. of IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp.2363-2368, Anchorage, Alaska, USA, 2011. DOI

16. Yu-Cheol Lee, Christiand, Heesung Chae and Wonpil Yu, “Artificial Landmark Map Building Method Based on Grid SLAM in Large Scale Indoor Environment,” in Proc. of IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp.4251-4256, Istanbul, Turkey, 2010. DOI

17. Christiand, Yu-Cheol Lee, Wonpil Yu, and Jaeil Cho, “Augmented EKF Localization for Mobile Robots in Urban Environments,” in Proc. of IEEE International Conference on Robotics and Biomimetic (ROBIO), pp.986-991, Tianjin, China, 2010. DOI

18. Yu-Cheol Lee and Wonpil Yu, “The Design of Practical Mapping System for Mobile Robots Using Laser Range Sensor,” in Proc. of 8th IEEE SENSORS, pp.1482-1486, Christchurch, New Zealand, 2009. DOI

19. Yu-Cheol Lee and Wonpil Yu, “Practical Map Building Method for Service Robot Using EKF Localization Based on Statistical Distribution of Noise Parameters,” in Proc. of 18th IEEE International Symposium on Robot & Human Interactive Communication (RO-MAN), pp.478-483, Toyama, Japan, 2009. DOI

20. Yu-Cheol Lee, Wonpil Yu, Jong-Hwan Lim, Wan-Kyun Chung and Dong-Woo Cho, “Sonar Grid Map Based Localization for Autonomous Mobile Robots,” in Proc. of IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), pp.558-563, Beijing, China, 2008. [Best Paper Award] DOI

21. Wonpil Yu, Jae-Yeong Lee, Heesung Chae, Kyuseo Han, Yu-Cheol Lee, and Minsu Jang, “Robot Task Control Utilizing Human-in-the-loop Perception,” in Proc. of 17th IEEE International Symposium on Robot & Human Interactive Communication (RO-MAN), pp.395-400, Munich, Germany, 2008. DOI

22. Yu-Cheol Lee, Wonpil Yu, Jong-Hwan Lim, Wan Kyun Chung, Dong-Woo Cho, “Sonar Map Construction for Ubiquitous Robotic System Using a Footprint Association Filter,” in Proc. of ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications (MESA), pp.31-39, Las Vegas, Nevada, USA, 2007. DOI

23. Yu-Cheol Lee, Sangik Na, Hyo-Sung Ahn, Wonpil Yu, “Human-Robot Interactive Guiding System's Application in Sonar Quick Mapping,” in Proc. of 16th IEEE International Symposium on Robot & Human Interactive Communication (RO-MAN), pp.194-199, Jeju, Korea, 2007. DOI

24. Sangik Na, Hyo-Sung Ahn, Yu-Cheol Lee, and Wonpil Yu, “Navi-Guider: An Intuitive Guiding System for the Mobile Robot,” in Proc. of 16th IEEE International Symposium on Robot & Human Interactive Communication (RO-MAN), pp.228-233, Jeju, Korea, 2007. DOI

25. Se-Jin Lee, Yu-Cheol Lee, Dong-Woo Cho, Jong-Hwan Lim, Chul-Ung Kang, Won-Soo Yun, “Evaluation of Features through Grid Association for Building a Sonar Map,” in Proc. of IEEE International Conference on Robotics and Automation (ICRA), pp. 2615-2620, Orlando, FL, USA, 2006. DOI

Non-Refereed International Conference Proceeding

1. Wonpil Yu, Francesco Amigoni, Tomasz Kucner, and Yu-Cheol Lee, “Exploring the Possibility of Semantic Map Data Representation as an Extension of the IEEE 2D and 3D Map Data Representation Standards,” in Proc. of 20th International Conference on Control, Automation and Systems (ICCAS), pp. 1191-1194, Busan, Korea, 2020. PDF

2. Yu-Cheol Lee and Seungwoog Jung, and Wonpil Yu, “Handheld Type Mapping System Based on 6 DOF Estimator Using Low-cost Sensors,” in Proc. of 15th International Conference on Ubiquitous Robots (UR), Honolulu, HI, USA, 2018. PDF

3. Yu-Cheol Lee, “Robot Localization Method Using Multi-PTS Cameras and Wi-Fi Receiver,” in Proc. of 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 404-407, Goyang city, Korea, 2015. DOI

4. Yu-Cheol Lee and SeungHwan Park, “RSSI-based Fingerprint Map Building for Indoor Localization,” in Proc. of 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI),  pp. 292-293, Jeju, Korea, 2013. DOI

5. Yu-Cheol Lee, Christiand, Seung-Hwan Park, Wonpil Yu, and Sunghoon Kim, “Topological Map Building for Mobile Robots Based on GIS in Urban Environments,” in Proc. of 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp.790-791, Incheon, Korea, 2011. DOI

6. Christiand, Yu-Cheol Lee and Wonpil Yu, “EKF Localization with Lateral Distance Information for Mobile Robots in Urban Environments,” in Proc. of 8th International Conference on Ubiquitous Robots (URAI), pp.281-286, Incheon, Korea, 2011. DOI

7. Yu-Cheol Lee, Christiand, Jae-Yeong Lee, Wonpil Yu, and Jae Il Cho, “Seamless Localization System based on Lane Detector with Inverse Perspective Mapping Method for Mobile Robots,” in Proc. of 7th International Conference on Ubiquitous Robots (URAI), pp.547-549, Busan, Korea, 2010. PDF

8. Wonpil Yu, Hee Sung Chae, Jaeyong Lee, Yu-Cheol Lee, Sunglok Choi, Jihoon Chung, Christiand, Sangwon Ryoo, Seunghwan Park, Yun Koo Chung, and Young-Jo Cho, “Robot Navigation Service Platform in Large-Scale Artificial Environment: Tomorrow City Project in Korea”, International Advanced Robotic Programme (IARP), 2009. PDF

9. Sunglok Choi, JaeYeong Lee, Yu-Cheol Lee, Seung-Hwan Park, and Wonpil Yu, “Guided Path Planning for Proximity Location Sensors,”  in Proc. of 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Gwang-ju, Korea, 2009. [Outstanding Paper Award] PDF

10. Sangik Na, Yu-Cheol Lee, Hyo-Sung Ahn, Wonpil Yu, "A Tethering System Design for Mobile Robot,” in Proc. of 3rd Int. Conf. on Ubiquitous Robots and Ambient Intelligence (URAI), pp.481-484, Seoul, Korea, 2006. PDF

11. Yu-Cheol Lee, Sang-Ik Nah, Hyo-Sung Ahn, Wonpil Yu, “Sonar Map Construction for a Mobile Robot Using a Tethered-Robot Guiding System,” in Proc. of 3rd Int. Conf. on Ubiquitous Robots and Ambient Intelligence (URAI), pp.429-433, Seoul, Korea, 2006. PDF

12. Seunghwan Park, Yu-Cheol Lee, Moonhoen Lee, Sangik Na, Wonpil Yu, “Preliminary Study on the Environment Map for Mobile Robots,” in Proc. of 3rd Int. Conf. on Ubiquitous Robots and Ambient Intelligence (URAI), pp.107-112, Seoul, Korea, 2006. PDF

13. Hyo-Sung Ahn, Sang-Ik Nah, Yu-Cheol Lee, and Wonpil Yu, “A controller design of a tethered-robot guiding system,” in Proc. of 3rd Int. Conf. on Ubiquitous Robots and Ambient Intelligence (URAI), pp.43-46, Seoul, Korea, 2006. PDF

14. Yu-Cheol Lee, Chul-Ung Kang, Jong Hwan Lim, Dong-Woo Cho, “Orientation probability map construction model considered cell size,” in Proc. of 1st International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp.56-66, Seoul, Korea, 2004.

Domestic Journal

1. 김예림, 서승범, 이유철, '3차원 라이다 스캐너 기반 포인트 클라우드의 의미론적 분할 기술,'제어로봇시스템학회지,  vol.30, no, 3, pp.56-68, 2024.

2. 유원필, 이유철, 김동형, “지능형 물류/농업분야의 로봇작업지능 기술 동향,” 전자통신동향분석, vol.36, no, 2, pp.22-31, 2021. DOI

3. 이유철, 임종환, 조동우, “데이터 연관 필터를 이용한 자율이동로봇의 초음파지도 작성,” 대한전기학회논문지: 시스템및제어부문D, vol. 54, no. 9, pp. 539-546, 2005. KCI

Domestic Conference Proceeding

1. 송재민, 김재현, 정지우, 이유철, “Segment Skeleton Filter 를 활용한 조선소 전처리 로봇의 제어를 위한 방향 탐지,” 제어로봇시스템학회 학술대회 논문집, pp.594-595, 전주, 2025.

2. 정지우, 서승범, 송재민, 이유철, "3자율 정박을 위한 무인 수상정의 경로 생성 및 추종 방법," 제어로봇시스템학회 학술대회 논문집,  pp.261-262, 전주, 2025.

3. 김민석, 김예림, 이유철, “다수 3 차원 라이다 센서들 간의 좌표계를 연동하기 위한 정합 방법,” 한국통신학회 하계종합학술대회 논문집, pp.1154-1155, 제주, 2024.

4. 김예림, 김민석, 이유철, “3 차원 라이다 스캐너 기반 저밀도 포인트 클라우드의 의미론적 분할 방법,” 한국통신학회 하계종합학술대회 논문집, pp.1152-1153, 제주, 2024.

5. 김민석, 송재민, 한승주, 이유철, “선박 성능 검증을 위한 객체 탐지 기반 예인 수조 안전 시스템,” 한국통신학회 동계종합학술대회 논문집, pp.853-854, 평창, 2024.

6. 이유철, 유원필, “실내 동적환경 대상 자연표식물을 이용한 라이다 기반 전역 위치인식 기술,” 대한전자공학회 하계 학술대회 논문집, pp.2222-2225, 제주, 2021. PDF

7. 유원필, 이유철, 송수환, 김동형, “로봇작업지능기술의 농업, 물류작업 적용사례,” 대한전자공학회 하계 학술대회 논문집, pp.2220-2221, 제주, 2021. PDF

8. 이유철, 유원필, “점유 복셀지도를 이용한 동적환경 대상 구조 도면 작성 방법,” 제어로봇시스템학회 학술대회 논문집, pp.1-2, 여수, 2021. PDF

9. 유원필, 이유철, “물류 및 제조자동화를 위한 멀티로봇 작업 스케쥴링 시뮬레이션 테스트베드,” 제어로봇시스템학회 학술대회 논문집, pp.1-2, 여수, 2021. PDF

10. 정승욱, 이유철, 최훈, “공간구조 기반 실내 공기질 데이터 보간 방법,” 대한전자공학회 하계 학술대회 논문집, pp. 1906-1909, 제주, 2020. PDF

11. 이유철, 정승욱, “보행자 위치인식을 위한 3D SLAM 기반 전파신호 핑거프린트 구축 방법,” 한국통신학회 종합 학술대회 논문집, pp.921-922, 평창, 2020. PDF

12. 유원필, 이유철, “물류자동화를 위한 반사판기반 이동로봇위치인식 방법구현,” 제어로봇시스템학회 학술대회 논문집, pp. 79-80, 속초, 2020. PDF

13. 이유철, 유원필, “레이저 반사강도기반 동적환경 이동로봇 위치인식 기술,” 제어로봇시스템학회 학술대회 논문집, pp. 77-78, 속초, 2020. [Outstanding Young Researcher Award] PDF

14. 이유철, 유원필, “레이저 반사판기반 이동로봇 위치인식을 위한 지도작성 방법,” 제어로봇시스템학회 하술대회 논문집, pp. 171-172. 경주, 2019. PDF

15. 유원필, 이유철, “물류자동화를 위한 반사판기반 이동로봇 위치인식 방법,” 제어로봇시스템학회 학술대회 논문집, pp. 173-174, 경주, 2019. PDF

16. 유원필, 이유철, “노동집약적인 창고환경에서 픽업 및 이송작업 자동화를 위한 랜드마크기반의 로봇위치인식 알고리즘,” 한국로봇 종합 학술대회 논문집, pp.209-210, 평창, 2019. PDF

17. 이유철, 이재연, 김재홍, “광역공간 내 이동로봇 위치정보 재초기화 방법,” 대한전자공학회 하계 학술대회 논문집, pp.1444-1447, 제주, 2016. PDF

18. 이유철, “여러 PTS 카메라 연동을 통한 광학 거리 측정 센서 구현,” 제어로봇시스템학회 학술대회 논문집, 대전, 2015. [Best Poster Award] PDF

19. 박승환, 이유철, 김곤우, “원전 모니터링 로봇 운용을 위한 주행기술 개발,” 한국로봇 종합 학술대회 논문집, pp. 173-176, 부여, 2014. PDF

20. 이유철, 박병재, 박승환, “이동로봇을 위한 강인한 BoW 코드북 작성방법,” 한국로봇 종합 학술대회 논문집, pp. 466-469, 부여, 2014. PDF

21. 이유철, 박승환, 최성록, 유원필, “3D-RGB 포인트 클라우드 데이터 구축 방법,” 대한전자공학회 하계 학술대회 논문집, pp.1059-1062, 제주, 2013. PDF

22. 박승환, 이유철, 조재일, “원격제어 로봇의 충돌 방지를 위한 가상 점유공간 기반 환경 가시화,” 한국로봇 종합 학술대회 논문집, pp. 251-253, 강촌, Korea, 2013. PDF

23. 이유철, 박승환, 채희성, 유원필, “선 매칭 기반 그래프 최적화를 이용한 지도 작성 방법,” 한국로봇 종합 학술대회 논문집, pp. 185-187, 강촌, 2013. PDF

24. 이유철, 최성록, 유원필, 김성훈, “스캔 매칭 참조 데이터 선정 방법,” 한국로봇 종합 학술대회 논문집, pp. 555-558, 강릉, Korea, 2012. PDF

25. 이유철, 크리스티안, 유원필, 김성훈, “무인차량의 초기 위치인식 방법,” 대한전자공학회 하계 학술대회 논문집, pp.1664-1667, 제주, 2012. PDF

26. 이유철, 크리스티안, 박승환, 유원필, 조재일, “로봇을 위한 GIS 기반 토폴로지컬 지도 작성 방법,” 한국로봇 종합 학술대회 논문집, pp. 396-399, 경산, 2011. PDF

27. 이유철, 민순호, 정영숙, 박승환, 유원필, “로봇 주행 성능 시험 및 평가 방법,” 한국로봇 종합 학술대회 논문집, pp. 169-704, 전주, 2010. PDF

28. 이유철, 민순호, 유원필, 박승환, 정영숙, “로봇 주행 성능 평가를 위한 지도 정보 구축 기술,” 대한전자공학회 하계 학술대회 논문집, pp.1328-1331, 제주, 2010. PDF

29. 정지훈, 채희성, 이유철, 유원필, “기둥을 이용한 자기 위치 인식,” 대한전자공학회 하계 학술대회 논문집, pp.1335-1338, 제주, 2010. PDF

30. 최성록, 이재영, 이유철, 박승환, 유원필, “점층적 격자 지도를 이용한 안전한 경로 계획,” 한국정보처리학회 추계 학술대회 논문집, pp.311-312, 2009. PDF

31. 이유철, 박승환, 유원필, “광역 공간 로봇 주행을 위한 맵핑 및 공간 표현 구조,” 한국지능로봇 종합 학술대회 논문집, pp. 195-198, 대전, 2009. PDF

32. 이유철, 유원필, 임종환, 조동우, “자율 이동 로봇의 초음파 지도 작성을 위한 격자연관 필터,” 한국지능로봇 하계종합 학술대회 논문집, pp. 511-518, 제주, 2006. PDF

33. 이유철, 이세진, 조동우, 강철웅, 임종환, “초음파 확률격자지도에 기반을 둔 자율이동로봇의 위치추정,” 정보 및 제어 학술대회 논문집, pp. 83-85, 충주, 2005. PDF

34. 이유철, 이세진, 임종환, 조동우, “음향학에 기반한 자율이동로봇의 초음파 확률격자지도 작성,” 한국정밀공학회 추계 학술대회 논문집, pp. 400-403, 광주, 2005. PDF