• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.375-380
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• 2007

This paper presents optimal design of controllable magnetorheological (MR) shock absorbers for passenger vehicle. In order to achieve this goal, two MR shock absorbers (one for front suspension; one for rear suspension) are designed using an optimization methodology based on design specifications for a commercial passenger vehicle. The optimization problem is to find optimal geometric dimensions of the magnetic circuits for the front and rear MR shock absorbers in order to improve the performance such as damping force as an objective function. The first order optimization method using commercial finite element method (FEM) software is adopted for the constrained optimization algorithm. After manufacturing the MR shock absorbers with optimally obtained design parameters, their field-dependent damping forces are experimentally evaluated and compared with those of conventional shock absorbers. In addition, vibration control performances of the full-vehicle installed with the proposed MR shock absorbers are evaluated under bump road condition and obstacle avoidance test.

• 조명전기설비학회논문지
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• 제22권4호
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• pp.19-25
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• 2008

본 논문은 장애물에 대한 사전 정보를 가지고 있지 않은 미지의 공간에서 장애물의 회피와 지정된 목표점으로 이동할 수 있는 자율이동로봇을 위한 퍼지-뉴럴 네트워크를 이용한 지능제어 알고리즘을 제안하고, 제안된 제어기의 효용성을 모의실험과 실제 로봇의 구동실험을 통하여 검증을 한다. 제시한 지능제어기는 계층구조의 알고리즘으로 로봇이 목표에 도달하기 위한 퍼지 알고리즘과 주행 중 만날 수 있는 장애물들에 대한 회피를 수행하는 퍼지-뉴럴 알고리즘으로 구성된 계층과, 로봇이 이동하면서 만날 수 있는 여러 가지 상황에 따라 장애물 회피동작과 목표점 도달동작을 수행할 수 있도록 두 알고리즘에 적당한 가중치를 부여하는 가중치 퍼지 알고리즘으로 구성되어 있다. 그리고 로봇의 현재 운동정보와 장애물까지의 거리정보를 바탕으로 가중치 퍼지 알고리즘의 출력부 소속도 함수를 조절함으로서 오목한 장애물에 대해서도 장애물 회피 동작을 수행하도록 하였다. 제작된 로봇으로 제시한 알고리즘의 실효성을 검증하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.249-254
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• 2001

Abstract In this paper, we propose a method of cooperative control based on artifical intelligent system in distributed autonomous robotic system. In general, multi-agent behavior algorithm is simple and effective for small number of robots. And multi-robot behavior control is a simple reactive navigation strategy by combining repulsion from obstacles with attraction to a goal. However when the number of robot goes on increasing, this becomes difficult to be realized because multi-robot behavior algorithm provide on multiple constraints and goals in mobile robot navigation problems. As the solution of above problem, we propose an architecture of fuzzy system for each multi-robot speed control and fuzzy-neural network for obstacle avoidance. Here, we propose an architecture of fuzzy system for each multi-robot speed control and fuzzy-neural network for their direction to avoid obstacle. Our focus is on system of cooperative autonomous robots in environment with obstacle. For simulation, we divide experiment into two method. One method is motor schema-based formation control in previous and the other method is proposed by this paper. Simulation results are given in an obstacle environment and in an dynamic environment.

• 한국정밀공학회지
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• 제15권1호
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• pp.78-86
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• 1998

This paper presents a numerical method of the minimum-time trajectory planning for a robot manipulator amid obstacles. Each joint displacement is represented by the linear combination of the finite-term quintic B-splines which are the known functions of the path parameter. The time is represented by the linear function of the same path parameter. Since the geometric path is not fixed and the time is linear to the path parameter, the coefficients of the splines and the time-scale factor span a finite-dimensional vector space, a point in which uniquely represents the manipulator motion. The displacement, the velocity and the acceleration conditions at the starting and the goal positions are transformed into the linear equality constraints on the coefficients of the splines, which reduce the dimension of the vector space. The optimization is performed in the reduced vector space using nonlinear programming. The total moving time is the main performance index which should be minimized. The constraints on the actuator forces and that of the obstacle-avoidance, together with sufficiently large weighting coefficients, are included in the augmented performance index. In the numerical implementation, the minimum-time motion is obtained for a planar 3-1ink manipulator amid several rectangular obstacles without simplifying any dynamic or geometric models.

• 아동학회지
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• 제35권4호
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• pp.123-143
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• 2014

This research was based on achievement goal theory which categorizes young children's motivation into three types: mastery, the performance-approach, and performance-avoidance motivation. The participants consisted of forty-eight pairs of children aged 3-4 and their mothers. The participants completed two tasks in order to indentify their motivational types. The short form of the Child Behaviour Questionnaire(CBQ-SF), modified scales from Kim and Kim(2001), and the GIPEPS were also employed. The major findings of the research are as follows: First, in terms of the motivational types of the given sample, performance-approach motivation was ranked first followed by mastery motivation. Second, it was found that the temperament of young children was not related with their motivational types. Third, there were some differences in mother-child interaction between groups based on the frequency of feedback, questions, and the percentage of commands. Fourth, the mood of the relationship appeared to be the only factor of maternal interaction quality which related to children's mastery motivation.

• 한국의류산업학회지
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• 제16권2호
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• pp.218-227
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• 2014

In this study, we ran a collage fashion illustration program. We used in depth personal interviews to find if there are any change in self-image by psychologically analyzing the features of self-images expressed in the pieces of fashion illustration. The total number of objects were five females students majoring in fashion design in Busan. They were hoping to have a psychology consultation to resolve their concerns about the future, family affairs, appearance, and careers. Collage fashion illustration program was used as a experimental tool to find the psychological features shown in the formats and content of collage fashion illustration. We then figure out how pre and post diagnosis were different from each other in terms of ego-identity and DAP. As a result, the formats in collage fashion illustration are related to the self images such as psychological energy, incompetency, suppression, and tendency of self-centered. Also, the contents of the fashion expression are related to the self-images such as dependency, avoidance, wariness, and self-regard. All of the participants have improved self-regard and active action due to improvements in subjectivity, initiative, and goal orientation. Therefore, they could change from pessimistic self-images to optimistic ones.

• 지식경영연구
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• 제21권2호
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• pp.77-100
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• 2020

This study conducted a qualitative study on 23 seniors over 55 years old to understand the digital behavior of seniors in the online education acceptance environment. Grounded Theory methodology was applied to the initial enrollment behavior, login behavior, and utilization behavior of online education program. Through the process of open coding, axis coding, and selective coding, the framework in the online education environment of the senior generation was finally derived. As a causal conditions for the senior generation to participate in the online education environment, goal orientation, relationship orientation, leisure orientation and external compulsory were derived, and shadow work appeared as the central phenomenon. Also, contextual conditions resulted in social change, physical and cognitive aging, and psychological atrophy. The intervening conditions included digital device acceptance, educational attitudes, environmental factors, and self-efficacy. Based on this, the action/interactions strategy formed a positive and negative attitude toward shadow work. As a result, positive response behavior, compromising behavior, and shadow work avoidance behavior were shown. It is hoped that this study will be reflected in future researches for the use of digital devices of the elderly and the expansion of online education participation and government policy.

• 한국소음진동공학회논문집
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• 제18권2호
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• pp.169-176
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• 2008

This paper presents optimal design of controllable magnetorheological(MR) shock absorbers for passenger vehicle. In order to achieve this goal, two MR shock absorbers (one for front suspension; one for rear suspension) are designed using an optimization methodology based on design specifications for a commercial passenger vehicle. The optimization problem is to find optimal geometric dimensions of the magnetic circuits for the front and rear MR shock absorbers in order to improve the performance such as damping force as an objective function. The first order optimization method using commercial finite element method(FEM) software is adopted for the constrained optimization algorithm. After manufacturing the MR shock absorbers with optimally obtained design parameters, their field-dependent damping forces are experimentally evaluated and compared with those of conventional shock absorbers. In addition, vibration control performances of the full-vehicle installed with the proposed MR shock absorbers are evaluated under bump road condition and obstacle avoidance test.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2360-2362
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• 1998

This paper presents a new collison-free trajectory problem for SCARA robot manipulator. we use artificial potential field for collison detection and avoidance. The potential function is typically defined as the sum of attractive potential pulling the robot toward the goal configuration and a repulsive potential pushing the robot away from the obstacles. In here, end-effector of manipulator is represented as a particle in configuration space and moving obstacles is simply represented, too. we consider not fixed obstacle but moving obstacle in random. So, we propose new distance function of artificial potential field with moving obstacle for SCARA robot. At every sampling time, the artificial potential field is update and the force driving manipulator is derived from the gradient vector of artificial potential field. To real-time path planning, we apply very simple modeling to obstacle. Some simulation results show the effectiveness of the proposed approach.

• 가정과삶의질연구
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• 제29권6호
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• pp.185-199
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• 2011

The aim of this study was to grasp the context of family life education under the Joseon Dynasty. As a first step to attain this goal, we used Yi Duk-Hong's Bubuyubyeoldo as our main material and examined the meaning of 'bubuyubyeol'(夫婦有別) in family life education as it was defined during the Joseon Dynasty. As a result, we found that 'bubuyubyeol' implied the strict avoidance of the opposite sex in the relationship between a couple and others as well as within the marital relationship. We also determined that in the family life education, 'bubuyubyeol' was closely related to 'bujayuchin'(父子有親), a concept that refers to the ethical relationship between parents and children. This concept also, formed the basis of social relationships. These results imply that contemporary family life education will be more effective and efficient 1) when it presupposes a common basic concept pertaining to the contents of object-specific education as well as overall family life education, and 2) when direct education programs are executed in harmony with indirect education.