• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.970-975
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• 2002

We suggests an effective method to construct time-varying C-obstacles in the 3-dimensional configuration space (C-space) using free arc. The concept of free arc was defined mathematically and the procedure to find free arc in the case off-dimensional C-space was derived in [1]. We showed that time-varying C-obstacles can be constructed efficiently using this concept, and presented simulation results for two SCARA robot manipulators to verify the efficacy of the proposed approach. In this paper, extensions of this approach to the 3-dimensional C-space is introduced since nearly all industrial manipulators are reasonably treated ill the too or three dimensional C-space f3r collision avoidance problem The free arc concept is summarized briefly and the method to find lice arc in the 3-dimensional f-space is explained. To show that this approach enables us to solve a practical collision avoidance problem simulation results f3r two PUMA robot manipulators are presented.

• Education of Primary School Mathematics
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• v.15 no.2
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• pp.159-170
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• 2012

Many obstacles have been found in the learning of ratio and rate. The types of epistemological obstacles concern 'terms', 'calculations' and 'symbols'. It is important to identify the epistemological obstacles that students must overcome to understand the learning of ratio and rate. In this respect, the present study attempts to figure out what types of epistemological obstacles emerge in the area of learning ratio and rate and where these obstacles are generated from and to search for the teaching implications to correct them. The research questions were to analyze this concepts as follow; A. How do elementary students show the epistemological obstacles in ratio and rate? B. What is the reason for epistemological obstacles of elementary students in the learning of ratio and rate? C. What are the teaching implications to correct epistemological obstacles of elementary students in the learning of ratio and rate? In order to analyze the epistemological obstacles of elementary students in the learning of ratio and rate, the present study was conducted in five different elementary schools in Seoul. The test was administered to 138 fifth grade students who learned ratio and rate. The test was performed three times during six weeks. In case of necessity, additional interviews were carried out for thorough examination. The final results of the study are summarized as follows. The epistemological obstacles in the learning of ratio and rate can be categorized into three types. The first type concerns 'terms'. The reason is that realistic context is not sufficient, a definition is too formal. The second type of epistemological obstacle concerns 'calculations'. This second obstacle is caused by the lack of multiplication thought in mathematical problems. As a result of this study, the following conclusions have been made. The epistemological obstacles cannot be helped. They are part of the natural learning process. It is necessary to understand the reasons and search for the teaching implications. Every teacher must try to develop the teaching method.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.5
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• pp.471-481
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• 2015

This paper presents the robot vision control schemes using Extended Kalman Filter (EKF) method for the slender bar placement in the appearance of obstacles during robot movement. The vision system model used for this study involves the six camera parameters($C_1{\sim}C_6$). In order to develop the robot vision control scheme, first, the six parameters are estimated. Then, based on the estimated parameters, the robot's joint angles are estimated for the slender bar placement. Especially, robot trajectory caused by obstacles is divided into three obstacle regions, which are beginning region, middle region and near target region. Finally, the effects of number of obstacles using the proposed robot's vision control schemes are investigated in each obstacle region by performing experiments of the slender bar placement.

• International Journal of Control, Automation, and Systems
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• v.4 no.4
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• pp.466-479
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• 2006

This paper addresses a formation navigation issue for a group of mobile robots passing through an environment with either static or moving obstacles meanwhile keeping a fixed formation shape. Based on Lyapunov function and graph theory, a NN formation control is proposed, which guarantees to maintain a formation if the formation pattern is $C^k,\;k\geq1$. In the process of navigation, the leader can generate a proper trajectory to lead formation and avoid moving obstacles according to the obtained information. An evolutionary computational technique using particle swarm optimization (PSO) is proposed for motion planning so that the formation is kept as $C^1$ function. The simulation results demonstrate that this algorithm is effective and the experimental studies validate the formation ability of the multiple mobile robots system.

• The Korean Journal of Emergency Medical Services
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• v.24 no.3
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• pp.89-106
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• 2020

Purpose: This study attempts to improve the status of emergency care for major trauma patients transferred by 119 paramedics by analyzing the status of emergency care and the obstacles to the spinal motion restriction (SMR) for major trauma patients. Methods: A total of 600 rescue logs were collected from major trauma patients transported by 119 paramedics in the C fire department from Jan. 1, 2015, to Dec. 31, 2017. And then, 280 questionnaires were collected from the 119 paramedics in C fire department from May 3 to Jun. 3, 2019. Data were analyzed using SPSS 24.0 version. Results: Among 499 spinal motion restriction adaptive patients, the spinal motion restriction rate was 51.1% (255 individuals). Lack of human resources and quality control problems were among the obstacles to spinal motion restriction. Conclusion: The 119 paramedics should improve their activeness and skills in performing emergency care, and since training and experience are of crucial importance, they should expand various education systematized according to demand.

• Journal of the Korean Society of Safety
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• v.11 no.4
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• pp.64-71
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• 1996

Detonation phenomena of $C_2H_2$were invesgated using the various shock tube. To study the detonation characteristics according to the composition of $C_2H_2-0_2$$_2$ and $C_2H_2$-air mixtures, the composition were varied from 5 to 90% and 5 to 50% of acetylene each other. A spiral ring was installed in the shock tube to study the effect of obstacles in DDT phenomena. Detonation velocities were measured using the photodiode, and the DDT phenomena was visualized using the high speed schlieren photograph. From the experimental result, it was found that the detonation velocity was most high near the 1. 8times the stoichiometric ratio of acetylene. And from the visualization of DDT phenomena, it was found that the detonation wave was strengthened throuth the pile up of small compression wave of burned gas. And the obstacles in shock tube accelerate the detonation reaction by turblent effect of flammable gas mixture.

• Journal of applied mathematics & informatics
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• v.7 no.1
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• pp.125-137
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• 2000

A solution of the findpath problem in which a moving object in required to avoid moving obstacles and move to the designated target in the plane is porcided via the second method of Lyapunov. This paper presents an new control designed by a family of piecewise Lyapunov functions to solve a findpath problem and gives some simultion results of that.

• Wind and Structures
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• v.5 no.6
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• pp.515-526
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• 2002

The wind flow over two-dimensional sinusoidal hilly obstacles with slope (the ratio of height to half width) of 0.5 has been investigated experimentally and numerically. Experiments for single and double sinusoidal hill models were carried out in a subsonic wind tunnel. The mean velocity profiles, turbulence statistics, and surface pressure distributions were measured at the Reynolds number based on the obstacle height(h=40 mm) of $2.6{\times}10^4$. The reattachment points behind the obstacles were determined using the oil-ink dot and tuft methods. The smoke-wire method was employed to visualize the flow structure qualitatively. The finite-volume-method and the SIMPLE-C algorithm with an orthogonal body-fitted grid were used for numerical simulation. Comparison of mean velocity profiles between the experiments and the numerical simulation shows a good agreement except for the separation region, however, the surface pressure data show almost similar distributions.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.3
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• pp.305-315
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• 2016

This study aims to develop a robot vision control scheme using the Newton-Raphson (N-R) method for the uncertainty of circumstance caused by the appearance of obstacles during robot movement. The vision system model used for this study involves six camera parameters (C1-C6). First, the estimation scheme for the six camera parameters is developed. Then, based on the six estimated parameters for three of the cameras, a scheme for the robot's joint angles is developed for the placement of a slender bar. For the placement of a slender bar for the uncertainty of circumstances, in particular, the discontinuous robot trajectory caused by obstacles is divided into three obstacle regions: the beginning region, middle region, and near-target region. Then, the effects of obstacles while using the proposed robot vision control scheme are investigated in each obstacle region by performing experiments with the placement of the slender bar.

• Journal of the Korean Association of Geographic Information Studies
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• v.25 no.2
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• pp.88-99
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• 2022

The river network is one of the essential topographical characteristics in river management. The river network which as previously constructed by the ground surveying method has recently begun to be efficiently constructed using the remote sensing datasets. Since it is difficult to remove these obstacles such as bridges in the urban rivers, it is rare to construct the urban river networks with the various obstacles. In this study, the Sentinel-2 satellite imagery was used to develop the automatic method for detecting the urban river networks without the obstacles and with the preserved boundaries as follows. First, the normalized difference water index image was generated using the multispectral bands of the given Sentinel-2 satellite imagery, and the binary image that could classify the water body and other regions was generated. Next, the morphological operations were employed for detecting the complete river networks with the obstacles removed and the boundaries preserved. As a result of applying the proposed methodology to Han River in Seoul, the complete river networks with the obstacles removed and the boundaries preserved were well constructed.