• 한국보육지원학회지
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• 제14권2호
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• pp.19-38
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• 2018

Objective: This study explores how pre-service teachers' knowledge changed in the field of movement education and the characteristics of the instruction they perceived during a 15-week course. Methods: The drawing of concept maps and interviews were used to discuss how pre-service teachers' knowledge changed and the characteristics of the course. Results: The results showed that the pre-service teachers interrelated concepts in a more systematic way, and the concepts they used were increased while master concepts were decreased, indicating that their knowledge changed in a far more hierarchical order after the class. Characteristics of the course that led to a change in their knowledge appeared under the proper guidance of a professor. This was well demonstrated by feedback and evaluation at the stage of planning instruction and simulation teaching. Conclusion/Implications: The study demonstrated that the proper guidance of a professor was a useful tool for fostering the professional development of pre-service teachers in regard to constructing knowledge in movement education.

• 제어로봇시스템학회논문지
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• 제7권9호
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• pp.774-782
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• 2001

In this paper, we propose a new approach to the autonomous and high-speed indoor navigation of wheeled mobile robots using hybrid system controller. The hierarchical structure of hybrid system presented consists of high-level reasoning process and the low-level motion control process and the environmental interaction. In a discrete event system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The hybrid control system applied for the nonholonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in the indoor navigation problem. For the evaluation of the proposed algorithm, the algorithm is implemented to the two-wheel driven mobile robot system. The experimental results show that the hybrid system approach is an effective method for the autonomous navigation in indoor environments.

• 한국생활과학회지
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• 제20권3호
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• pp.595-609
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• 2011

This study examine the mediating role of teacher-child relationships on children's effortful control and problem behaviors. Boys and girls were analyzed separately. Participants were 221 children(l21 boys, 100 girls; aged 4-5), their mothers and 19 child care teachers. The teachers completed rating scales to measure the perception of teacher-child relationships and the children's problem behaviors. Children's effortful control was rated by the mother's questionnaire. The collected data was analyzed using descriptive statistics, t-tests, Pearson's correlations, and hierarchical multiple regressions. Results indicated that children's effortful control was negatively related to their problem behaviors. In addition, the associations between children's effortful control and their aggressive behaviors were mediated by conflictual teacher-child relationship. Also, the relation of girl's effortful control and her withdrawal behavior was partially mediated by conflictual teacher-child relationship. Finally, the association between boy's effortful control and his withdrawal behavior was mediated by close teacher-child relationship. Results suggest the importance of teacher-child relationships in the context of intervention planning for preschooler's problem behaviors.

• Architectural research
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• 제8권1호
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• pp.25-36
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• 2006

Campus core is an essential element in a university's physical environment for symbolic importance of high educational philosophy as well as hierarchical significance of campus structure. Yet, as modern expansion develops into and out of campus core, a challenging design and planning problem for a growing university is how to integrate a new development into the existing core structure and how to expand the fast-growing development beyond the core while maintaining a symbiotic harmony between the campus core and the modern expansion. Such challenge addresses four design frameworks for symbiotic development of the campus core and the modern expansion: (1) building grouping with territorial proximity; (2) building design rules for form and texture; (3) open space network with pedestrian walkway; (4) use-programming for on-campus student community. This study aims to explore these issues with in-depth case study of the Princeton University campus in Princeton, New Jersey in the United States. The study concludes that the Princeton campus is a result from successful synthesis of all the complex design elements, especially in relationship between the old and the new; and adds further that the development of a modern university campus requires a comprehensive plan that takes into account the older buildings when conceiving the new in symbiotic relationship along with open space network as well as functional program distribution.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제6권6호
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• pp.285-292
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• 2017

전장공간은 다양한 무기체계가 유기적으로 활용되고 있으며, 자원의 성능 및 통신환경이 제약되고 환경의 가변성이 높은 특징이 있다. 이러한 전장환경에서 운용되는 자원의 접근성과 통합성의 한계를 극복하고 유연한 조합을 통해 임무를 수행할 수 있는 방안으로 서비스 지향 구조 기반의 기술을 접목시키는 연구들이 진행되고 있다. 본 연구에서는 지휘관이 전장 환경에서 임무에 필요한 다양한 SW를 서비스 기반으로 운용하기 위해 서비스 기반의 임무 계획 및 수행을 지원하는 계층형 임무서비스 모델을 제안한다. 또한 워크플로우 기술과 시맨틱 능력기반 추천을 활용한 개발도구를 구현하고 전투 임무 시나리오에 적용하여 실효성을 보이고자 한다.

• 한국항공우주학회지
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• 제39권12호
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• pp.1124-1132
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• 2011

본 논문에서는 2차원 공간에서 기동하는 고정익 무인항공기의 장애물 회피를 위한 부드러운 경로궤적을 생성하는 문제를 다룬다. 2차원 장애물맵의 이산화 모델링을 위해 육각형 격자를 채택하였고, 이는 사각형 격자에 비해 연결성이 높아 부드러운 경로궤적 생성이 가능하도록 하였다. 특히 본 논문에서 제안된 경로템플릿 기법은 일정거리 단위로 조합 가능한 대표경로들(경로템플릿)을 사용하여 무인항공기의 기준경로를 생성하는 방법이고, 온라인 경로궤적 생성에서 계산량을 줄여 메모리 및 연산리소스가 제한되는 소형 오토파일럿에서도 적용이 가능하다는 장점이 있다.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권5호
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• pp.182-189
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• 2002

This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments

• 대한전자공학회논문지
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• 제26권6호
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• pp.79-88
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• 1989

본 논문에서는 2차원적인 CT영상의 단면으로부터 3차원 영상을 재구성하고 수정하기 위한 시스템을 구성하기 위하여 선형 octree를 이용하였다. 선형 octree를 소형 컴퓨터 시스템에 적용할 경우, 재구성하기 위하여 소요되는 많은 데이터를 효율적으로 압축할 수 있었다. 특히 이러한 트리구조는 공간적인 개념이 포함되어 있는 계층적인 표현방식을 갖기 때문에 3차원 영상을 2차원 화면에 표현하기 위한 은면제거를 효율적으로 수행할 수 있었으며, 관측위치의 변환 및 명암표시의 실현이 가능하였다. 실제 CT에 의하여 획득된 인체기관을 재구성하여 봄으로서 기술적 기법들 확인하였으며, 임상적인 치료와 외과 수술계획에 사용될 가능성을 확인하여 보았다.

• 한국전문물리치료학회지
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• 제17권2호
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• pp.51-59
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• 2010

The Functional Independence Measure (FIM) is widely used to determine the dependency of activity of daily living in rehabilitation patients. The purposes of this study were to evaluate the unidimentionality of the FIM physical items and to analyze the validity of cross-functional levels in stroke survivors in Korea. Thirteen physical items of FIM were rated according to an ordinal scale of a 7-level classification. Two hundred and seventy-nine patients participated in the study (age range 18~92 years and 57% male). Six items-eating, bladder control, bowel control, transfer to and from the bed/wheelchair, transfer to and from the toilet, and bathing-showed misfits with the Rasch model. The most difficult item was 'bathing', the easiest item was 'bowel control'. Although there were several differences within functional levels, the hierarchical order of item measures was rather similar. 'Bathing' was the most difficult in high level patients (above 60), however 'stairs' was most difficult in the middle level (41~60) group. In the low level group (below 40), 'toileting' was the most difficult. In conclusion, the present study has shown several differences of item difficulty among functional levels. This result will be useful in planning interventions, and developing rehabilitation programs for stroke survivors.

• 제어로봇시스템학회논문지
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• 제13권8호
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• pp.810-816
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• 2007

A security robot system named EGIS-SR is a mobile security robot through one of the new growth engine project in robotic industries. It allows home surveillance through an autonomous mobile platform using onboard cameras and wireless security sensors. EGIS-SR has many sensors to allow autonomous navigation, hierarchical control architecture to handle lots of situations in monitoring home surveillance and mighty networks to achieve unmanned security services. EGIS-SR is tightly coupled with a networked security environment, where the information of the robot is remotely connected with the remote cockpit and patrol man. It achieved an intelligent unmanned security service. The robot is a two-wheeled mobile robot and has casters and suspension to overcome a doorsill. The dynamic motion is verified through $ADAMS^{TM}$ simulation. For the main controller, PXA270 based hardware platform based on linux kernel 2.6 is developed. In the linux platform, data handling for various sensors and the localization algorithm are performed. Also, a local path planning algorithm for object avoidance with ultrasonic sensors and localization using $StarGazer^{TM}$ is developed. Finally, for the automatic charging, a docking algorithm with infrared ray system is implemented.