• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.108.1-108
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• 2002

This paper is willing to propose a method of wall tracing, a moving algorithm between two points, when a Cleaning robot between two points moves. We use the information about obstacles and wall side in calculating different weight vector the each infrared sensors in cleaning robot. Therefore the cleaning robot navigates the wall. In the algorithm of wall tracing, the value of error in angle and distance between starting point and ending point should be zero to navigate the wall safely. The propriety of algorithm of the wall tracing is simulated as this method by using Visual C++. The result simulated proved to the simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.25-29
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• 1997

In this thesis, we construct the microrobot succor system and navigate the real-time path planning and visual tracking of each robot. The system consists robots, vision system and a host computer. Because the robots are free-ranging mobile robot, it is needed to make and gallow the path. The path is planned and controlled by a host computer, ie. Supervisory control system. In path planning, we suggest a cost function which consists of three terms. One is the smoothness of the path, another is the total distance or time, and the last one is to avoid obstacles. To minimize the cost function, we choose the parametric cubic spline and update the coefficients in real time. We perform the simulation for the path planing and obstacle avoidance and real experiment for visual tracking

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.05a
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• pp.979-983
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• 2001

We develop a new method of simultaneous optimization of trajectory and shape of redundant flexible manipulators for collision-free utilizing the B-spline function and a mathematical programming method We adopt an approximate flexible manipulator model which consists of rigid bar elements and spring elements. We use B-spline function for determining the approximate trajectory and the expressions of the outline of obstacles. The used total performance index consists of 2 performance indices. The first is the driving energy, and the second is the trajectory deviation which is caused by the approximate modeling for the flexible manipulator. We design optimal collision-free trajectory of flexible manipulators by searching optimum positions of the control points for B-spline approximation which minimize the performance index subject to constraint condition for collision-free. Some examinations through numerical examples show the effectiveness of the method

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.564-568
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• 1992

A neural optimization network is designed to solve the collsion-free inverse kinematics problem for redundant robot manipulators under the constraints of joint limits, maximum velocities and maximum accelerations. And the fuzzy rules are proposed to determine the weightings of neural optimization networks to avoid the collision between robot manipulator and obstacles. The inputs of fuzzy rules are the resultant distance, change of the distance and sum of the changes. And the output of fuzzy rules is defined as the capability of collision avoidance of joint differential motion. The weightings of neural optimization networks are adjusted according to the capability of collision avoidance of each joint. To show the validities of the proposed method computer simulation results are illustrated for the redundant robot with three degrees of freedom,

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.996-1003
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• 1990

We present algebraic algorithms for collision-avoidance robot motion planning problems with planar geometric models. By decomposing the collision-free space into horizontal vertex visibility cells and connecting these cells into a connectivity graph, we represent the global topological structure of collision-free space. Using the C-space obstacle boundaries and this connectivity graph we generate exact (non-heuristic) compliant and gross motion paths of planar curved objects moving with a fixed orientation amidst similar obstacles. The gross motion planning algorithm is further extended (though using approximations) to the case of objects moving with both translational and rotational degrees of freedom by taking slices of the overall orientations into finite segments.

• Journal of Educational Research in Mathematics
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• v.11 no.2
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• pp.341-349
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• 2001

Infinity is one of the important concept in mathematics, science, philosophy etc. In history of mathematics, potential infinity concept conflicts with actual infinity concept. Reason that mathematicians refuse actual infinity concept during long period is because that actual infinity concept causes difficulty in our perceptions. This phenomenon is called epistemological obstacle by Brousseau. Potential infinity concept causes difficulty like history of development of infinity concept in mathematics learning. Even though students team about actual infinity concept, they use potential infinity concept in problem solving process. Therefore, we must make clear epistemological obstacles of infinity concept and must overcome them in learning of infinity concept. For this, it is useful to experience visualization about infinity concept. Also, it is to develop meta-cognition ability that students analyze and control their problem solving process. Conclusively, students must adjust potential infinity concept, and understand actual infinity concept that is defined in formal mathematics system.

• Proceedings of the KIEE Conference
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• 1995.11a
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• pp.587-589
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• 1995

The safe navigation of a mobile robot requires the recognition of the environment in terms of vision processing. To be guided in the given path, the robot should acquire the information about where the wall and corridor are located. Also unexpected obstacles should be detected as rapid as possible for the safe obstacle avoidance. In the paper, we assume that the mobile robot should be navigated in the flat surface. In terms of this assumption we simplify the correspondence problem by the free navigation surface and matching features in that coordinate system. Basically, the vision processing system adopts line segment of edge as the feature. The extracted line segments of edge out of both image are matched in the free nevigation surface. According to the matching result, each line segment is labeled by the attributes regarding obstacle and free surface and the 3D shape of obstacle is interpreted. This proposed vision processing method is verified in terms of various simulations and experimentation using real images.

• Asian Pacific Journal of Cancer Prevention
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• v.17 no.sup2
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• pp.11-18
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• 2016

Aiming at reducing smoking population, Taiwan government adopted a successful smoking cessation quitline model from California Smokers' Helpline, commissioned a private non-profit organization-Teacher Chang Foundation, which was well-known for its quality telephone counseling service-to set up Asia's first quitline, Taiwan Smokers' Helpline (TSH) in 2003. The establishment of the quitline is a significant progress for tobacco control in Taiwan, as it built up a cooperative model with smoking cessation clinics to increase the quit rate through assisting smokers to overcome their psychological obstacles while quitting smoking.

• Asian Pacific Journal of Cancer Prevention
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• v.17 no.7
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• pp.3329-3334
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• 2016

Cancer is thought to be a direct result of transcriptional misregulation. Broad analysis of transcriptional regulatory elements in healthy and cancer cells is needed to understand cancer development. Nucleases regulatory domains are recruited to bind and manipulate a specific genomic locus with high efficacy and specificity. TALENs (transcription activator-like effector nuclease) fused to endonuclease FokI have been used widely to target specific sequences to edit several genes in healthy and cancer cells. This approach is promising to target specific cancer genes and for this purpose it is needed to pack such TALENs into viral vectors. There are some considerations which control the success of this approach, targeting appropriate sequences with efficient construction of TALENs being crucial factors. We face some obstacles in construction of TALENs; in this study we made a modification to the method of Cermk et al 2011 and added one step to make it easier and increase the availability of constructs.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.313-313
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• 2000

Recently the number of lectures of offered as part of distance education courses is increasing due to the necessity of continuing education in this era of rapidly changing technologies. To promote this, Web-based distance education systems have been developed and put into practical use. To step further, we propose a virtual space, distance education platform called interactive virtual laboratory. The proposed system is expected to overcome many obstacles in performing the unit operations laboratory at the current setting. The server/client system implementation was programmed with ASP and Visual Basic. The availability of simple and efficient technological supports for dissemination and remote use of virtual lab systems supports more experimental practices regardless of the number of participating students and their locations. Variety of instruments, process equipments and lab procedures are being added to make it a complete package of virtual lab fur undergraduate unit operations course.