• 제어로봇시스템학회논문지
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• 제13권2호
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• pp.93-100
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• 2007

The mobile robots to rescue a life in a disaster area and to explore planets demand high mobility as well as recognition of the environment. To avoid unknown obstacles exactly in unknown environment, accurate sensing is required. This paper proposes a sensor fusion to recognize unknown obstacles accurately by using low-cost sensors. Ultrasonic sensors and infrared sensors are used in this paper to avoid obstacles. If only one of these sensors is used alone, it is not useful fer the mobile robots to complete their tasks in the real world since the surrounding environment in the real world is complex and composed of many kinds of materials. So infrared sensor may not recognize transparent or reflective obstacles and ultrasonic sensor may not recognize narrow obstacles, far example, columns of small diameter. Therefore, I selected six ultrasonic sensors and five infrared sensors to detect obstacles. Then, I fused ultrasonic sensors with infrared sensors in order that both advantages and disadvantages of each sensor are utilized together. In fusing sensors, fuzzy algorithm is used to cope with the uncertainties of each sensor. TAMRY which is terrain-adaptive mobile robot is used as the mobile robot for experiments.

• 디지털융복합연구
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• 제14권9호
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• pp.485-493
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• 2016

본 연구는 영화 'crash'에서 다인종으로 구성된 미국사회의 일상생활에서 나타나는 충돌현상을 분석하고 다문화사회에 필요한 상담기법을 제시하고자 한다. crash에서 나타나는 충돌현상의 본질을 분석하기 위하여 욕망이론을 바탕으로 미국사회에서 일어나는 충돌의 특징에 대하여 융복합 심리학적 방법으로 분석하였다. 분석결과, 살아남으려는 욕망, 변혁하려는 욕망은 늘 좌절에 부딪혔다. 왜냐하면, 욕망의 분출을 억압하는 현실의 장벽이 존재하기 때문이다. 이러한 욕망의 좌절과정과 왜곡과정을 구조화하였다. 결론에서는 충돌로 인한 고통에 대하여, 인종차별적인 미국 사회에 다양한 방식으로 물들어 있는 문제적 인격들을 위한 '변화를 촉진하는 회복모델'이라는 상담기법과 이론을 제시하였다.

• 제어로봇시스템학회논문지
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• 제5권2호
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• pp.180-188
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• 1999

The objective of this paper is, based upon the principles of artificial life, to induce emergent behaviors of multiple autonomous mobile robots which complex global intelligence form from simple local interactions. Here, we propose an architecture of neural network learning with reinforcement signals which perceives the neighborhood information and decides the direction and the velocity of movement as mobile robots navigate in a group. As the results of the simulations, the optimum weight is obtained in real time, which not only prevent the collisions between agents and obstacles in the dynamic environment, but also have the mobile robots move and keep in various patterns.

• 대한수학교육학회지:수학교육학연구
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• 제20권3호
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• pp.305-322
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• 2010

평면도형의 넓이 학습에서 나타나는 인식론적 장애의 유형은 크게 측정의 속성과 관련된 장애, 단위정사각형 개념과 관련된 장애로 나눌 수 있다. 먼저, 측정의 속성과 관련된 장애의 원인은 길이와 넓이 개념 사이의 혼동, 도형 영역과 측정 영역에서 정의하는 방법상의 혼동 때문이며, 둘째, 단위정사각형 개념과 관련된 장애의 원인은 학생들에게 단위정사각형이 넓이의 기본단위로 인식이 잘 안되기 때문이며, 2 차원적 평면의 개념이 불완전하게 정착했기 때문이다. 이에 따라, 넓이에 대한 측정의 속성과 관련된 장애 현상의 교정적 지도 방안은 두 속성간의 관계를 살펴볼 수 있는 활동을 제시하고, 측정의 개념으로 넓이를 정의할 필요가 있으며, '정렬(array)'의 개념으로 넓이공식을 유도하고, 통합적으로 공식을 적용하도록 지도할 필요가 있다. 한편, 단위정사각형 개념과 관련된 장애 현상의 지도방안은 각 단계를 충분히 활동할 수 있도록 넓이를 구하고자하는 도형의 소재 및 형태를 다양하게 제시할 필요가 있으며, 넓이에 대한 연속량적 개념을 인식하도록 교수학적 방안을 구안해야 한다.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1130-1136
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• 2009

A new control algorithm for the yaw motion control of a unicycle robot has been proposed in this paper. With the increase of life quality, there are various transportation systems such as segway and unicycle robot which provide not only transportation but also amusement. In most of the unicycle robots share the same technology in that the directions of roll and pitch are controlled by the balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However, one disadvantage of this technology is that it cannot provide the capability to the robots to avoid obstacles in their path way. This research focuses to provide the yawing function to the unicycle robot and to control the yaw motion to avoid the obstacles as desired. For the control of yawing motion, the yaw angle is adjusted to the inertia generated by the velocity and torque of a yawing motor which is installed in the center axes of the unicycle robot to keep the lateral control simple. Through the real experiments, the effective and robustness of the yawing control algorithm has been demonstrated.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2189-2192
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• 1998

The objective of this paper is, based upon the principles of artificial life, to induce emergent behaviors of multiple autonomous mobile robots which form from simple local rules to complex global intelligence. Here, we propose an architecture of neural network learing with reinforcement signals which perceives the neighborhood information and decides the direction and the velocity of movement as mobile robots navigates in a group. As results of the simulations, the optimum weights are obtained in real time, which not only prevent from the collisions between agents and obstacles in the dynamic environment, but also have the mobile robots move and keep in various patterns.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2018년도 추계학술대회
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• pp.290-291
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• 2018

본 논문은 모바일 폰을 이용한 자동차 제어를 위한 임베디드 시스템을 설계하고, 아두이노 자동차 모델의 제어에 적용한다. 아두이노 자동자 모델에 여러 가지 센서를 부착하여 실제 상황에서 발생할 수 있는 사건들을 모의 실험하고, 자동차의 주변 환경에서 발생할 수 있는 장애물 감지와 자동차 간의 거리 측정을 통하여 상황에 대처하기 위한 자동 제어 알고리즘을 설계한다. 그리고 제안된 시스템의 타당성을 분석한다.

• 한국축산식품학회지
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• 제44권1호
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• pp.39-50
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• 2024

The projected growth of global meat production over the next decade is attributed to rising income levels and population expansion. One potentially more pragmatic approach to mitigating the adverse externalities associated with meat production involves implementing alterations to the production process, such as transitioning to cultured meat, hybrid cultured meat, and meat alternatives. Cultured meat (CM) is derived from animal stem cells and undergoes a growth and division process that closely resembles the natural in vivo cellular development. CM is emerging as a widely embraced substitute for traditional protein sources, with the potential to alleviate the future strain on animalderived meat production. To date, the primary emphasis of cultured meat research and production has predominantly been around the ecological advantages and ethical considerations pertaining to animal welfare. However, there exists substantial study potential in exploring consumer preferences with respect to the texture, color, cuts, and sustainable methodologies associated with cultured meat. The potential augmentation of cultured meat's acceptance could be facilitated through the advancement of a wider range of cuts to mimic real muscle fibers. This review examines the prospective commercial trends of hybrid cultured meat. Subsequently, the present state of research pertaining to the advancement of scaffolding, coloration, and muscle fiber development in hybrid cultured meat, encompassing plant-based alternatives designed to emulate authentic meat, has been deliberated. However, this discussion highlights the obstacles that have arisen in current procedures and proposes future research directions for the development of sustainable cultured meat and meat alternatives, such as plant-based meat production.

• International Journal of Computer Science & Network Security
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• 제24권5호
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• pp.1-10
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• 2024

Individuals with visual impairments face numerous challenges in their daily lives, with navigating streets and public spaces being particularly daunting. The inability to identify safe crossing locations and assess the feasibility of crossing significantly restricts their mobility and independence. Globally, an estimated 285 million people suffer from visual impairment, with 39 million categorized as blind and 246 million as visually impaired, according to the World Health Organization. In Saudi Arabia alone, there are approximately 159 thousand blind individuals, as per unofficial statistics. The profound impact of visual impairments on daily activities underscores the urgent need for solutions to improve mobility and enhance safety. This study aims to address this pressing issue by leveraging computer vision and deep learning techniques to enhance object detection capabilities. Two models were trained to detect objects: one focused on street crossing obstacles, and the other aimed to search for objects. The first model was trained on a dataset comprising 5283 images of road obstacles and traffic signals, annotated to create a labeled dataset. Subsequently, it was trained using the YOLOv8 and YOLOv5 models, with YOLOv5 achieving a satisfactory accuracy of 84%. The second model was trained on the COCO dataset using YOLOv5, yielding an impressive accuracy of 94%. By improving object detection capabilities through advanced technology, this research seeks to empower individuals with visual impairments, enhancing their mobility, independence, and overall quality of life.

• The Journal of Korean Physical Therapy
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• 제27권5호
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• pp.364-368
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• 2015

Purpose: Walking in the dual-task condition is a critical skill for hemiplegic patients to live in real-life situations. The purpose of this study was to compare the effect of dual-task gait training and general gait training on gait parameters and cognitive function in patients with chronic stroke during dual-task walking. Methods: The study included 23 patients with chronic hemiparetic stroke who were randomly divided into experimental (dual-task gait training) and control (general walking training) groups. The 11 subjects in the experimental group and nine subjects in the control group received dual-task gait training (walking while handling a ball, crossing obstacles, picking up various objects, and problem solving simple cognitive tasks and general over-ground gait training, respectively, for 30 minutes per day 5 days per week for 4 weeks. Spatiotemporal parameters and cognitive tasks in the dual-task gait condition were measured. Statistical analysis of the changes between the pre- and post-intervention measurement variables was performed using ANCOVA. Results: In the gait condition under cognitive tasks, the changes pre- and post-intervention in gait velocity, stride length, double support limb, and step symmetry were significantly greater in the dual-task gait training group; however, the dual-task gait training group showed no significant improvement compared to the general gait training group in terms of the assessment of cognitive tasks. Conclusion: The findings suggest that dual-task gait training may be beneficial for walking ability in dual-task walking condition.