• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Communications of Mathematical Education
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• v.25 no.1
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• pp.245-259
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• 2011

In this study, the instrument of mathematical creative problem solving ability test were considered the differences between Korean and American sixth grade students in mathematical creativity ability and mathematical thinking ability. The instrument consists of 9 items. The participants for the study were 212 Korean and 148 American students. SPSS were carried out to verify the validities and reliability. Reliabilities(Cronbach ${\alpha}$) in mathematical creativity ability is 0.9047 and in mathematical thinking ability is 0.9299 which were satisfied internal validity evaluation on the test items. Internal validity were analyzed by BIGSTEPS based on Rasch's 1-parameter item response model. The results of this study can serve as a foundation for understanding the Korean and American students differences in mathematical creativity ability and mathematical thinking ability. Especially we get the some informations on mathematical creativity ability for American's fifth grade to seventh grade students.

• Proceedings of the Korea Society of Environmental Biology Conference
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• 2003.06a
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• pp.1-5
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• 2003

In order to prepare a basis for ecological restoration of the Seoul Metropolitan area, ecological diagnoses on soil physico-chemical properties and vegetation structure were carried out. Land use patterns, actual vegetation, and biotope patterns were also investigated based on aerial photograph interpretation and field checks. I formulated landscape elements overlaying those data and evaluated the ecological value of each element. Soil pollution was evaluated by analyzing soil samples collected in each grid on the mesh map, divided by 2km $\times$ 2km intervals. Soil samples were collected in forests or grasslands escaped from direct human interference. Soil pollution evaluated from pH, and SO$_4$, Ca, Mg, and Al contents of soil was more severe in the urban outskirts than in the urban center. Those soil environmental factors showed significant correlation with each other. Vegetation in the urban area was different in species composition from that in suburban areas and showed lower diversity compared with that in the suburban areas. Successional process investigated by population structure of major species also showed a difference. That is, successional trend was normal in suburban areas, but that in urban areas showed a retrogressive pattern. The landscape ecological map of Seoul indicates that the urban center lacks vegetation and greenery space is restricted in urban outskirts. Such an uneven distribution of vegetation has caused a specific urban climate and thereby contributed to aggravation of air and soil pollution, furthermore causing vegetation decline. From this result, it was estimated that such uneven distribution of vegetation functioned as a trigger factor to deteriorate the urban environment. I suggested, therefore, a restoration plan based on landscape ecological principles, which emphasizes connectivity and even distribution of green areas throughout the whole area of the Seoul to solve this complex environmental problem. In this restoration plan, first of all, I decided the priority order for connection of the fragmented greenery spaces based on the distances from the core reserves comprised of green belt and rivers, which play roles as habitats of wildlife as well as for improvement of urban environment. Next, I prepared methods to restore each landscape element included in the paths of green network to be constructed in the future on the bases of such preferential order. Rivers and roads, which hold good connectivity, were chosen as elements to play important roles in constructing green network by linking the fragmented greenery spaces.

• Korean Journal of Health Education and Promotion
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• v.16 no.1
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• pp.31-43
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• 1999

Increase of automobiles become today's environmental problem decreasing space for our children's playground. The traffic situation around us shows automobiles over filled the public roads and started to intrude even on the side walks. Children's traffic safety education for the awareness of the danger from traffic mishaps, and for the behavior to cope with preventives measure by continual learning programs in systematized method is very important need in current health education. For this research, the subject was represented by 243 students from 4th grade in D Elementary School located at Daechi-dong, Seoul. During total of 5 weeks (September 4, 1997 to September 30, 1997), lessons were taught to the subject. Lessons consist of traffic safety education and customized education program that were designed and developed specificially for the subject level. In this research, Case group of 3 classes and control group of 3classes were predetermined before subject's degree of knowledge, attitude, and practice was analized. The difference before and after the training of this education was observed to verify the effectively and to find the influential factors of this education program. On September 2-3, survey study was performed after the training. the results of this study were as follows: 1. The knowledge analysis from the comparison between before and after of the training shows case group and control group scored(8.36, 8.86) before the traning, but scored(10.36, 8.52) after the traning. the difference from the result of the case group is statistically significant(p〈0.001). 2. The attitude analysis from the comparison between before and after of the training shows case group and control group scored(48.23, 49.87) before the training, but scored (51.05, 48.45) after the traning. the difference from the result of the case group is statistically significant(p〈0.001) 3. The practice analysis from the comparison between before and after of the training shows case group and control group scored (27.42, 28.08) before the training, but scored(30.49, 28.25) after the training. The differece from the result of the case group is statistically significant (p〈0.001). 4. The correlation analysis of traffic safety education's influence on traffic safety knowledge, attitude, and practice before training shows the relationship between attitude and practice was satistically significant(p〈0.05). The result after the training shows the relationship between knowledge and attitude, attitude and practice, and knowledge and practice was all statistically significant(p〈0.001).

• Journal of KIISE:Computer Systems and Theory
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• v.32 no.1
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• pp.9-20
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• 2005

Recently, the MPEG-7 standard a multimedia content description standard is wide]y used for content based image/video retrieval systems. However, since the descriptors standardized in MPEG-7 are usually multidimensional and the problem called 'Curse of dimensionality', previously proposed indexing methods(for example, multidimensional indexing methods, dimensionality reduction methods, filtering methods, and so on) could not be used to effectively index the multimedia database represented in MPEG-7. This paper proposes an efficient multimedia data indexing mechanism reflecting the characteristics of MPEG-7 visual descriptors. In the proposed indexing mechanism, the descriptor is transformed into a histogram of some attributes. By representing the value of each bin as a binary number, the histogram itself that is a visual descriptor for the object in multimedia database could be represented as a bit string. Bit strings for all objects in multimedia database are collected to form an index file, bitmap index, in the proposed indexing mechanism. By XORing them with the descriptors for query object, the candidate solutions for similarity search could be computed easily and they are checked again with query object to precisely compute the similarity with exact metric such as Ll-norm. These indexing and searching mechanisms are efficient because the filtering process is performed by simple bit-operation and it reduces the search space dramatically. Upon experimental results with more than 100,000 real images, the proposed indexing and searching mechanisms are about IS times faster than the sequential searching with more than 90% accuracy.

• Tunnel and Underground Space
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• v.15 no.4 s.57
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• pp.264-274
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• 2005

The optimum blasting pattern to excavate a quarry efficiently and economically can be determined based on the minimum production cost which is generally estimated according to rock fragmentation. Therefore it is a critical problem to predict fragment size distribution of blasted rocks over an entire quarry. By comparing various prediction models, it can be ascertained that the result obtained from Kuz-Ram model relatively coincides with that of field measurements. Kuz-Ram model uses the concept of rock factor to signify conditions of rock mass such as block size, rock jointing, strength and others. For the evaluation of total production cost, it is imperative to estimate 3-D spatial distribution of rock factor for the entire quarry. In this study, a sequential indicator simulation technique is adopted for estimation of spatial distribution of rock factor due to its higher reproducibility of spatial variability and distribution models than Kriging methods. Further, this can reduce the uncertainty of predictor using distribution information of sample data The entire quarry is classified into three types of rock mass and optimum blasting pattern is proposed for each type based on 3-D spatial distribution of rock factor. In addition, plane maps of rock factor distribution for each ground levels is provided to estimate production costs for each process and to make a plan for an optimum blasting pattern.

• The Journal of the Korea institute of electronic communication sciences
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• v.15 no.5
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• pp.981-986
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• 2020

The Internet of Things refers to a space-of-things connection network configured to allow things with built-in sensors and communication functions to interact with people and other things, regardless of the restriction of place or time.IoT is a network developed for the purpose of services for human convenience, but the scope of its use is expanding across industries such as power transmission, energy management, and factory automation. However, the communication protocol of IoT, MQTT, is a lightweight message transmission protocol based on the push technology and has a security vulnerability, and this suggests that there are risks such as personal information infringement or industrial information leakage. To solve this problem, we designed a synchronous MQTT security channel that creates a secure channel by using the characteristic that different chaotic dynamical systems are synchronized with arbitrary values in the lightweight message transmission MQTT protocol. The communication channel we designed is a method of transmitting information to the noise channel by using characteristics such as random number similarity of chaotic signals, sensitivity to initial value, and reproducibility of signals. The encryption method synchronized with the proposed key value is a method optimized for the lightweight message transmission protocol, and if applied to the MQTT of IoT, it is believed to be effective in creating a secure channel.

• Journal of the Korean earth science society
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• v.21 no.3
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• pp.208-218
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• 2000

The popularization and the common use of internet are realizing these days thanks to the development of web. Using the web as a teaching instrument is the Web Based Instruction(WBI). WBI, along with constructivism, has a great influence on the present educational society. However, many problems were found in learners' using the numerous WBI programs in cyber space. Above all, the interaction between teachers and learners is not enough, and searching for the materials on web is not easy. It's very difficult for a teacher to design and construct a WBI program in school teaching. But It is not so difficult to design and construct a WBI program based on interaction. Therefore, if a teacher familiar to students in school makes a web page and provides a cyberspace, the students will interact very easily them in the cyberspace. They can use the e-mail, bulletin board or discuss and chat. The cyberspace will make up for the insufficient interaction in school life. But because this program needs all students have proper material condition, there will be another kind of estranged learners. Thus, this problem can be solved by the cheap-popular PC offering movement backed by the government, and other types of projects systematically.

• Journal of the Korean earth science society
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• v.31 no.6
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• pp.563-572
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• 2010

Both multi-channel temperature monitoring and geophysical electric survey were performed together for an embankment to assess the leakage zone. Temperature variation according to space and time on the inner parts of engineering constructions (e.g.: dam and slope) can be basic information for diagnosing their safety problem. In general, as constructions become superannuated, structural deformation (e.g.: cracks and defects) could be generated by various factors. Seepage or leakage of water through the cracks or defects in old dams will directly cause temperature anomaly. This study shows that the position of seepage or leakage in dam body can be detected by multi-channel temperature monitoring using thermal line sensor. For that matter, diverse temperature monitoring experiments for a leakage physical model were performed in the laboratory. In field application of an old earth fill dam, temperature variations for water depth and for inner parts of boreholes located at downstream slope were measured. Temperature monitoring results for a long time at the bottom of downstream slope of the dam showed the possibility that temperature monitoring can provide the synthetic information about flowing path and quantity of seepage of leakage in dam body. Geophysical data by electrical method are also added to help interpret data.

• Journal of Korea Multimedia Society
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• v.15 no.4
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• pp.425-438
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• 2012

In this paper, We propose Augmented Reality (AR) System for the interaction between user's hand motion and virtual object motion based on computer vision. The previous AR system provides inconvenience to user because the users have to control the marker and the sensor like a tracker. We solved the problem through hand motion and provide the convenience to the user. Also the motion of virtual object using a physical phenomenon gives a reality. The proposed system obtains geometrical information by the marker and hand. The system environments like virtual space of moving virtual ball and bricks are made by using the geometrical information and user's hand motion is obtained from the hand's information with extracted feature point through the taping hand. And it registers a virtual plane stably by getting movement of the feature points. The movement of the virtual ball basically is parabolic motion with a parabolic equation. When the collision occurs either the planes or the bricks, we show movement of the virtual ball with ball position and normal vector of plane and the ball position is faulted. So we showed corrected ball position through experiment. and we proved that this system can replaced the marker system to compare to jitter of augmented virtual object and progress speed with it.