• 제어로봇시스템학회논문지
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• 제11권12호
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• pp.1011-1019
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• 2005

In this paper, Ubiquitous Home Mess-Cleanup Robot(UHMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of tile self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulate,, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and UHMR. Finally, the good performance of the designed UHMR is confirmed through the results of the mess clean-up and arrangement.

• Journal of Communications and Networks
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• 제18권5호
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• pp.837-845
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• 2016

Providing a customer with tailored location-based services (LBSs) is a fundamental problem. For location-estimation techniques with radio-based measurements, LBS applications are widely available for mobile devices (MDs), such as smartphones, enabling users to run multi-task applications. LBS information not only enables obtaining the current location of an MD but also provides real-time push-pull communication service. For indoor environments, localization technologies based on radio frequency (RF) pattern-matching approaches are accurate and commonly used. However, to survey radio information for pattern-matching approaches, a considerable amount of time and work is spent in indoor environments. Consequently, in order to reduce the system-deployment cost and computing complexity, this article proposes an indoor positioning approach, which involves using Asus Xtion to facilitate capturing RF signals during an offline site survey. The depth information obtained using Asus Xtion is utilized to estimate the locations and predict the received signal strength (RF information) at uncertain locations. The proposed approach effectively reduces not only the time and work costs but also the computing complexity involved in determining the orientation and RF during the online positioning phase by estimating the user's location by using a smartphone. The experimental results demonstrated that more than 78% of time was saved, and the number of samples acquired using the proposed method during the offline phase was twice as much as that acquired using the conventional method. For the online phase, the location estimates have error distances of less than 2.67 m. Therefore, the proposed approach is beneficial for use in various LBS applications.

• 한국콘텐츠학회논문지
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• 제14권7호
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• pp.291-301
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• 2014

본 연구는 신입간호사의 정서지능, 자아탄력성, 핵심자기평가가 간호업무수행에 미치는 영향을 파악하는 서술적 조사연구이다. 대상자는 경기도에 소재한 800병상 이상의 종합병원 2곳에서 근무하는 12개월 미만의 신입간호사 114명이었다. 자료 수집은 2013년 7월부터 11월까지 간호업무수행, 정서지능, 자아탄력성, 핵심자기평가에 대해 구조화된 설문지를 이용하여 측정하였다. 연구의 결과, 신입간호사의 교육 정도, 직무만족도, 근무부서 업무만족도에 따라 간호업무수행 정도의 차이가 있었으며, 정서지능, 자아탄력성, 핵심자기평가가 높을수록 간호업무수행 정도는 높았다. 정서지능, 교육수준, 핵심자기평가와 직무만족도는 간호업무수행 정도를 잘 예측하는 변수로 확인되었고, 간호업무수행 정도를 33% 설명하는 것으로 나타났다. 따라서 신입간호사의 교육 정도와 직무만족도를 고려하여 신입간호사 오리엔테이션부터 간호업무수행 외에 정서지능과 핵심자기평가를 포함한 실제적인 실무적응 훈련교육이 필요하다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1612-1616
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• 2005

In this paper, a Home Mess-Cleanup Robot(HMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of the self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulator, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and HMR. Finally, the good performance of the designed HMR is confirmed through the results of the mess clean-up and arrangement.

• 한국지능시스템학회논문지
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• 제14권6호
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• pp.783-788
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• 2004

영상에서 얼굴이 있는 위치를 찾거나 얼굴을 검출하기 위한 많은 방법들이 연구되고 있다. 영상에서 얼굴 검출은 얼굴의 크기, 얼굴이 있는 위치, 그리고 다양한 포즈, 조명 상태 등의 변화에 따라 달라진다 따라서 얼굴 검출과 인식에 있어서의 어려운 점은 얼굴의 크기와 위치, 거리, 조명, 포즈 때문에 나타나는 것이다. 본 논문에서는 다양한 얼굴 크기와 얼굴이 있는 위치 등에 강인한 얼굴 검출을 위해 피셔의 선형 판별 함수를 이용하는 방법을 제안한다. 선형 판별식을 이용하여 효과적으로 얼굴을 검출하기 위해서는 학습 방법 및 학습에 사용되는 데이터들의 구성이 중요하다. 그 이유는, 얼굴 검출을 위해 사용되는 학습 데이터들은 조명과 포즈에 영향을 받기 때문에 얼굴의 특징들을 반영하는 학습 데이터들의 구성이 중요하다. 따라서 본 논문에서는 복잡한 배경과 다양한 크기의 얼굴을 검출하기 위한 계층적인 방법을 제시하며, 효과적인 피셔 판별 분석을 위하여 얼굴과 비얼굴 학습 데이터의 효율적인 분류 방법을 제안한다.

• 한국가정과교육학회지
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• 제28권2호
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• pp.51-59
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• 2016

본 연구에서는 교육부 고시 교육부 고시 '2015 개정 실과(기술 가정) 교육과정' 내용체계 중 "자원관리와 자립" 영역의 핵심개념인 "관리"와 "생애설계"에 대한 이론적 기초를 살펴보았다. 먼저 "관리"영역과 관련해서는 전통적인 가정관리의 이론적 토대인 체계이론에 대한 내용을 살펴보았으며 이러한 체계이론이 2015년 개정교육과정 내에서는 어떻게 반영되고 있는지를 진단한 결과 현 교육과정의 중학교 내용요소들은 중학생들의 실생활에서 직면하고 있는 생활관련 문제들을 통합적으로 포괄하고 있지 않으며 선별된 내용 요소들 또한 여러 가지 문제 상황 중에서 어느 정도 우선순위를 가지고 있는지 확신하기 어려운 부분이 있다. 다음으로 생애설계의 경우 진로지도에 부합하여 생애설계의 중요성을 강조하고 있기 때문에 발달과업을 비롯하여 가치관, 직업, 건강 등 매우 포괄적인 영역을 망라하여 생애설계의 대한 내용을 언급하고 있지만 2015 개정 교육과정에서는 국제적인 트렌드인 재무설계에 대한 중요성을 간과하고 있다는 사실은 다소 아쉬운 부분이다.

• 간호행정학회지
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• 제7권2호
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• pp.301-314
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• 2001

The main purpose of this research is to describe comprehensively the processes of clinical decision making in novice critical care nurses through clinical experience. This research was an exploratory, longitudinal study using a fieldwork approach incorporating "think-aloud" method and in-depth interviews with the study participants. The study participants consisted of 5 novice nurses assigned to critical care units at a tertiary medical center located in Seoul, among a group of 27 novice nurses who started at the same period at this hospital. The data were collected from March 1999 to April 2000. The major findings of the study is that the novice nurses followed the analytic linear model of clinical decision making in the beginning, but were changed increasingly to follow the comprehensive, integrated model of clinical decision making. Through repeated experience that resulted in increasing repertoire of clinical schema and familiarity of task environments of clinical practice the novice nurses expanded their ability to arrive at comprehensive integration of information and to arrive at accurate and time-efficient decisions. Both the analytic, linear model mostly used at the beginning period and the comprehensive, integrated model that seems to be the mode significantly dependent upon experience seem to have strengths and weaknesses as decision making processes in clinical situations. Hence, it is imperative to develop an effective orientation and training program for novice nurses through the use of clinical preceptors. In addition, students should be exposed to the process of clinical decision making early in their nursing education through an appropriate clinical experiences and clinical assignments.

• 로봇학회논문지
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• 제11권4호
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• pp.262-269
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• 2016

Flight of an autonomous unmanned aerial vehicle (UAV) generally consists of four steps; take-off, ascent, descent, and finally landing. Among them, autonomous landing is a challenging task due to high risks and reliability problem. In case the landing site where the UAV is supposed to land is moving or oscillating, the situation becomes more unpredictable and it is far more difficult than landing on a stationary site. For these reasons, the accurate and precise control is required for an autonomous landing system of a UAV on top of a moving vehicle which is rolling or oscillating while moving. In this paper, a vision-only based landing algorithm using dynamic gimbal control is proposed. The conventional camera systems which are applied to the previous studies are fixed as downward facing or forward facing. The main disadvantage of these system is a narrow field of view (FOV). By controlling the gimbal to track the target dynamically, this problem can be ameliorated. Furthermore, the system helps the UAV follow the target faster than using only a fixed camera. With the artificial tag on a landing pad, the relative position and orientation of the UAV are acquired, and those estimated poses are used for gimbal control and UAV control for safe and stable landing on a moving vehicle. The outdoor experimental results show that this vision-based algorithm performs fairly well and can be applied to real situations.

• 한국수학교육학회지시리즈C:초등수학교육
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• 제3권1호
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• pp.1-36
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• 1999

The case of four classrooms analyzed in this study point to many commonalities in the challenges of reforming mathematics teaching in Korea and the U. S. In both national contexts we have seen the need fur a clear distinction between implementing new student-centered social practices in the classroom, and providing significant new loaming opportunities for students. In particular, there is an important need to distinguish between attending to the social practices of the classroom and attending to students conceptual development within those social practices. In both countries, teachers in the less successful student-centered classes tended to abdicate responsibility fur sense making to the students. They were more inclined to attend to the literal statements of their students without analyzing their conceptual understanding (Episodes KA5 and UP 2). This is easy to do when the rhetoric of reform emphasizes student-centered social practices without sufficient attention to psychological correlates of those social practices. The more successful teachers tended to monitor the understanding of the students and to take proactive measures to ensure the development of that understanding (Episodes KO5 and UN3). This suggests the usefulness of constructivism as a model (or successful student-centered instruction. As Simon(1995) observed, constructivist teachers envision a hypothetical learning trajectory that constitutes their plan and expectation for students learning from the particular if the trajectory is being followed. If not, the teacher adjusts or supplements the task to obtain a more satisfactory result, or reconsider her or his assumptions concerning the hypothetical learning trajectory. In this way, the teacher acts proactively to try to ensure that students are progressing in their understanding in particular ways. Thus the more successful student-centered teacher of this study can be seen as constructivist in their orientation to student conceptual development, in comparison to the less successful student-centered teachers. It is encumbant on the authors of reform in Korea and the U. S. to make sure that reform is not trivialized, or evaluated only on the surface of classroom practices. The commonalities of the two reform endeavores suggest that Korea and the U. S. have much to share with each other in the challenges of reforming mathematics teaching for the new millennium.

• 한국컴퓨터정보학회논문지
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• 제18권1호
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• pp.11-19
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• 2013

자율적인 다개체 모바일 로봇 시스템에 관해 경로 계획과 충돌회피는 중요한 기능이며 동시에 협력과 협동적으로 주어진 일을 수행하는데 필요한 기능이다. 본 논문에서는 이러한 중요하고도 도전적인 문제를 다룬다. 제안된 방법은 포텐셜 필드 방법과 퍼지로직 시스템에 기반을 두고 있다. 첫째로, 전역경로 계획은 포텐셜 필드를 이용하여 로봇이 목적지까지 가는데 비용을 최소화할 수 있는 경로를 선택한다. 그러고 나서 지역경로 계획은 퍼지로직 시스템을 이용하여 정적이거나 동적인 장애물과의 충돌을 피하기 위해 전역경로에서 경로를 변경시킨다. 본 논문에서는 각각의 로봇은 독립적으로 목적지를 선택하며 동시에 다른 로봇은 동적인 장애물로 고려한다. 또한 장애물의 움직임을 예측할 필요도 없다. 이러한 과정은 각각의 로봇이 해당되는 목적지를 찾을 때 까지 지속된다. 이 방법을 테스트하기 위해 자율 다개체 로봇 시뮬레이터(AMMRS)를 개발했으며 시뮬레이션과 실험기반의 결과물을 제공한다. 본 결과는 다개체 모바일 로봇 시스템에 대하여 경로계획과 충돌회피 전략이 효율적이며 유용하다는 것을 보인다.