• Proceedings of the Korea Society of Mathematical Education Conference
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• 2010.04a
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• pp.151-163
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• 2010

This study is to provide improved teaching methods on classical geometric construction education by a straightedge and compass in school mathematics. In this paper, justifications of construction methods of Korean textbooks, for perpendicular bisector of an segment and angle bisector are discussed, which can be directly applicable to teaching geometric construction meaningfully. Based on these considerations, several implications for desirable teaching methods concerning geometric construction were suggested.

• Proceedings of KOSOMES biannual meeting
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• 2006.11a
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• pp.131-135
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• 2006

The objective of the project is to model and study the geomagnetic field structure and its secular variation in space and in time due to sources in the dynamic fluid outer core. the Earth's spherical harmonic model of the main field and of the secular variation gives the intensity and geomagnetic structure at any location around the Earth, assuming an undistorted, steady state field that no external sources or localized earth anomalies. To consider the practical use of a ship's digital compass in Earth's magnetic field, Earth's spherical harmonic model is searched for the related practical methods and procedures as a basic study in this work.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.4
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• pp.8-15
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• 2011

This paper proposes a real-time navigation algorithm which integrates the artificial potential field (APF) for an unmanned vehicle in the unknown environment. This approach uses repulsive potential function around the obstacles to force the vehicle away and an attractive potential function around the goal to attract the vehicle. In this research, laser range finder is used as range sensor. An obstacle detected by the sensor creates repulsive vector. Differential global positioning system (DGPS) and digital compass are used to measure the current vehicle position and orientation. The measured vehicle position is also used to create attractive vector. This paper proposes a new concept of potential field based navigation which controls unmanned vehicle's speed and steering. The magnitude of repulsive force based on the proposed algorithm is designed not to be over the magnitude of attractive force while the magnitude is increased linearly as being closer to obstacle. Consequently, the vehicle experiences a generalized force toward the negative gradient of the total potential. This force drives the vehicle downhill towards its goal configuration until the vehicle reaches minimum potential and it stops. The effectiveness of the proposed APF for unmanned vehicle is verified through simulation and experiment.

• 대한방사선방어학회:학술대회논문집
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• 2011.11a
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• pp.194-195
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• 2011

• East Asian mathematical journal
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• v.26 no.2
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• pp.151-164
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• 2010

This study is to provide improved teaching methods on classical geometric construction education by a straightedge and compass in school mathematics. In this paper, justifications of construction methods of Korean textbooks, for perpendicular bisector of an segment and angle bisector are discussed, which can be directly applicable to teaching geometric construction meaningfully. Based on these considerations, several implications for desirable teaching methods concerning geometric construction were suggested.

• Journal of Advanced Navigation Technology
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• v.21 no.2
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• pp.171-178
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• 2017

In this paper, in order to verify the performance of a localization algorithm using GPS as an auxiliary sensor, the algorithm was applied to a hovering-type autonomous underwater vehicle (AUV) to perform a field test. The applied algorithm is an algorithm to improve the accumulated positional error of dead reckoning using doppler velocity logger(DVL) and tilt-compensated compass module (TCM) mounted on the AUV. GPS when surfaced helps the algorithm to estimate the position and the heading bias error of TCM for geodetic north, which makes it possible to perform dead reckoning on north-east-down (NED) coordinates. As a result of field test performing heading control, it was judged that the algorithm could improve the positional error, enhance the operational capability of AUV and contribute to the research of underwater navigation depending on a magnetic compass.

• Journal of the Korean Magnetics Society
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• v.26 no.5
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• pp.159-167
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• 2016

We have examined the perceptions of 6th grade elementary school students' conceptions on the magnetic fields of a permanent magnet by cognitive style. Students' conceptions on the magnetic fields of permanent magnet after the iron powder experiment are grouped into four models; Partial Distribution Model (PDM), Pole Separation Model (PSM), Homogeneous Distribution Model (HDM), and Field Model (FM). After the experiment to observe the magnetic field of the permanent magnet with compass, the students' conceptions are grouped into three models; Pole Separation Model (PSM), Complex Homogeneous Distribution Model (CHDM), and Field Model (FM). And after the application of the alternative experimental method to observe the magnetic field with only one compass, students' conceptions on magnetic field has been enhanced in both field-dependent and general-cognitive groups of students.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2461-2466
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• 2003

This paper presents a simple sensor fusion algorithm using neural network for navigation of mobile robots with obstacle avoidance and trap recovery. The multiple sensors input sensor data to the input layer of neural network activating the input nodes. The multiple sensors used include optical encoders, ultrasonic sensors, infrared sensors, a magnetic compass sensor, and GPS sensors. The proposed sensor fusion algorithm is combined with the VFH(Vector Field Histogram) algorithm for obstacle avoidance and AGPM(Adaptive Goal Perturbation Method) which sets adaptive virtual goals to escape trap situations. The experiment results show that the proposed low-level fusion algorithm is effective for real-time navigation of mobile robot.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.433-434
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• 2008

이 논문은 실내에서 로봇의 주행 시 생기는 오차를 수정하는 것이다. 실내에 있는 장애물(문턱)을 넘을 경우 슬립에 의하여 주행거리와 실제거리의 오차가 생기고 또한 헤드 앵글 값이 변화함에 따라서 차후 엄청난 주행 오차를 발생시키게 된다. 그에 따라 PSD 센서를 이용하여 장애물을 감지하고 감지 후 장애물을 넘을 수 있도록 모터를 제어한다. 또한 PSD를 이용하여 장애물의 크기를 계산한 후 로봇이 장애물을 넘는 동안에 엔코더 값을 받아 들여서 장애물을 넘는 동안에 로봇이 실제 이동한 거리를 측정한다. 그리고 장애물을 넘은 후에 PSD로 계산한 장애물의 크기 값과 엔코더에서 받아들인 값을 비교하여 거리오차를 수정한다. 또한 전자컴퍼스를 이용하여 장애물을 넘기 전에 로봇의 헤드 앵글 값을 구하고, 장애물을 넘은 후에 로봇의 헤드 앵글 값을 구하여 두 개의 값을 비교한다. 두 개의 값의 차이를 측정하여 수정함으로써 헤드 앵글을 오차를 수정할 수 있다.

• Journal of the Korean Society of Earth Science Education
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• v.8 no.2
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• pp.193-205
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• 2015

In this study, a Virtual geological Field Trip(VFT) learning program using 3D panorama virtual reality techniques was developed to learn about the Gongju city 7 area located in Chungcheongnam-do, Korea. The developed $360^{\circ}$ 3D VFT program can show every face of observational points and interact as zoom-in, zoom-out and image rotation. For the educational effects of the materials, it is provided with a compass, a protractor, enlarged images, pop-up windows, etc.. The program was applied to the class of 35 gifted students in middle school to investigate the effectiveness of the program. The results showed that positive responses of the students were 90% or more. When geological field trip problems like cost, safety, distance occur in geological learning procedure of middle school science, this VFT program can become as a supplementary learning material and a solution.