• Korean small business review
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• v.41 no.3
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• pp.49-75
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• 2019

Market instability offers opportunities as well as the need for careful innovation strategies and learning for a company's survival. Companies that find new opportunities decide to carry out innovation and decide on the size of their investments by considering their position in the market they are aiming for and the intensity of competition. This study was conducted to check whether obstacles to innovation face by SMEs in the manufacturing sector vary depending on the stage of corporate growth and to identify the impact of the government support system on the decision-making process on the performance of innovation. According to the analysis, there were differences in obstacles to innovation depending on the stage of corporate growth. It was found that more innovative SMEs are, more obstacles they face, and to overcome such obstacles, they try to access government support systems more. In addition, the use of a government support system eliminated obstacles to innovation, and the positive and significant effects of investing in innovation were identified. This study is meaningful in that it explicitly approached these hypotheses by applying a multistage model to the process of innovation carried out by SMEs in the manufacturing sector.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.6
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• pp.470-476
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• 2001

This paper presents a new algorithm of path planning and obstacle avoidance for autonomous mobile robots with vision system that is working in unknown environments. Distance variation technique is used in path planning to approach the target and avoid obstacles in work space as well . In this approach, the Sobel operator is employed to detect edges of obstacles and the distances between the mobile robot and the obstacles are measured. Fuzzy rules are used for trajectory planning and obstacle avoidance to improve the autonomy of mobile robots. It is shown by computer simulation that the proposed algorithm is superior to the vector field approach which sometimes traps the mobile robot into some local obstacles. An autonomous mobile robot with single vision is developed for experiments. We also show that the developed mobile robot with the proposed algorithm is navigating very well in complex unknown environments.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.10 no.1
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• pp.133-141
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• 1999

In this paper, we present an indoor propagation prediction model which is based on a three-dimensional ray-tracing technique. In this model, instead of considering all obstacles such as furnitures and fixtures, etc., only main obstacles to the propagation such as walls, ceiling and floors are modeled as slabs with finite thickness and conductivity, and the significant phenomena of propagation are considered, so we can calculate simply and predict accurately the propagation losses. The propagating rays are considered to be reflected and transmitted specularly at the boundaries of obstacles, and diffracted at edges. The reflection and transmission losses on flat obstacles are calculated by using ray tracing method, and the diffraction losses at edges are calculated by using the uniform theory of diffraction (UTD) for finite conductivity media. The results simulated for some cases by this propagation model good agree with the measured value of pathloss.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.34 no.9
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• pp.851-857
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• 2010

In this study, an experiment was performed to obtain the optimum design of a passive micromixer for effective mixing by using a microsized device and rectangular obstacles; a low Reynolds number was maintained in the microchannel. The experiment was carried out by varying the number, size, and location of the rectangular obstacles. Further, the Y-channel's shape was optimized for maximizing the mixture ratio, which has limit qualification that an allowed value of pressure drop. The increase in the efficiency of mixing was observed to be greater than that in the case of circular obstacles by approximately 2.5%.

• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.275-281
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• 2007

This paper presents a motion planning strategy for legged robots using locomotion primitives in the complex 3D environments. First, we define configuration, motion primitives and locomotion primitives for legged robots. A hierarchical motion planning method based on a combination of 2.5 dimensional maps of the 3D workspace is proposed. A global navigation map is obtained using 2.5 dimensional maps such as an obstacle height map, a passage map, and a gradient map of obstacles to distinguish obstacles. A high-level path planner finds a global path from a 2D navigation map. A mid-level planner creates sub-goals that help the legged robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. A local obstacle map that describes the edge or border of the obstacles is used to find the sub-goals along the global path. A low-level planner searches for a feasible sequence of locomotion primitives between sub-goals. We use heuristic algorithm in local motion planner. The proposed planning method is verified by both locomotion and soccer experiments on a small biped robot in a cluttered environment. Experiment results show an improvement in motion stability.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.9
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• pp.4123-4144
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• 2016

Vehicular Ad Hoc Networks (VANETs) utilize radio propagation models (RPMs) to predict path loss in vehicular environment. Modern urban vehicular environment contains road infrastructure units that include road tunnels, straight roads, curved roads flyovers and underpasses. Different RPMs were proposed in the past to predict path loss, but modern road infrastructure units especially flyovers and underpasses are neglected previously. Most of the existing RPMs are computationally complex and ignore some of the critical features such as impact of infrastructure units on the signal propagation and the effect of both static and moving radio obstacles on signal attenuation. Therefore, the existing RPMs are incapable of predicting path loss in flyovers and underpass accurately. This paper proposes an RPM to predict path loss for vehicular communication on flyovers and inside underpasses that considers both the static and moving radio obstacles while requiring only marginal overhead. The proposed RPM is validated based upon the field measurements in 5 GHz frequency band. A close agreement is found between the measured and predicted values of path loss.

• Child Health Nursing Research
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• v.24 no.4
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• pp.353-363
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• 2018

Purpose: The purpose of this study was to investigate pediatric nurses' perceptions regarding in end-of-life care and turnover intention. Methods: A cross-sectional descriptive study was performed among 111 hospital nurses. Pediatric nurses' perceptions of obstacles and supportive behaviors were measured using the Pediatric Nurses' Perceptions of End of Life Care Questionnaire which was translated into Korean and turnover intention was measured using the Korean Nurse Turnover Intention Scale (K-NTIS). Results: The supportive behavior with the highest perceived magnitude was 'Physicians who are compassionate, but very clear about prognosis.' The obstacle with the highest perceived magnitude was 'Instigating painful treatments when there is no hope of recovery.' Pediatric nurses' perceptions of obstacles in end-of-life care showed statistically significant differences depending on whether nurses received end-of-life care education (t=2.02, p=.046). The perception of obstacles in end-of-life care was positively correlated with turnover intention (intensity r=.28, p=.002) (frequency r=.20, p=.027). Conclusion: These results suggest that pediatric nurses' perception of obstacles and supportive behaviors in end-of-life care need to be assessed when considering turnover intention. Furthermore, psychological counseling should be offered to nurses to prevent burnout and reduce moral distress which is correlated with the turnover rate.

• International Journal of Internet, Broadcasting and Communication
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• v.14 no.2
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• pp.47-54
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• 2022

For safe driving of autonomous vehicles, road damage detection is very important to lower the potential risk. In order to ensure safety while an autonomous vehicle is driving on the road, technology that can cope with various obstacles is required. Among them, technology that recognizes static obstacles such as poor road conditions as well as dynamic obstacles that may be encountered while driving, such as crosswalks, manholes, hollows, and speed bumps, is a priority. In this paper, we propose a method to extract similarity of images and find damaged road images using OpenCV image processing and CNN algorithm. To implement this, we trained a CNN model using 280 training datasheets and 70 test datasheets out of 350 image data. As a result of training, the object recognition processing speed and recognition speed of 100 images were tested, and the average processing speed was 45.9 ms, the average recognition speed was 66.78 ms, and the average object accuracy was 92%. In the future, it is expected that the driving safety of autonomous vehicles will be improved by using technology that detects road obstacles encountered while driving.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.871-875
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• 2003

To detect and avoid obstacles is one of the important tasks of mobile navigation. In a real environment, when a mobile robot encounters dynamic obstacles, it is required to simultaneously detect and avoid obstacles for its body safely. In previous vision system, mobile robot has used it as either a passive sensor or an active sensor. This paper proposes a new obstacle detection algorithm that uses a stereo camera as both a passive sensor and an active sensor. Our system estimates the distances from obstacles by both passive-correspondence and active-correspondence using laser slit. The system operates in three steps. First, a far-off obstacle is detected by the disparity from stereo correspondence. Next, a close obstacle is acquired from laser slit beam projected in the same stereo image. Finally, we implement obstacle avoidance algorithm, adopting the modified Dynamic Window Approach (DWA), by using the acquired the obstacle's distance.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.396-401
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• 2004

Recently a framework for the cognition-based navigational planning of a mobile robot on dynamic environment has been proposed, and simulation results applied it to the static environment been presented [1]. In this paper, we propose a linguistic map-based framework for the navigational planning of mobile robots, which is applicable to the dynamic environment including not only static obstacles but also dynamic obstacles such as temporal-spatio obstacles, by extending Lee et al. 's framework, and provide computer simulation results obtained by applying to a mobile robot on the dynamic environment in order to show the validity of the proposed algorithm.