• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.10a
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• pp.7-10
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• 2004

In this paper, we propose a method to avoid obstacles that have unstable limit cycles in a chaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. When a chaos UAVs meet an obstacle in an Arnold equation or Chua's equation trajectory, the obstacle reflects the UAV

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.7
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• pp.883-888
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• 2004

In this paper, we propose a method to avoid obstacles that have unstable limit cycles in a chaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. When a chaos UAVs meet an obstacle in an Arnold equation, Chua's equation and hyper-chaos equation trajectory the obstacle reflects the UAV( Unmanned Aerial Vehicle).

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.100-105
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• 1993

This paper discusses an approach to real-time path-planning of mobile robot navigating amidst multiple obstacles. Given an environment with the coordinates of known obstacles, the moving area of a mobile robot is divided into many patches of triangles with small edge length, in order to ensure a path better than those reported in the literature. After finding a minimum-distance to minimize the number of turns and total path-length by two-step path-revision and path-smmothing.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.1
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• pp.937-941
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• 2005

In this paper, we propose a chaotic underwater robots that have unstable limit cycles in a chaos trajectory surface with Arnold equation, Chua's equation. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. We also show computer simulation results of Arnold equation and Chua's equation chaos trajectories with one or more Van der Pol obstacles

• Journal of the Korean School Mathematics Society
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• v.19 no.1
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• pp.63-82
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• 2016

Mathematical notation is the main means to realize the power of mathematics. Under this perspective, this study analyzed the difficulties of learning an irrational number concept in terms of notation. I tried to find ways to overcome the difficulties arising from the notation. There are two primary ideas in the notation of irrational number using root. The first is that an irrational number should be represented by letter because it can not be expressed by decimal or fraction. The second is that $\sqrt{2}$ is a notation added the number in order to highlight the features that it can be 2 when it is squared. However it is difficult for learner to notice the reasons for using the root because the textbook does not provide the opportunity to discover. Furthermore, the reduction of the transparency for the letter in the development of history is more difficult to access from the conceptual aspects. Thus 'epistemological obstacles resulting from the double context' and 'epistemological obstacles originated by strengthening the transparency of the number' is expected. To overcome such epistemological obstacles, it is necessary to premise 'providing opportunities for development of notation' and 'an experience using the notation enhanced the transparency of the letter that the existing'. Based on these principles, this study proposed a plan consisting of six steps.

• Cartoon and Animation Studies
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• s.38
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• pp.237-258
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• 2015

This research aims to analyze gamer's behavior pattern on 'Blade for Kakao' RPG genre based on smart-phone. Three subjects were recruited using the concurrent protocol method to conduct ten episodes in region 1. As a result, it derived four behavior patterns according to the combination of space type affordance and the arrangement affordance of obstacle(monster). The result of this research revealed the forward attack arranged for the fixed obstacles in the wide space, the indirect attack as avoid-type arranged for scattered obstacles in the same space, the hunting up attack once arranged for the crowded obstacles in the same space, and the pulling attack arranged for obstacles in the narrow space. Moreover, it revealed the character growth and the optimization of attack method according to the attribute affordance of the obstacle(monster). This research expect to offer the design guideline for game level design to investigate the relationship between the game play and affordance in RPG genre based on smart-phone.

• Journal of Digital Convergence
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• v.11 no.12
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• pp.761-768
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• 2013

The serious game refers to the game which is combined game's fun with the peculiar object of the field including the education, medical treatment, public, and etc. By doing so, it can help that the learners are able to acquire the knowledge and technology of the relative field with joy. Currently, the serious game of the various fields is launched. However, there are many obstacles in Korea to develop the market. This paper is the research for showing how to overcome these problems. For this purpose, first, this research investigates the present condition of the serious game in the planning and development and marketing viewpoint. Second, the obstacles of the serious game are analyzed. Finally, the methods for solving these obstacles are shown. This paper is helpful for finding out the strategies for solving the obstacles without too much consideration of obstacle elements for serious game development.

• Journal of Broadcast Engineering
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• v.22 no.6
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• pp.724-733
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• 2017

Conventional methods of automatically recording Go game positions do not properly consider obstacles (hand or object) on a Go board during the Go game. If the Go board is blocked by obstacles, the position of a Go stone may not be correctly recognized, or the sequences of moves may be stored differently from the actual one. In the proposed algorithm, only the complete Go board image without obstacles is stored as a background image and the obstacle is recognized by comparing the background image with the current input image. To eliminate the phenomenon that the shadow is mistaken as obstacles, this paper proposes the new obstacle detection method based on the gradient image instead of the simple differential image. When there is no obstacle on the Go board, the background image is updated. Finally, the successive background images are compared to recognize the position and type of the Go stone. Experimental results show that the proposed algorithm has more than 95% recognition rate in general illumination environment.

• Journal of The Korea Institute of Healthcare Architecture
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• v.17 no.3
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• pp.43-51
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• 2011

The mobility and accessibility enhancement is gradually becoming a global interest due to the growth in the aging population and concerns about people with disabilities. The main purpose of this study is to know the current situation in barrier-free level in railroad facilities in order to allow the mobility handicapped to travel in a safe and convenient manner. The research has started with investigating current situation for the mobility handicapped people and explores the needs of barrier-free facilities. 84 domestic railroad facilities were evaluated based on assessment tool developed from the mobility handicapped act. As a result, the fact that the mobility handicapped experienced limited accessibility due to various types of obstacles in the facilities was discovered. Based on the evaluation, obstacles in the facilities were analyzed and categorized by specific dimensions, users' accessibility, mobility, usability, and clarity (way-finding). This study suggests barrier-free design for passenger facilities focused on train station. Because mobility and accessibility are emphasized in current society, improvement of the mobility handicapped' movement should be considered. Barrier-free design for passenger facilities should be realized throughout comprehending the reasons why these obstacles occur in the facilities not using installation convenience facilities. This study has meaning in finding out the obstacles in each cause of occurrence(accessibility, mobility, usability, and clarity (way-finding)).

• Journal of the Korean Society for Precision Engineering
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• v.17 no.7
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• pp.113-123
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• 2000

In the navigation for a mobile robot, the collision avoidance with unexpected obstacles is essential for the safe navigation and it is independent of the technique used to control the mobile robot. This paper presents a new collision avoidance algorithm using neural network for the safe navigation of the autonomous mobile robot equipped with CAN and ultrasonic sensors. A tracked wheeled mobile robot has a stability and an efficiency to move on a rough ground. And its mechanism is simple. However it has difficulties to recognize its surroundings. Because the shape of the tracked wheeled mobile robot is a square type, sensor modules are generally located on the each plane surface of 4 sides only. In this paper, the algorithm using neural network is proposed in order to avoid unexpected obstacles. The important character of the proposed algorithm is to be able to detect the distance and the angle of inclination of obstacles. Only using datum of the distance and the angle, informations about the location and shape of obstacles are obtained, and then the driving direction is changed. Consequently, this algorithm is capable of real time processing and available for a mobile robot which has few sensor modules or the limited sensing range such as a tracked wheeled mobile robot. Effectiveness of the proposed algorithm is illustrated through a computer simulation and an experiment using a real robot.