• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.489-496
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• 2006

The random-based cleaning algorithm is a simple algorithm widely used in commercial vacuum cleaning robots. This algorithm has two limitations, that is, cleaning takes a long time and there is no guarantee that the cleaning will cover the whole cleaning area. This has lead to customer dissatisfaction. Thus, in recent years, many intelligent cleaning algorithms that takes into consideration information gathered from the cleaning area environment have been proposed. The plowing-based algorithm, which is the most efficient algorithm known to date when there are no obstacles in the cleaning area, has a deficiency that when obstacle prevail, its performance is not guaranteed. In this paper, we propose the Group-k algorithm that is efficient for that situation, that is, when obstacle prevail. The goal is not to complete the cleaning as soon as possible, but to clean the majority of the cleaning area as fast as possible. The motivation behind this is that areas close to obstacles are usually difficult for robots to handle, and hence, many require human assistance anyway In our approach, obstacles are grouped by the complexity of the obstacles, which we refer to as 'complex rank', and then decide the cleaning route based on this complex rank. Results from our simulation-based experiments show that although the cleaning completion time takes longer than the plowing-based algorithm, the Group-k algorithm cleans the majority of the cleaning area faster than the plowing algorithm.

• International Journal of Computer Science & Network Security
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• v.22 no.1
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• pp.241-247
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• 2022

This study examines teachers' implementation of strategies to modify the aggressive behavior of students with intellectual disabilities in Saudi Arabia, to determine the obstacles to their real-world execution. In addition, it presents potential approaches to overcome the obstacles to implementing strategies with this group of students. The research employed a qualitative design using semi-structured interviews as a data collection tool and applied a thematic analysis. The study population comprised 35 teachers of students with intellectual disabilities and the study sample numbered six teachers. The interviews were conducted via different methods: three by phone, two face-to face, and one using the Zoom platform. The results revealed inadequate understanding among teachers of intellectual disability and behaviour modification strategies, and this affected their capacity to develop plans that were compatible with the needs of students with intellectual disability. The findings also identified multiple obstacles that impede teachers' implementation of strategies to modify aggressive behaviour among students with intellectual disabilities; the most important being the lack of input from a psychological specialist when developing programs to modify aggressive behaviour. In general, it is apparent that programs for modifying aggressive behaviour are neither structured nor complementary, due to the scarcity of administrators with sufficient knowledge and familiarity with the characteristics and personalities of students with intellectual disabilities. This study presents several recommendations, the most important of which is that teachers of students with intellectual disability should develop themselves through training courses to enable them to deal with these students and create treatment plans that include strategies and clear steps to modify the aggressive behaviour of students with intellectual disabilities. To support teachers, it is also necessary to remove the obstacles facing education centres by providing financial support to create an environment in which they can access the required devices and equipment in their classes.

• Journal of the Korean Institute of Gas
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• v.17 no.1
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• pp.13-18
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• 2013

Experimental studies were carried out to investigate the interactions between the propagating flame fronts and different multiple obstacles within an explosion chamber. The explosion chamber is 600 mm in height, $700{\times}700mm^2$ in cross-section and has a H/L value of 0.86. Three different multiple obstacles with the blockage ratio of 0.43 were replaced within the chamber. The results showed that relatively higher local flame displacement speed was observed with the triangular obstacle while the lower was observed with the circular one. It was found that the local flame displacement speeds behind the obstacle were largely dependent on the obstacle types. It was also found that as the flame interacted with the flow field generated behind the obstacle, the probability density functions(PDFs) of the local flame displacement speed were extensively distributed toward higher speeds.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.807-814
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• 2014

In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.34 no.6
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• pp.211-221
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• 2022

The wave runup height is one of the most important parameters for affecting the design of coastal structures such as dikes, revetments, and breakwaters. In this study, SWASH (Zijlema et al., 2011), a non-hydrostatic pressure numerical model, was used to analyze the effect of reducing The wave runup height of solitary waves by submerged and floating rectangular obstacles. It was confirmed that the SWASH model reproduces the propagation, breaking, and runup of solitary waves quite well. In addition, it was confirmed that the wave deformation of the solitary wave by submerged and floating rectangular obstacles was well reproduced. Finally, we conducted an examination of the effect of reducing the runup height of submerged and floating rectangular obstacles. Reduced runup heights are calculated and the characteristics of runup height reduction according to the dimensions of the obstacle were analyzed. The energy attenuation effect of the floating obstacle is greater than the submerged obstacle, and it is shown to be more effective in reducing the runup height.

• The Journal of Korea Assosiation for Disability and Oral Health
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• v.15 no.1
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• pp.7-13
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• 2019

The aim of this study was to clarify the barriers of dental treatment for special needs patients felt by dentists and to determine the dentist-related factors contributing to the obstacles in treatment planning and decision making. Questionnaires were distributed and responded by dentists working at five public-based special care clinics in South Korea. Factors divided into three parts (dentist demographics, clinical factors, and educational and administrational factors) were assessed and analyzed for correlations between dentist-related factors and dentist-felt burdens for special care treatment. Fisher's exact test and Chi-square test were used at the level of 0.05. A total of 34 dentists responded to the questionnaires. Almost all dentists had obstacles in the treatment of special needs patients in terms of the patients' lack of cooperation (94.1%), proxy communication with caregivers (94.1%), payment reward system (63.6%), deficient workforce (67.7%), and others. The longer dentists had been practicing for special needs patients, the more they were dissatisfied with the reward system and a longer time was spent for communication with patients and their caregivers (p<0.05). For specialists, more obstacles were experienced in treatment planning due to a deficiency in the clinical information obtained from their patients compared to general practitioners (p<0.05). A total of 82.4% of the respondents approved of mandatory educational programs for special care dentists. There were practitioner-based factors related to the amount of obstacles felt by special care dentists. To overcome the treatment barrier of special needs patients, in-depth education and training are required in special care dentistry.

• Journal of the Korea Society for Simulation
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• v.16 no.1
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• pp.31-37
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• 2007

The importance of NPC's role in computer games is increasing. An NPC must perform its tasks by perceiving obstacles and other characters and by moving through them. It has been proposed to plan a natural-looking path against fixed obstacles by using a generalized visibility graph. In this paper we develop the execution module for an NPC to move efficiently along the path planned on the generalized visibility graph. The planned path consists of line segments and arc segments, so we define steering behaviors such as linear behaviors, circular behaviors, and an arriving behavior for NPC's movements to be realistic and utilize them during execution. The execution module also includes the collision detection capability to be able to detect dynamic obstacles and uses a decision tree to react differently according to the detected obstacles. The execution module is tested through the simulation based on the example scenario in which an NPC interferes the other moving NPC.

• Korean Journal of Applied Biomechanics
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• v.18 no.2
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• pp.11-17
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• 2008

Falls associated with tripping over an obstacle can be dangerous, yet little is known about the strategies used for stepping over obstacles by Parkinson's patients. The purpose of this study was to investigate stepping over gait characteristics according to obstacle height in Parkinson's patients. The gait of 7 Parkinson's patients was examined during a 5.0 m approach to, and while stepping over, obstacles of 0, 2.5, 5.2, and 15.2 cm. Only five Parkinson's patients were able to clear all obstacles successfully; as such, only their data were analyzed. A one-way ANOVA for repeated measures was employed for selected kinematic variables to analyze the differences of the height of four obstacles. The results showed significant differences between obstacle height and: approaching speed (AS), foot clearance from the obstacle(FC), and step width (SW). The results showed no significant differences between obstacle height and: crossing speed (CS), toe distance (TD), and heel distance (HD). This strategy tends to reduce the risk of toe contact with the obstacle. Parkinson's patients were stepping over the obstacle slowly, stably and inefficiently.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.3
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• pp.292-297
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• 2016

This paper presents a navigation problem for an autonomous mobile robot in an unknown environment. The environment contains various types of obstacles and is completely unknown to the robot. Therefore, all of the surrounding information must be detected by the robot's proximity sensors. A navigation method was developed based on a fuzzy inference system to guide the robot to move along a collision-free path and reach the goal position quickly. The obstacles are assumed to be static, and both regular and irregular types of obstacles were investigated. A wall following method is also proposed for a special environment that contains a labyrinth or sharp U-valley obstacles. Simulation results demonstrate that the proposed method has great potential for this navigation problem.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.25 no.1
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• pp.99-107
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• 2014

Abruptly occurred obstacles on highway threaten driving safety. Radar draws the attention to the collision avoidance system because it can be fully operational in all weather, and day and night condition. This paper presents the design, implementation and performance test results of pulsed Doppler radar system for detection and warning of road obstacles. The system is designed to consider highway environment and detection capability about various fixed and moving obstacles. The system consists of 4 subsystems, which include antenna unit, transmitter and receiver unit, radar signal & data processing unit, and controller & display unit. The core technologies include clutter map based change detection for fixed obstacles detection, Doppler estimation for velocity detection of moving targets, and azimuth angle estimation method using monopulse for lane estimation and tracking. The design performance of the developed radar system is verified through experiments using a fixed reference target and moving vehicles in test highway.