• The Journal of Korea Robotics Society
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• v.13 no.2
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• pp.129-141
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• 2018

This paper proposes a unified framework that overcomes four motion constraints including joint limit, kinematic singularity, algorithmic singularity and obstacles. The proposed framework is based on our previous works which can insert or remove tasks continuously using activation parameters and be applied to avoid joint limit and singularity. Additionally, we develop a method for avoiding obstacles and combine it into the framework to consider four motion constraints simultaneously. The performance of the proposed framework was demonstrated by simulation tests with considering four motion constraints. Results of the simulations verified the framework's effectiveness near joint limit, kinematic singularity, algorithmic singularity and obstacles. We also analyzed sensitivity of our algorithm near singularity when using closed loop inverse kinematics depending on magnitude of gain matrix.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.2
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• pp.85-92
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• 2003

In this paper, we propose a method to evaluate performances of mobile personal robots. A set of performance measures is proposed and the corresponding evaluation methods are developed. Different from industrial manipulators, personal robots need to be evaluated with its mobility, navigation, task and intelligent performance in environments where human beings exist. The proposed performance measures are composed of measures for mobility including vibration, repeatability, path accuracy and so on, as well as measures for navigation performance including wall following, overcoming doorsill, obstacle avoidance and localization. But task and intelligent behavior performances such as cleaning capability and high-level decision-making are not considered in this paper. To measure the proposed performances through a series of tests, we designed a test environment and developed measurement systems including a 3D Laser tracking system, a vision monitoring system and a vibration measurement system. We measured the proposed performances with a mobile robot to show the result as an example. The developed systems, which are installed at Korea Agency for Technology and Standards, are going to be used for many robot companies in Korea.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.3
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• pp.171-179
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• 2018

In order to ensure the interoperability of products and technologies, companies apply standard technology in R&D but encounter various obstacles in this process, which they try to overcome through active standardization activities. Various studies have investigated the obstacles and coping strategies of companies in the R&D process. However, studies on the obstacles and coping strategies in the standardization process are insufficient, and the types of obstacles related to standardization, so a variety of studies are also needed on the types of activities. In this study, we tried to determine the types of obstacles related to standardization and to examine how these obstacles affect the standardization activities of companies. The analysis used the data from the 'National Standards Survey' which was conducted by the Korean Standards Association in Korea for companies engaged in the electrical, electronic, and information-related fields in Korea. The relationship between standard-related difficulties, needs and standardization activities was verified through structural equation modeling. The analysis results revealed that the standards-related disability issues have some influence on the standardization activities and the mediating effect by the necessity of the standard was investigated. We also found that many companies are making various efforts to overcome the barriers caused by standard activities. This suggests that a company can build a virtuous cycle structure by performing strategic actions to overcome obstacles by standardization activity and reducing the obstacles caused by standard-related research and development.

• Health Policy and Management
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• v.27 no.4
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• pp.284-295
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• 2017

Background: The objectives of this study were to identify the reasons of quitting smoking, to determine the factors that make it difficult or helpful to maintain smoking cessation and to confirm the changes after the smoking cessation. Methods: This study was conducted an in-depth interview with people who participated in the smoking cessation treatment program. There were 10 participants and they were interviewed thoroughly for 14 times. Using the directed content analysis, we analyzed the transcript which was written by recording the interview and the researchers' note. Results: The results of this study are summarized as 'the experience while at the verge of smoking cessation and stepping over the verge of smoking cessation,' 'the changing experience due to smoking cessation,' and 'maintaining the changes through overcoming re-smoking.' The smoking cessation treatment program induced the smokers to quit smoking. Participants mentioned drinking alcohol was the major obstacle to maintain smoking cessation. Also, they noted that the money and the time that were already spent to quit smoking helped their smoking cessation as well as the social relations which helped to prevent re-smoking. Participants felt well-cared through the smoking cessation treatment program and that it helped them to maintain smoking cessation. Conclusion: Smoking cessation treatment program has a positive effect on the smoking cessation trial and maintenance. In order for smokers to overcome re-smoking, educations regarding drinking problem, formation of supportive social relationship, and the applications for smoking cessation will be beneficial.

• Journal for History of Mathematics
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• v.31 no.2
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• pp.73-91
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• 2018

This study begins with the awareness of problem that the education of mathematics teachers has failed to link the limit and the infinite set conceptually. Thus, this study analyzes the historical and reciprocal development of the limit and the infinite set, and discusses how to improve the education of these concepts and their relation based on the outcome of this analysis. The results of the study confirm that the infinite set is the historical tool of linking the limit and the real numbers. Also, the result shows that the premise of 'the component of the straight line is a point.' had the fundamental role in the construction of the real numbers as an arithmetical continuum and that the moral certainty of this premise would be obtained through a thought experiment using an infinite set. Based on these findings, several proposals have been made regarding the teacher education of awakening someone to the fact that 'the theoretical foundation of the limit is the real numbers, and it is required to introduce an infinite set for dealing with the real numbers.' in this study. In particular, by presenting one method of constructing the real numbers as an arithmetical continuum based on a thought experiment about the component of the straight line, this study opens up the possibility of an education that could get the limit values psychologically connected to the infinite set in overcoming the epistemological obstacle related to the continuum concept.

• Journal of Fisheries and Marine Sciences Education
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• v.29 no.1
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• pp.270-285
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• 2017

This study is about the solution to solve the problem - aging of fisheries worker and exodus of young adult from fisheries. We tried to find out internal improvements which are necessary for overcoming issues. After that, research about inducements and institutional improvements to drive internal improvements has done. and Current policies of Korea for securing workforce in fisheries were examined especially for Gyeongsangnam-do by literature investigation and survey The main purpose of this study is, problems of policy in order to secure Fisheries managers, identify practical obstacle and the activities and management activities performance of training education. and it is to provide evidence to policy improvement. To achieve the purpose of this study, conducted studies are as below. This study is to investigate the educational performance of Fisheries managers and its impact on their business performance using SEM and SEM-Moderate-effect. In terms of the amount of impact on business performance, the level of educational achievement and management activity outcomes had the most impact followed by excellence of educational condition and programs distinction. Therefore, in order to inspire the motivation for learning and communicate the importance of such education to Fisheries communities, there is a need to introduce a variety of methods, professional facilities. The purpose of this research is to define the problems of the Fisheries Census of Korea and to make better policies for improvement. In order to complete the purpose, the research team has firstly conducted a survey in the six regions to reinvestigate the yes or no for accuracy of the primary data related to the Fisheries Census. Moreover, the team has defined the problems of the Fisheries Census through conducting a survey for the experts and users of the fisheries statistics. Also, the team has derived the short/long term improvement of Fisheries Census through out this survey.

• Asia-Pacific Journal of Business Venturing and Entrepreneurship
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• v.10 no.5
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• pp.185-196
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• 2015

In a study of the existing Collaboration, U-I Collaboration linkage(LINK) has a width of the various channels through continuous mutual cooperation by the path-dependency. U-I Collaboration linkage(LINK) through the various channels is more powerful, whereas this increase trade-related barriers. In other words, It has been discussed in many literatures about the U-I Collaboration linkage(LINK). However, relatively a study on the factor of the barrier about U-I Collaboration linkage(LINK) is a minority. Given the importance of policies to establish an association of industry-university cooperation and support system, the lack of research on the obstacles to U-I Collaboration linkage(LINK) will be a serious obstacle for designing effective policies. This paper examines the existing literature about the width of mutual cooperation and the barrier of U-I Collaboration, analyze to lower the barrier of U-I cooperation through POB(Positive Organization Behavior) of university administration. In conclusion, we would like to suggest the policy implications.

• School Mathematics
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• v.11 no.1
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• pp.39-53
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• 2009

This study was conducted in 2008 with 80 in-service mathematics teachers. We took a course that was consisted of a lecture and a practice on Socrates' method. In our study, mathematics teachers conducted making a teaching plan by using Socrates' method. But we became know that we need to offer concrete ideas or examples for mathematics teachers in order to apply Socrates' method effectively. Therefore we tried to search for educational methods in using Socrates' method to teach school mathematics. After investigating of preceding researches, we selected some examples. On the basis of these examples, we suggested concrete methods in using Socrates' method. That is as follows. Socrates' method need to be used in the context mathematical problem solving. Socrates' method can be applied in the process of overcoming cognitive obstacles. A question in using Socrates' method have to guide mathematical thinking (or attitude). When we use Socrates' method in the teaching of a proof, student need to have an opportunity to guess the conclusion of a proposition. The process of reflection revision-improvement can be connected to using Socrates' method.

• Industry Promotion Research
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• v.6 no.3
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• pp.79-88
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• 2021

Jonah complex is a psychological term put forward by Maslow, a famous American psychologist. In short, "Jonah complex" is the fear of growth. It comes from a hypothesis in psychodynamic theory: "people are not only afraid of failure, but also afraid of success." It represents a kind of psychology of self-evasion and retreat in the face of opportunities. It is an emotional state, which leads us not to do what we can do well, or even to avoid exploring our potential. From the perspective of self-actualization, it is a psychological obstacle to self-actualization. This paper consists of the following parts: the first chapter describes the research background and significance of this paper; the second chapter describes the theoretical basis of this paper; the third chapter explains that the research method of this paper is literature method; the fourth chapter analyzes the reasons for the formation of Jonah complex in detail; the fifth chapter describes how to overcome Jonah complex.

• Clinical and Experimental Reproductive Medicine
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• v.28 no.3
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• pp.183-190
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• 2001

Objective: Recently, microdissection of tissue sections has been used increasingly for the isolation of morphologically identified homogeneous cell populations, thus overcoming the obstacle of tissue complexity for the analysis cell-specific expression of macromolecules. The aim of the present study was to establish the minimal conditions required for the RNA extraction and amplification from the cells captured by the laser captured microdissection. Methods : Mouse ovaries were fixed and cut into serial sections (7 im thickness). Oocytes were captured by laser captured microdissection (LCM) method by using PixCell $II^{TM}$ system. The frozen sections were fixed in 70% ethanol and stained with hematoxylin and eosin, while the paraffin sections were stained with Multiple stain. Sections were dehydrated in graded alcohols followed by xylene and air-dried for 20 min prior to LCM. All reactions were performed in ribonuclease free solutions to prevent RNA degradation. After LCM, total RNA extraction from the captured oocytes was performed using the guanidinium isothiocyanate (GITC) solution, and subsequently evaluated by reverse transcriptase-polymerase chain reaction (RT-PCR) for glyceraldehyde-3-phosphate-dehydrogenase (GAPDH). Results: With the frozen sections, detection of the GAPDH mRNA expression in the number of captured 25 oocytes were not repeatable, but the expression was always detectable from 50 oocytes. With 25 oocytes, at least 27 PCR cycles were required, whereas with 50 oocytes, 21 cycles were enough to detect GA PDH expression. Amount of the primary cDNA required for RT-PCR was reduced down to at least 0.25 $\grave{i}$ l with 50 oocytes, thus the resting 19.75 il cDNA can be used for the testing other interested gene expression. Tissue-to-slide, tissue-to-tissue forces were very high in the paraffin sections, thus the greater number of cell procurement was required than the frozen sections. Conclusion: We have described a method for analyzing gene expression at the RNA level with the homogeneously microdissected cells from the small amount of tissues with complexity. We found that LCM coupled with RT-PCR could detect housekeeping gene expression in 50 oocytes captured. This technique can be easily applied for the study of gene expression with the small amount of tissues.