• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.430-433
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• 1996

In This paper, we design the developed path generation method which is named that CBPM(Continuous path generation method Based artificial Potential field) that is able to be used in the obstacles environment. This CBPM is designed so that it puts together two obstacle avoidance algorithm-the continuous path generation method and the artificial potential field method. Here, the continuous path generation method generate the safety path using continuous path curvature. But, this method has demerits when used in obstacles environment in which are closely located. Another method which is named the artificial potential field method generates the path with the artificial potential field in the obstacles environment. But, APFM has local minima in certain places and unnecessarily calculates the path in which obstacles are not located. So, the developed path generation method, CBPM, is suggested and performances in many different obstacles environments are shown by using computer simulation.

• The Journal of Korea Robotics Society
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• v.2 no.2
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• pp.183-190
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• 2007

The most important thing for navigation of a mobile robot is to find the most suitable path and avoid the obstacles in the static and dynamic environment. This paper presents a method to search the optimal path in start space extended to time domain with considering a velocity and a direction of moving obstacles. A modified version of $A^*$ algorithm has been applied for path planning in this work and proposed a method of path search to avoid a collision with moving obstacle in space-tim domain with a velocity and an orientation of obstacles. The velocity and the direction for moving obstacle are assumed as linear form. The simulation result shows that a mobile robot navigates safely among moving obstacles of constant linear velocity. This work can be applied for not only a moving robot but also a legged humanoid robot and all fields where the path planning is required.

• International Journal of Computer Science & Network Security
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• v.22 no.9
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• pp.348-352
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• 2022

This study aims to identify the obstacles to using interactive whiteboards for teachers of students with learning disabilities (LDs) in the Makkah region and to delineate any differences in the levels of these obstacles that can be attributed to the study variables: teachers' gender, academic qualifications, age, and years of experience. The researchers applied the descriptive survey approach to a sample of 123 teachers of LD students. To analyze the results, frequencies, averages, standard deviations, and relative weights were calculated. The results of the study indicated that the levels of the obstacles to using interactive whiteboards for teachers of LD students were moderate. No statistically significant differences in the levels of these obstacles were related to the variables of gender or age, whereas significant differences were found based on academic qualifications and years of experience.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.9 s.174
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• pp.85-92
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• 2005

This paper describes the recognition method of small-obstacles using a camera for a mobile robot in indoor environment. The technique of image processing using a camera has been widely used for an automaton of industrial system, an inspection of inferior goods, a lookout of an invader, and a vision sensor of intelligent robot. Mobile robot could meet small-obstacles such as a small plastic bottle of about 0.5 l in quantity, a small box of $7{\times}7{\times}7cm^3$ in volume, and so on in its designated path, and could be disturbed by them in the locomotion of a mobile robot. So, it is necessary to research on the recognition of small-obstacles using a camera and program. In this paper, 2-D image processing algorism and method fur recognition of small-obstacles using a camera for a mobile robot in indoor environment was developed. The characteristic test of the developed program to confirm the recognition of small-obstacles was performed. It is shown that the developed program could judge the size and the position of small-obstacles accurately.

• PNF and Movement
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• v.13 no.2
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• pp.111-118
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• 2015

Purpose: The purpose of this study was to describe the effects of proprioceptive neuromuscular facilitation (PNF) on episodes of foot drop and the ability to cross obstacles in stoke patients. Methods: The patient was a 57-year-old man with left hemiplegia. This patient displayed episodes of foot drop while walking and issues with crossing obstacles. The patient underwent therapeutic exercises and occupational therapy twice daily at a hospital five times a week. The patient was treated with PNF outside of these therapeutic sessions. Each session, which was 60 minutes in length, was conducted 3 times a week over 8 weeks. Over the course of treatment, a pre-test and post-test were completed. The patient walked for a test time of 6M. During the testing process, the patient crossed obstacles. In addition, the number of foot drop episodes was recorded. Each test was measured three times to determine the mean value. Results: After the PNF treatments, the number of foot drop episodes decreased from five to one. The 6M walking test time during which the patient crossed obstacles also decreased from 18 seconds to 10 seconds. Conclusion: The use of PNF treatments is beneficial to reduce the number of foot drop episodes while walking and to improve the ability to cross obstacles in stroke patients.

• Journal of the Korean Society of Safety
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• v.38 no.2
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• pp.112-119
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• 2023

This study analyzes the effects of personal lockers, drinking fountains, and all-in-one shutters (hereinafter referred to as "corridor walking obstacles") on evacuation safety to suggest the necessity of operating a more effective educational facility safety certification system. To achieve this purpose, the five-story high school building with the obstacles installed in the corridor has been chosen, and evacuation tests through the Pathfinder Simulation Program have been carried out. When the evacuation exit is designated in the current state, where the students are placed on the 2nd, 3rd, and 4th floors and the corridor walking obstacles are applied as a variable, the required safe egress time (RSET) is 322 seconds. This can lead to dangerous results in the event of a disaster by exceeding the available safe egress time (ASET) standard of 240 seconds by 82 seconds. When students are placed on the 1st, 2nd, and 3rd floors under the same conditions, the RSET is 214.5 seconds, 25.5 seconds lower than the ASET standard, indicating that it is effective in reducing the impact of walking obstacles on evacuation time. The safety management plan for walking obstacles in the corridors is discussed, considering the special characteristics of the school corridors. The results of this study can be used as the necessary data for optimizing evacuation routes in corridors and creating a safe, educational environment.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.341-343
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• 1995

In this paper, an algorithm is presented to recogniz the driving direction of a vehicle and obstacles in front of it based on highway road image. The algorithm employs a neural network with 27 sub sets obtained from the road image as its input. The outputs include the direction of the vehicle movement and presence or absence of obstacles. The road image, obtained by a video camera, was digitized and processed by a personal computer equipped with an image processing board.

• Journal of Educational Research in Mathematics
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• v.10 no.2
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• pp.247-262
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• 2000

This study suggests a theoretical model and examples of overcoming cognitive obstacles related to the limits of mathematical sequences. The model includes 3 stages, that is, an exposure of obstacles, the awareness of conflicts, and the resolutions of conflicts. Also this model emphases discussions of teacher and students or among students. Such a discussion stimulates reflections of students having cognitive obstacles, helps them to cast away their old conceptions and to obtain right concepts.

• International Journal of Computer Science & Network Security
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• v.22 no.3
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• pp.326-334
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• 2022

This study aimed to explore science teachers' perceptions of obstacles that have affected their teaching during the COVID-19 pandemic. The sample comprised 204 science teachers in public schools within a Western district of Saudi Arabia. Results revealed that these teachers experienced obstacles across six areas: administration, students, teaching methods, assessment, technology, and learning aids. The study also explored teachers' perceptions of their current experience and offers suggestions for dealing with the identified obstacles.

• Journal of the Korean Society of Physical Medicine
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• v.14 no.4
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• pp.55-62
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• 2019

PURPOSE: This study examined the muscle activity while stepping over obstacles with various heights and widths to provide basic data for training and preventing falls. METHODS: Fifteen normal young adults (seven males and eight females) were recruited. The participants walked on a 5m walkway with six obstacles. The heights of obstacles were 0%, 10%, and 40% of the subject's leg length, and the width of the obstacles was 7cm and 14cm. The participants traversed the course twice per obstacle. The muscle activities of the soleus, tibialis anterior (TA), vastus medialis (VM), and vastus lateralis (VL) were measured using surface electromyography. A Mann-Whitney test and Kruskal-Wallis test were used to examine the differences between obstacles. RESULTS: The muscle activities of the VL and the soleus of the stance leg and lead leg after crossing over the obstacles increased with increasing width, and there were significant differences in muscle activities between obstacle width (p<.05) except for the muscle activity of TA of the stance leg after crossing over the obstacles. A significant difference in muscle activities was observed according to the height of the obstacles with 14 cm (p<.05) except for the muscle activity of the VL, soleus of the leading leg, and TA of the stance leg CONCLUSION: The role of the VL and Soleus increased with increasing obstacle width, and the overall muscle activities of the lower extremities increased with increasing obstacle height. These results can be used to suggest a program to prevent falls.