• International Journal of Fuzzy Logic and Intelligent Systems
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• v.15 no.4
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• pp.305-314
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• 2015

The work presented in this paper deals with a navigation problem for multiple mobile robot system in unknown indoor environments. The environment is completely unknown for all the robots and the surrounding information should be detected by the proximity sensors installed on the robots' bodies. In order to guide all the robots to move along collision-free paths and reach the goal positions, a navigation method based on the combination of a set of primary strategies has been developed. The indoor environments usually contain convex and concave obstacles. In this work, a danger judgment strategy in accordance with the sensors' data is used for avoiding small convex obstacles or moving objects which include both dynamic obstacles and other robots. For big convex obstacles or concave ones, a wall following strategy is designed for dealing with these special situations. In this paper, a state memorizing strategy is also proposed for the "infinite repetition" or "dead cycle" situations. Finally, when there is no collision risk, the robots will be guided towards the targets according to a target positioning strategy. Most of these strategies are achieved by the means of fuzzy logic controllers and uniformly applied for every robot. The simulation experiments verified that the proposed method has a positive effectiveness for the navigation problem.

• 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.

• 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.

• 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.

• Journal of Educational Research in Mathematics
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• v.23 no.2
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• pp.237-252
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• 2013

The philosophy of science of Bachelard is introduced mainly with epistemological obstacles in the discussions within mathematics education. In his philosophy, epistemological obstacles are connected with the dialectical developments of science. Science progresses through generalization of concepts and theories by negating things which were recognized as obvious. These processes start with ruptures against the existing knowledge. Epistemological obstacles are failure in keeping distance with the existing knowledge when reorganization is needed. This concept means that there are the inherent difficulties in the processes of concept formation. Finally I compare the view of Bachelard on the developments of science and the 'interiorization-condensation-objectification' scheme of reflexive abstraction in mathematics education and discuss the inherent difficulties in the learning mathematics.

• 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.

• 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%.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1122-1131
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• 2012

This paper presents obstacle avoidance method for scout robot or industrial robot in unknown environment by using IR sensor and vision system. In the proposed method, robots share the information where the obstacles are located in real-time, thus the robots can choose the best path for obstacle avoidance. Using IR sensor and vision system, multiple robots efficiently evade the obstacles by the proposed cooperation method. No landmark is used at wall or floor in experiment environment. The obstacles don't have specific color or shape. To get the information of the obstacle, vision system extracts the obstacle coordinate by using an image labeling method. The information obtained by IR sensor is about the obstacle range and the locomotion direction to decide the optimal path for avoiding obstacle. The experiment was conducted in $7m{\times}7m$ indoor environment with two-wheeled mobile robots. It is shown that multiple robots efficiently move along the optimal path in cooperation with each other in the space where obstacles are located.

• Journal of the Korean Institute of Gas
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• v.12 no.1
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• pp.54-61
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• 2008

Experimental investigations were performed to assess the influences of different multiple obstacles on flame propagation in a rectangular confinement. Three different multiple obstacles were used: circular, triangular and square cross-sections with blockage ratios of 15% and 30%. The same method described in Park et al. [13] to investigate the interaction between the propagating flame and the obstacle was applied. Before the freely propagating flame impinged on the obstacle, the flame propagation speed remains close to the laminar burning velocity, regardless of the obstacles used. The reported data revealed that the trend in increase of the local flame propagation speed is a result of the interaction between the obstacle and the propagating flame front behind the obstacle. The local speed was found to increase from a circular to a triangular and a square obstacle. The mean flame speed was found to be less dependent on both the obstacle types and the different blockage ratios used.