• Korean Journal of Child Studies
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• v.28 no.1
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• pp.95-113
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• 2007

This study used qualitative methods to understand kindergarten girls' perception of block play and to devise teacher strategies for encouraging block play for girls who had not participated in block play. Results showed that girls preferred art and home-dramatic play over block play. Girls' preference not to play with blocks was based on harassment by boys and confusion about how to build with blocks and the fact that pride in block structures could not be communicated to their parents at home. Consequently, a girls-only block play area was designed with appropriate accessories along with presentation of some Polaroid pictures. Results were that girls enjoyed block play and made ingenious block structures.

• The Pure and Applied Mathematics
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• v.22 no.3
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• pp.275-283
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• 2015

Let T be a bounded linear operator on a complex Hilbert space H. For a positive integer k, an operator T is said to be a k-quasi-2-isometric operator if T^∗k(T^∗2T² − 2T^∗T + I)T^k = 0, which is a generalization of 2-isometric operator. In this paper, we consider basic structural properties of k-quasi-2-isometric operators. Moreover, we give some examples of k-quasi-2-isometric operators. Finally, we prove that generalized Weyl’s theorem holds for polynomially k-quasi-2-isometric operators.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2519-2523
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• 2003

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a corner, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding ultrasonic signals, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, the current presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• Journal of the Korean Mathematical Society
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• v.51 no.5
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• pp.1089-1104
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• 2014

An operator $T{\in}L(H)$, is said to belong to k-quasi class $A_n^*$ operator if $$T^{*k}({\mid}T^{n+1}{\mid}^{\frac{2}{n+1}}-{\mid}T^*{\mid}^2)T^k{\geq}O$$ for some positive integer n and some positive integer k. First, we will see some properties of this class of operators and prove Weyl's theorem for algebraically k-quasi class $A_n^*$. Second, we consider the tensor product for k-quasi class $A_n^*$, giving a necessary and sufficient condition for $T{\otimes}S$ to be a k-quasi class $A_n^*$, when T and S are both non-zero operators. Then, the existence of a nontrivial hyperinvariant subspace of k-quasi class $A_n^*$ operator will be shown, and it will also be shown that if X is a Hilbert-Schmidt operator, A and $(B^*)^{-1}$ are k-quasi class $A_n^*$ operators such that AX = XB, then $A^*X=XB^*$. Finally, we will prove the spectrum continuity of this class of operators.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1028-1036
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• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments by virtue that they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a comer, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding of ultrasonic signals, which allows multi-sensors to be emitted simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented. A micro-controller unit is implemented using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances fur each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.418-420
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• 2005

This paper proposed ultrasonic distance measurement module development for correct distance detection with collision escaping or obstacle of mobile robot is traveling self-regulation. Representative ultrasonic module applied in existing was Polaroid company's 6500 series and Devantech company's SRF04/SRF08 series. This ultrasonic sensors are corrupted by systematic errors due mainly to the dependency of sound speed upon surrounding conditions and random errors of uncertain origin. Therefore Ultrasonic distance detecting means of error compensation method and high definition, narrow beam angle, board area distance detecting means to apply to ultrasonic mobile robot control urgently need. In this paper use internal type temperature compensation method to improve problem of ultrasonic distance measurement method instead of that volume that have shortcoming of used correct temperature compensation methods applied big addition device. Compensate error by environment change of temperature. Humidity density etc. and is applicable to mobile robot offering various interface and real-time processing developed possible distance measurement module.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.2
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• pp.705-709
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• 2005

In this paper, we introduce fuzzy algorithm similar to human's way of thinking and designed collision detection system of vehicles. First, before the model vehicles design, we did simulation collision detection using PID and Fuzzy Controller. As a result, P.O that is Percent Overshoot when make use of PID controller happened from smallest 32% to 45%. But, In case of using fuzzy controller they produced about 10% in 7% in case use 25 rule. We designed model vehicles that introduce Auto Guided Vehicle(AGV) with confirmed result in simulation. We set Polaroid 6500 sensor on the front of model automobile because distinguish existence automobile to the head. And we composed motor drive part to run vehicles and 80C196KC processor for control movement of vehicles influenced on distance data of the front vehicles that receive from supersonic waves sensor. In case of using Fuzzy controller, last value percent error happened about maximum 15% in smallest 5%, and we confirmed that distance with front vehicles kept when state hold time is about maximum 16 seconds in smallest 10 seconds.

• Kyungpook Mathematical Journal
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• v.59 no.3
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• pp.415-431
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• 2019

In this paper we introduce a new class of operators which will be called the class of k-quasi-class A(s, t) operators. An operator $T{\in}B(H)$ is said to be k-quasi-class A(s, t) if $$T^{*k}(({\mid}T^*{\mid}^t{\mid}T{\mid}^{2s}{\mid}T^*{\mid}^t)^{\frac{1}{t+s}}-{\mid}T^*{\mid}^{2t})T^k{\geq}0$$, where s > 0, t > 0 and k is a natural number. We show that an algebraically k-quasi-class A(s, t) operator T is polaroid, has Bishop's property ${\beta}$ and we prove that Weyl type theorems for k-quasi-class A(s, t) operators. In particular, we prove that if $T^*$ is algebraically k-quasi-class A(s, t), then the generalized a-Weyl's theorem holds for T. Using these results we show that $T^*$ satisfies generalized the Weyl's theorem if and only if T satisfies the generalized Weyl's theorem if and only if T satisfies Weyl's theorem. We also examine the hyperinvariant subspace problem for k-quasi-class A(s, t) operators.

• Journal of Korean Ophthalmic Optics Society
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• v.10 no.4
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• pp.375-380
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• 2005

To assess convergence and accommodation at a short distance, 92 selected subjects without any ocular diseases by apperatuses of visual chart(Shinnippon CT30) and phoropter(Shinnippon VT 10) at a short distance(40 cm) were tested upon MEM retinoscopy(Welch Allyn, USA). BELL retinoscopy(Welch Allyn, USA), binocular accommodative facility (${\pm}2.00$ D flipper. Bernell Co., USA), vergence facility(prism flipper, Bernell Co., USA). There were such test results as MEM retinoscopy(R/L)($+1.05{\pm}0.87/1.02{\pm}0.80$ D). BELL retinoscopy ($17.89{\pm}12.12/17.94{\pm}11.72cm$), binocular accommodative facility (R/G)($7.69{\pm}6.48cpm$). binocular accommodative facility(polaroid)($11.76{\pm}5.22cpm$), monocular accommodative facility(R/L) ($13.9{\pm}6.27/13.8{\pm}5.96cpm$), vergence facility($13.5{\pm}6.40cpm$).

• Journal of Korean Ophthalmic Optics Society
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• v.10 no.4
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• pp.381-389
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• 2005

To Analysis of Correlation of Visual Function Findings, by assessing convergence and accommodation, 92 selected objects without any ocular diseases by apperatuses of visual chart(Shinnippon CT30) and phoropter(Shinnippon VT10) at a shan distance(40 cm) were tested upon MEM retinoscopy(Welch Allyn, USA), BELL retinoscopy(Welch Allyn, USA), binocular accommodative facility (${\pm}2.00$ D nipper, Bernell Co., USA), vergence facility(prism nipper, Bernell Co., USA). The results showed as follows. MEM retinoscopy(accommodative lag) showed the same result of a right eye and left eye. Bell retinoscopy(accommodative lag) showed higher correlations between right and left eye than MEM. The lower accommodative lag meant the higher accommodative facility. The binocular accommodative facility(polaroid) was higher than binocular accommodative facility(red-green). Correlations of accommodative facility between right and left eye were higher, and as the higher monocular accommodative facility also meant the higher binocular accommodative facility, monocular and binocular accommodative facilities were relative to vergence facility, These findings can be used as a clinical guide by curing patients' visual function.