• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.609-614
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• 1989

A collision avoidance algorithm based on a heuristic graph search and subgoals is presented. The joint angle space is quantized into cells. The evaluation function for a heuristic search is defined by the sum of the distance between the links of a manipulator and middle planes among the obstables and the distance between the end-effector and the subgoals on desired trajectory. These subgoals reduce the combinatorial explosion in the search space. This method enables us to avoid a dead-lock in searching. Its effectiveness has been verified by simulation studies.

• Ocean Systems Engineering
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• v.7 no.1
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• pp.39-51
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• 2017

Fishes detect various sensory stimuli, which may be used to direct their behavior. Especially, the visual and water flow detection information are critical for locating prey, predators, and school formation. In this study, we examined the specific role of these two different type of stimulation (vision and vibration) during the obstacle avoidance behavior of carp, Cyprinus carpio. When a visual obstacle was presented, the carp efficiently turned and swam away in the opposite direction. In contrast, vibration stimulation of the left or right side with a vibrator did not induce strong turning behavior. The vibrator only regulated the direction of turning when presented in combination with the visual obstacle. Our results provide first evidence on the innate capacity that dynamically coordinates visual and vibration signals in fish and give insights on the novel modulation method of fish behavior without training.

• Korean Journal of Child Studies
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• v.27 no.1
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• pp.167-181
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• 2006

Subjects were 2192 middle and high school students of Seoul and Kyonggi Province. Data, consisting of a self-report questionnaire, were analyzed by two-way ANOVA, univariate F-test and stepwise multiple regression. Findings were that boys showed more avoidance/distraction and active problem solving styles but less support seeking than girls. Older adolescents reported less parent attachment than younger adolescents; girls reported more mother attachment than boys. Older adolescents reported more life satisfaction than younger adolescents; girls reported more life satisfaction than boys. A higher degree of life satisfaction was reported by subjects with more parent attachment, more active problem solving and less avoidance/distraction styles, by younger adolescents, and by girls. Degree of parent attachment was the most powerful predictor of adolescents' satisfaction with life.

• Journal of Electrical Engineering and Technology
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• v.9 no.3
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• pp.1034-1042
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• 2014

For the remote operation of the mobile robot, the human operator depends fully on the sensory information which is the partial information of the workspace of the mobile robot. It is usually very hard to fully manually operate the mobile robot in this situation. We propose the efficient guidance navigation method for improving the efficiency of the remote operation with the expanded guide circle using the sensory information. The guidance command is generated from the proposed algorithm using the expanded guide circle. We evaluated the performance of the proposed algorithm using the experiments.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.19 no.39
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• pp.193-204
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• 1996

본 연구는 FMC(Flexible Manufacturing Cell)에 있어 상호 간섭이 없는 부품의 흐름을 제어하기 위한 교착제거방법(Deadlock Avoidance Method)에 대한 제안으로서, 이 방법이 주요한 장점은 첫째, FMC의 환경을 쉽게 적용시킬 수 있고 둘째, 공정상의 부품에 대한 dispatching 모듈이 협력하도록 설계되어 있다는 것이다. 교착제거방법은 두 개의 모듈로 구성되어 있는데 이는 순환발견알고리즘(A Cycle Detection Algorithm)과 원료주문 정책으로서, 특이할 만한 사항은 순환발견알고리즘을 채용하더라도 원료주문정책이 잘못될 수 있기 때문에 교착제거방법에 있어서 원료주문정책은 매우 중요하다는 것이다. 이를 위하여 교착전의 N-step 교착을 제거하고, 발견할 수 있는 교착제거방법과 N-step의 사전주무정책을 제시하였다.

• The Journal of Pediatrics of Korean Medicine
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• v.31 no.1
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• pp.12-24
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• 2017

Objectives The purpose of this study was to validate the biopsychological structure of Sasang Personality Questionnaire (SPQ) measuring Yin-Yang temperament with Junior version of Temperament and Character Inventory (JTCI) for temperament and Body Mass Index (BMI) and Pondera Index (PI) for physical constitution in elementary school students. Methods 903 Korean elementary school students (430 boys and 473 girls) completed SPQ, JTCI, and height and weight measures. Then they were analyzed by their genders and age groups. The correlation between SPQ and JTCI subscales were examined. The differences found in the SPQ and JTCI subscales, BMI and PI among high (30%), middle (40%), and low (30%) SPQ groups were investigated by analysis of variance. The profile analysis was also performed to compare JTCI subscale profiles of three SPQ total score groups. Results The SPQ score was significantly (p<0.001), and positively correlated with the JTCI Novelty-Seeking and negatively with the JTCI Harm-Avoidance. The JTCI Novelty-Seeking score of high SPQ group was significantly (p<0.001) higher than that of low SPQ group, and the JTCI Harm-Avoidance score of low SPQ group was significantly higher than that of high SPQ group. The JTCI subscale profiles for three SPQ groups were significantly (p<0.001) different for boys and girls. Significant correlations between BMI and SPQ were not found. PI and BMI of high and low SPQ groups were not significantly different. Conclusions The SPQ was shown to have robust biopsychological structure in elementary school students. It would be useful clinical measures for Sasang typology in pediatric patients.

• Anxiety and mood
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• v.14 no.2
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• pp.106-111
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• 2018

Objective : High-risk pregnant women are exposed to the physical and emotional crisis associate with the condition of high-risk pregnancy, making these women emotionally unstable, exhibiting such conditions as depression and anxiety. The aim of this study was to examine what effects the temperament and character of high-risk pregnant women had on their depression, anxiety, and maternal-fetal attachment. Methods : A hundred and five high-risk pregnant women were recruited in the maternity ward of the Keimyung University medical center. All subjects were administered a sociodemographic and obstetric questionnaire, Temperament and Character Inventory, Beck Depression Inventory-II, State Trait Anxiety Inventory-State, and Maternal-Fetal Attachment Scale. Results : First, higher scores on the harm-avoidance scale and lower scores on the self-directedness scale were associated with higher depression scores. Second, higher scores on the harm-avoidance and reward-dependence scale were associated with higher anxiety scores. Lastly, higher scores on the cooperativeness scale were associated with higher maternal-fetal attachment scores. Conclusion : Temperament and character in high-risk pregnant women were associated with the degree of depression, anxiety, maternal-fetal attachment. Based on these findings, it is suggested that examining temperament and character in advance and screening for vulnerability in pregnant women can help to prevent emotional problems for high-risk pregnant women.

• Animal Bioscience
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• v.34 no.10
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• pp.1717-1722
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• 2021

Objective: Stroking calves during the postnatal period could effectively improve human-calf relationships. The objective of this study is to examine how daily calf stroking frequency during the postnatal period affects the establishment of human-calf relationships. Methods: Six calves were stroked by a trainer for 6 minutes once daily for 5 days after birth (D1). Six calves were stroked by a trainer for 3 minutes twice daily for 5 days after birth (D2). A further four calves were stared at but not stroked as the control group. The overall stroking or staring duration was the same for all groups, at 6 min/d and 30 min over 5 days. The tests for reactions to the stationary trainer in an unfamiliar environment and avoidance distance measurements for an approaching trainer were conducted at 1 month and 3 months after the treatment. Results: Calves in both stroking groups approached significantly closer to the stationary trainer, vocalized less, and looked at the trainer shorter than the control group at 1 month. However, at 3 months, there was no significant difference between the D1 and the control group, whereas the D2 approached significantly closer to the trainer and vocalized less, and looked at the trainer for a shorter time than the control group. For the avoidance distance, the trainer could approach closer to both stroking groups than the control at 1 month, however, there was no difference among groups at 3 months. Conclusion: Our results suggested that the difference in the calf stroking procedure affected the established human-calf relationships, even though the total stroking duration was the same for all stroked calves. It is likely to be more effective to stroke more frequently than intensively when the aim is to establish better human-calf relationships within limited labor time.

• 대한공업교육학회지
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• v.43 no.2
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• pp.79-96
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• 2018

In this study, we look at the effect that the achievement goal of specialized high school students has on academic self-efficacy and the difference in academic self-efficacy depending on achievement goal orientation. The purpose of this research is to help students to efficiently increase their academic self-efficacy, develop research and study life guidance measures to improve negative factors, and select professors and learning methods. To achieve the purpose, survey was conducted with achievement goal orientation measurement tools(26 questions) and academic self-efficacy measurement tools(28 questions) for 745 students of 18 specialized technical high school students in 5 districts. The results of this study are as follows. First, preference to task difficulty and self-controlling efficacy have highly positive correlations with mastery goal orientation and confidence and mastery avoidance goal orientation have highly negative correlations each other. Second, achievement goal orientation form of specialized high school students were divided into 5 forms; 'execution avoidance(34.8%)', 'mastery orientation(20.8%)', 'approach(17%)', 'avoidance competition(14.9%)', and'mastery avoidance(12.5%)'. In preference to task difficulty, 'approach'group showed the highest average point and 'mastery avoidance'showed the lowest average point. The average point of 'approach' group was higher than other groups in confidence, but 'mastery orientation' group showed the highest average point. Through the results of this study, academic self-efficacy makes an effect by a certain direction in accordance with achievement goal orientation and it's necessary to access academic problems differently according to student's goal directivity. Therefore, it's necessary to provide educational method by student type based on explanation about academic self-efficacy of achievement goal orientation of specialized high school students and analysis on achievement goal orientation form.

• Journal of Advanced Navigation Technology
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• v.13 no.5
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• pp.630-638
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• 2009

In this paper, we propose a new SCADE-based integrated simulator for aircraft mid-air collision avoidance. The new simulator is designed to provide a convenient simulation environment for analyzing the limitations of the existing collision avoidance system(CAS) and for realizing more realistic collision environment into the CAS performance evaluation. Furthermore, we have developed a scenario editor for TCAS-II performance analysis to simulate actual flight environment which is difficult to experiment. The performance of the proposed simulator for typical collision scenarios is demonstrated by simulation using the proposed scenario editor.