• Proceedings of the Korean Operations and Management Science Society Conference
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• 1996.04a
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• pp.244-248
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• 1996

Nowadays, most shop floors using industrial robots have many problems such as constructing robot workcell, generating robot arm moving trajectory, etc.. In the case of programming robot-arms for a specific task, shop operator commonly use the teach pendant to record the target position and determine the moving trajectory. However, such a teaching process may result in an inefficient trajectory in the sense of moving distance and joint angle fluctuation. Moreover, shop operators who have little knowledge about robot programming process need a lot of learning time and cost. The purpose of this paper is to propose a user friendly robot programming method to program robot-arms easily and efficiently for shop operator so that the programming time is reduced and a short and stable trajectory is obtained.

• IE interfaces
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• v.3 no.2
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• pp.23-38
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• 1990

The use of robots for painting operations is a powerful alternative as a means for automation and quality improvement. A typical method being used for motion planning of the painting robot is to guide the robot along the desired path : the "lead-through" method. Although this method is simple and has been widely used, it has several drawbacks a) The robot cannot be used during the teaching period, b) A human is exposed to a hostile environment, c) The motions taught are, at best, human's skill level. To deal with the above problems, an integrated robot-trajectory planning scheme is presented. The new scheme takes CAD data describing the shape and geometry of the objects, and outputs an optimal trajectory in the sense of coating thickness and painting time. The purpose of this paper is to investigate theoretical backgrounds for such a scheme including geometric modeling, painting mechanics and robot trajectory planning, and develop algorithms for generating spray gun paths and minimum-time robot trajectories. Future study is to implement these algorithms on an workstation to develop an integrated software system ; ATPS(Automatic Trajectory Planning System) for spray painting robots.

• East Asian mathematical journal
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• v.26 no.2
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• pp.179-190
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• 2010

We study the theoretical background on the relationship between the equality property and operations treated in different sub-areas in secondary school mathematics curriculum respectively studied. Furthermore, we discuss in detail the equality property in rational numbers field $\mathbb{Q}$ and the real numbers field $\mathbb{R}$. Through this study, professional knowledges of school teachers are enhanced so that these aforementioned knowledges are connected smoothly to teaching activities in classrooms.

• School Mathematics
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• v.4 no.2
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• pp.205-222
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• 2002

In school mathematics, the negative numbers have been instructed using the intuitive models such as the number line model, the counting model, and inductive-extrapolation on the additionand multiplication and using inverse operation on the subtraction and division. Theseinstructions on the negative numbers did not present their formal nature and caused the difficulty for students to understand their operations because of the incomplete function of the intuitive models. In this study, we tried to improve such problems of the instructions of the negative numbers on the basis of the didactical phenomenological analysis. First of all, we analysed the nature of the negative numbers and the cognitive obstructions through the examination about the historic process of them. Second, we examined hew the nature of the negative numbers were analysed and described in mathematics. Third, we explored the improving directions for them on the ground of the didactical phenomenological analysis. In school mathematics, the rules of operations using the intuitive models of the negative numbers have been Instructed rather than approaching toward the nature of them. The negative numbers have been developed from the necessity to find the general solution of equations. The study tries to approach the operations instructions of the negative numbers formative]y to overcome the problems of those that are using the intuitive models and to reflect the formative Furthermore of the negative numbers. Furthermore, we examine the way of the instruction of the negative numbers in real context so that the algebraic feature and the real context should be Interactive.

• School Mathematics
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• v.11 no.4
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• pp.685-706
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• 2009

This dissertation is aimed to investigate the reason why a contextualization is needed to help the meaningful teaching-learning concerning multiplications and divisions of fractions, the way to make the contextualization possible, and the methods which enable us to use it effectively. For this reason, this study intends to examine the differences of situations multiplying or dividing of fractions comparing to that of natural numbers, to recognize the changes in units by contextualization of multiplication of fractions, the context is set which helps to understand the role of operator that is a multiplier. As for the contextualization of division of fractions, the measurement division would have the left quantity if the quotient is discrete quantity, while the quotient of the measurement division should be presented as fractions if it is continuous quantity. The context of partitive division is connected with partitive division of natural number and 3 effective learning steps of formalization from division of natural number to division of fraction are presented. This research is expected to help teachers and students to acquire meaningful algorithm in the process of teaching and learning.

• School Mathematics
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• v.5 no.2
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• pp.167-189
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• 2003

Mental arithmetic has recently gained a higher profile in primary school mathematics. The study aims to reflect didactical background of mental arithmetic in number and operations curriculum for primary school mathematics. In order to attain these purposes, the present paper describes the meaning of mathematical literacy and didactical background of mental arithmetic on which have been laid emphasis in relation to mathematical literacy in many countries. Also it shows current suggestions for mental arithmetic instruction in Everyday Mathematics Project in USA, Numeracy Number Project in Great Britain, TAL project based on Realistic Mathematics Education in the Netherlands, and mathe 2000 project in German in order to gain practical ideas for teaching mental arithmetic. Furthermore, it discusses mental strategies of students and didactical models for improving mental arithmetic instruction based on the results of many researches. Under these theoretical foundations, it is analyzed how mental arithmetic is developed in our number and operations curriculum, focused on mental strategies and didactical models. Finally, implications for improving our mental arithmetic instruction are discussed.

• Korean Journal of Childcare and Education
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• v.5 no.1
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• pp.41-57
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• 2009

This study investigated the teaching practice of students attending a three-year early childhood education course in K City, Gyeonggi Province, as well as the educational environments of 72 kindergartens and child care centers where they received field training and which were located in Gangseo-gu, Seoul, Incheon Metropolitan City, Bucheon, and Ilsan. After four weeks of teaching practice, those prospective teachers were surveyed for their objective opinions and current state regarding the practice guidance for students, teachers' working hours and wages, and female dominance in number among early childhood educators and heads of early childhood education institutions. Those data were collected to understand the operations of early childhood education institutions and the current teaching practice. According to the analysis results, the students of the early childhood education major said the four-week teaching practice was very helpful for them to understand the field and thus had positive receptions of it. Most of the prospective teachers felt the heaviest burden and experienced the biggest shortcomings in practical skills such as music, art, and hand play during class. They also felt a partial need for male counterparts. Those findings will help prospective teachers understand the field further before going out on the field and the teaching bodies have specific ideas about what kind of guidance is provided by kindergartens or child care centers. In addition, they will hopefully serve as basic data to form organic connections between the educational institutions and the field to produce more talented early childhood education teachers.

• School Mathematics
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• v.19 no.1
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• pp.59-75
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• 2017

This study analyzed the $6^{th}$ graders' constructions about fraction operations and schemes and figured out the relationships quantitatively between operations and schemes through the written test of 432 students. The results of this study showed that most of students could do partitioning operation well, however, there were many students who had difficulties on iterating operation. There were more students who constructed partitioning operation prior to iterating operation than the opposite. The rate of students who constructed high schemes was lower than that of students who constructed low schemes according to the hierarchy of fraction schemes. Especially, there were many students who construct partitive unit fraction scheme but not partitive fraction scheme, because they could compose unit fraction but not do iterating it. And there were the high correlations between fraction operations and schemes. Given these result, this paper suggests implications about the teaching and learning of fraction.

• School Mathematics
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• v.13 no.4
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• pp.581-598
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• 2011

Given the growing agreement that algebra should be taught in the early stage of the curriculum, considerable studies have been conducted with regard to early algebra in the elementary school. However, there has been lack of research on how to organize mathematic lessons to develop of algebraic reasoning ability of the elementary school students. This research attempted to gain specific and practical information on effective algebraic teaching and learning in the elementary school. An exploratory qualitative case study was conducted to the fourth graders. This paper focused on the associative law of the multiplication. This paper showed what kinds of activities a teacher may organize following three steps: (a) focus on the properties of numbers and operations in specific situations, (b) discovery of the properties of numbers and operations with many examples, and (c) generalization of the properties of numbers and operations in arbitrary situations. Given the steps, this paper included an analysis on how the students developed their algebraic reasoning. This study provides implications on the important factors that lead to the development of algebraic reasoning ability for elementary students.

• Journal of Agricultural Extension & Community Development
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• v.19 no.2
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• pp.273-299
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• 2012

This study examined importance and performance of urban agriculture education program of the trainees who attended urban agriculture education, and suggested reformation of urban agriculture instructor course of Gyeonggi Provincial Agricultural Research & Extension Services by IPA models. The investigation was done on October 7, 2011. The subject was 40 trainees of urban agriculture instructor course of Gyeonggi Provincial Agricultural Research & Extension Services. The study suggested reformation of urban agriculture education program based on the findings as follow: Firstly, the instructors should teach trainees not theoretically but practically to let the trainees make use of learning at urban agriculture. Secondly, teaching material that is not theoretically but practical enough to apply it to actual urban agriculture should be supplied. Thirdly, urban agriculture education should be done not theoretically but practically considering its characteristics. Theoretical contents have been already included in teaching material, and practice oriented education should be done to let trainees put theory into practice on-the-spot. Practice oriented education should be supported in the planning future education. In addition future urban agriculture education program should consider importance as well as practice of educational contents, lecturers, operations and facilities.