• The Mathematical Education
• /
• v.42 no.3
• /
• pp.387-402
• /
• 2003

Realistic Mathematics Education (RME) focuses on guided reinvention through which students explore experientially realistic context problems to develop informal problem solving strategies and solutions. This research applied this philosophy of RME to design a differential equation course at a university level. In particular, the course encouraged the students of the course to use numerical methods to solve differential equations. In this context, the purpose of this research was to describe the developmental process in which the students constructed and reinvented Euler algorithm in the class. For the purpose, this paper will present the didactical principle of RME and describe the process of developmental research to investigate the inferential process of students in solving the first order differential equation numerically. Finally, the qualitative analysis of the students' reasoning and use of symbols reveals how the students reinvent Euler algorithm under the didactical principle of guided reinvention. In this research, it has been found that the students developed deep understanding of Euler algorithm in the class. Moreover, it has been shown that the experience of doing mathematics in the course had a positive impact on students' mathematical belief and attitude. These findings imply that the didactical principle of RME can be applied to design university mathematical courses and in general, provide a perspective on how to reform mathematics curriculum at a university level.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.10 no.11
• /
• pp.3241-3245
• /
• 2009

In this paper we propose mechanism for course scheduling of learner-oriented using weakness analysis algorithm. The proposed mechanism monitors learner's behaviors constantly evaluates them and calculates his accomplishment. From this accomplishment the schedules the suitable course for the learner. The learner achieves an active and complete learning from the repeated and suitable course.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.18 no.4
• /
• pp.843-859
• /
• 2024

The university course scheduling problem (UCSP) aims at optimally arranging courses to corresponding rooms, faculties, students, and timeslots with constraints. Previously, the university staff solved this thorny problem by hand, which is very time-consuming and makes it easy to fall into chaos. Even some meta-heuristic algorithms are proposed to solve UCSP automatically, while most only utilize one single algorithm, so the scheduling results still need improvement. Besides, they lack an in-depth analysis of the inner algorithms. Therefore, this paper presents a novel and practical approach based on Tabu search and simulated annealing algorithms for solving USCP. Firstly, the initial solution of the UCSP instance is generated by one construction heuristic algorithm, the first fit algorithm. Secondly, we defined one union move selector to control the moves and provide diverse solutions from initial solutions, consisting of two changing move selectors. Thirdly, Tabu search and simulated annealing (SA) are combined to filter out unacceptable moves in a parallel mode. Then, the acceptable moves are selected by one adaptive decision algorithm, which is used as the next step to construct the final solving path. Benefits from the excellent design of the union move selector, parallel tabu search and SA, and adaptive decision algorithm, the proposed method could effectively solve UCSP since it fully uses Tabu and SA. We designed and tested the proposed algorithm in one real-world (PKNU-UCSP) and ten random UCSP instances. The experimental results confirmed its effectiveness. Besides, the in-depth analysis confirmed each component's effectiveness for solving UCSP.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.59 no.1
• /
• pp.44-54
• /
• 2023

In this study, the second-order Nomoto's nonlinear expansion model was implemented as a Tagaki-Sugeno fuzzy model based on the heading angular velocity to design the automatic steering system of a ship considering nonlinear elements. A Tagaki-Sugeno fuzzy PID controller was designed using the applied fuzzy membership functions from the Tagaki-Sugeno fuzzy model. The linear models and fuzzy membership functions of each operating point of a given nonlinear expansion model were simultaneously tuned using a genetic algorithm. It was confirmed that the implemented Tagaki-Sugeno fuzzy model could accurately describe the given nonlinear expansion model through the Zig-Zag experiment. The optimal parameters of the sub-PID controller for each operating point of the Tagaki-Sugeno fuzzy model were searched using a genetic algorithm. The evaluation function for searching the optimal parameters considered the route extension due to course deviation and the resistance component of the ship by steering. By adding a penalty function to the evaluation function, the performance of the automatic steering system of the ship could be evaluated to track the set course without overshooting when changing the course. It was confirmed that the sub-PID controller for each operating point followed the set course to minimize the evaluation function without overshoot when changing the course. The outputs of the tuned sub-PID controllers were combined in a weighted average method using the membership functions of the Tagaki-Sugeno fuzzy model. The proposed Tagaki-Sugeno fuzzy PID controller was applied to the second-order Nomoto's nonlinear expansion model. As a result of examining the transient response characteristics for the set course change, it was confirmed that the set course tracking was satisfactorily performed.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.9 no.5
• /
• pp.525-536
• /
• 2017

Course keeping is hard to implement under the condition of the propeller stopping or reversing at slow speed for berthing due to the ship's dynamic motion becoming highly nonlinear. To solve this problem, a practical Maneuvering Modeling Group (MMG) ship mathematic model with propeller reversing transverse forces and low speed correction is first discussed to be applied for the right-handed single-screw ship. Secondly, a novel PID-based nonlinear feedback algorithm driven by bipolar sigmoid function is proposed. The PID parameters are determined by a closed-loop gain shaping algorithm directly, while the closed-loop gain shaping theory was employed for effects analysis of this algorithm. Finally, simulation experiments were carried out on an LPG ship. It is shown that the energy consumption and the smoothness performance of the nonlinear feedback control are reduced by 4.2% and 14.6% with satisfactory control effects; the proposed algorithm has the advantages of robustness, energy saving and safety in berthing practice.

• Journal of Navigation and Port Research
• /
• v.30 no.2
• /
• pp.119-124
• /
• 2006

In Part I(theoretical study) of the paper, a new adaptive autopilot for ships based on Adaptive Neural Networks was proposed. The ANNAI autopilot was designed for course-keeping, turning and track-keeping control for ships. In this part of the paper, to show the effectiveness and feasibility of the ANNAI autopilot and automatic selection algorithm for learning rate and number of iterations, computer simulations of course-keeping and track-keeping tasks with and without the effects of measurement noise and external disturbances are presented. Additionally, the results of the previous studies using Adaptive Neural Network by backpropagation algorithm are also showed for comparison.

• Journal of the Society of Naval Architects of Korea
• /
• v.47 no.3
• /
• pp.462-468
• /
• 2010

A new course keeping controller for RIB(Rigid Inflatable Boat)-type USV(Unmanned Surface Vehicle) is developed using pilot's steering pattern. A pilot's simple steering pattern is found out from various course change tests. It is used to course keeping algorithm, suitable for large course change more than 60 degrees. To validate the course keeping controller, sea trial tests are conducted. From sea trial test, new course keeping controller shows good performance with less overshoot, maximum roll angle less than $20^{\circ}$, which makes it possible that fast course changes without slip motion of USV.

• Journal of Advanced Marine Engineering and Technology
• /
• v.22 no.6
• /
• pp.920-927
• /
• 1998

This paper presents a synthetic control algorithm that generates the rudder command angle to track the optimal route which is composed of straight-lines among way-points with keeping a required error limit. The control algorithm comprises three main lgorithms that is a course-keeping algorithm that eliminates the yaw angle difference between optimal route and current route a track-keeping algorithm that tracks the optimal route among way-points and a turning-control algorithm that includes the generation of optimal turning routes and control method. The effectiveness of the proposed control algorithm is assured through computer simulation.

• Journal of the Korean Institute of Telematics and Electronics S
• /
• v.34S no.11
• /
• pp.126-137
• /
• 1997

This paper describes the algorithm which can estimate road following direction and deetect obstacle using a monocular vision system. This algorithm can estimate the course of vehicle using the vanishing point properties and detect obstacle by statistical method. The proposed algorithm is composed of four steps, which are lane prediction, lane extraction, road following parameter estimation and obstacle detection. It is designed for high processing speed and high accuracy. The former is achieved by a small area named sub-windown in lane existence area, the later is realized by using connected edge points of lane. We would like to present that the new mehod can detect obstacle using the simple statistical method. The paracticalities of the processing speed, the accuracy of the algorithm and proposing obstacle detection method, have been justified through the experiment applied VTR image of the real road to the algorithm.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1791-1796
• /
• 2005

Semi-shield tunneling is one of the propulsion construction methods used to lay pipes underground between two pits named 'entrance' and 'destination', respectively. Usually a simple composition, such as 'a fiducial target at the entrance+a total station (TS)+a target on the machine', is used to confirm the planned course. However, unavoidable curved sections are present in small-sized pipe lines, which are laid after implementation of a road system, for public works such as waterworks, sewer, electrical power, and gas and communication networks. Therefore, if the planned course has a curved section, it is difficult to survey the course with the abovementioned simple composition. This difficulty could be solved by using the multiple total stations (MTS), which attaches the cross type linear LED target to oneself. The MTS are disposed to where each TS can detect the LED target at the other TS or the base point or the machine. And the accurate relative positions between each MTS and target are calculated from measured data. This research proposes the relative and absolute coordinate calculation algorithm by using three MTS to measure a curved course with 20m curvature at 30m maximum distance, and verifies the algorithm experimentally.