• 제어로봇시스템학회논문지
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• 제8권11호
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• pp.970-975
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• 2002

We suggests an effective method to construct time-varying C-obstacles in the 3-dimensional configuration space (C-space) using free arc. The concept of free arc was defined mathematically and the procedure to find free arc in the case off-dimensional C-space was derived in [1]. We showed that time-varying C-obstacles can be constructed efficiently using this concept, and presented simulation results for two SCARA robot manipulators to verify the efficacy of the proposed approach. In this paper, extensions of this approach to the 3-dimensional C-space is introduced since nearly all industrial manipulators are reasonably treated ill the too or three dimensional C-space f3r collision avoidance problem The free arc concept is summarized briefly and the method to find lice arc in the 3-dimensional f-space is explained. To show that this approach enables us to solve a practical collision avoidance problem simulation results f3r two PUMA robot manipulators are presented.

• 한국수학교육학회지시리즈C:초등수학교육
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• 제15권2호
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• pp.159-170
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• 2012

본 연구의 목적은 비와 비율 학습에서 나타나는 초등학교 학생들의 인식론적 장애의 유형을 분류하고 원인을 찾아내어 그에 따른 지도 방안을 제시하는 것이다. 이를 위해 그 동안 연구되어 온 선행 연구의 결과와 수학교과서와 지도서, TIMSS 2003, 2007 등 여러 자료들을 분석하여 비와 비율 검사지를 제작하였다. 이를 위해 서울시내 초등학교 5학년 학생 138명을 여러 지역을 고려하여 선정한 후 설문 및 면담을 하여 인식론적인 장애를 검사하였다. 검사지 결과 분석 및 면담 내용을 토대로 인식론적 장애의 유형을 크게 용어, 계산, 표현과 관련된 것의 세 가지로 분류되었다. 그리고 각 유형에 따른 원인과 지도 방안을 제시하고 비와 비율의 효과적인 학습을 위한 제언을 하였다.

• 한국정밀공학회지
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• 제32권5호
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• pp.471-481
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• 2015

This paper presents the robot vision control schemes using Extended Kalman Filter (EKF) method for the slender bar placement in the appearance of obstacles during robot movement. The vision system model used for this study involves the six camera parameters($C_1{\sim}C_6$). In order to develop the robot vision control scheme, first, the six parameters are estimated. Then, based on the estimated parameters, the robot's joint angles are estimated for the slender bar placement. Especially, robot trajectory caused by obstacles is divided into three obstacle regions, which are beginning region, middle region and near target region. Finally, the effects of number of obstacles using the proposed robot's vision control schemes are investigated in each obstacle region by performing experiments of the slender bar placement.

• International Journal of Control, Automation, and Systems
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• 제4권4호
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• pp.466-479
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• 2006

This paper addresses a formation navigation issue for a group of mobile robots passing through an environment with either static or moving obstacles meanwhile keeping a fixed formation shape. Based on Lyapunov function and graph theory, a NN formation control is proposed, which guarantees to maintain a formation if the formation pattern is $C^k,\;k\geq1$. In the process of navigation, the leader can generate a proper trajectory to lead formation and avoid moving obstacles according to the obtained information. An evolutionary computational technique using particle swarm optimization (PSO) is proposed for motion planning so that the formation is kept as $C^1$ function. The simulation results demonstrate that this algorithm is effective and the experimental studies validate the formation ability of the multiple mobile robots system.

• 한국응급구조학회지
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• 제24권3호
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• pp.89-106
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• 2020

Purpose: This study attempts to improve the status of emergency care for major trauma patients transferred by 119 paramedics by analyzing the status of emergency care and the obstacles to the spinal motion restriction (SMR) for major trauma patients. Methods: A total of 600 rescue logs were collected from major trauma patients transported by 119 paramedics in the C fire department from Jan. 1, 2015, to Dec. 31, 2017. And then, 280 questionnaires were collected from the 119 paramedics in C fire department from May 3 to Jun. 3, 2019. Data were analyzed using SPSS 24.0 version. Results: Among 499 spinal motion restriction adaptive patients, the spinal motion restriction rate was 51.1% (255 individuals). Lack of human resources and quality control problems were among the obstacles to spinal motion restriction. Conclusion: The 119 paramedics should improve their activeness and skills in performing emergency care, and since training and experience are of crucial importance, they should expand various education systematized according to demand.

• 한국안전학회지
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• 제11권4호
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• pp.64-71
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• 1996

Detonation phenomena of $C_2H_2$were invesgated using the various shock tube. To study the detonation characteristics according to the composition of $C_2H_2-0_2$$_2$ and $C_2H_2$-air mixtures, the composition were varied from 5 to 90% and 5 to 50% of acetylene each other. A spiral ring was installed in the shock tube to study the effect of obstacles in DDT phenomena. Detonation velocities were measured using the photodiode, and the DDT phenomena was visualized using the high speed schlieren photograph. From the experimental result, it was found that the detonation velocity was most high near the 1. 8times the stoichiometric ratio of acetylene. And from the visualization of DDT phenomena, it was found that the detonation wave was strengthened throuth the pile up of small compression wave of burned gas. And the obstacles in shock tube accelerate the detonation reaction by turblent effect of flammable gas mixture.

• Journal of applied mathematics & informatics
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• 제7권1호
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• pp.125-137
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• 2000

A solution of the findpath problem in which a moving object in required to avoid moving obstacles and move to the designated target in the plane is porcided via the second method of Lyapunov. This paper presents an new control designed by a family of piecewise Lyapunov functions to solve a findpath problem and gives some simultion results of that.

• Wind and Structures
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• 제5권6호
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• pp.515-526
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• 2002

The wind flow over two-dimensional sinusoidal hilly obstacles with slope (the ratio of height to half width) of 0.5 has been investigated experimentally and numerically. Experiments for single and double sinusoidal hill models were carried out in a subsonic wind tunnel. The mean velocity profiles, turbulence statistics, and surface pressure distributions were measured at the Reynolds number based on the obstacle height(h=40 mm) of $2.6{\times}10^4$. The reattachment points behind the obstacles were determined using the oil-ink dot and tuft methods. The smoke-wire method was employed to visualize the flow structure qualitatively. The finite-volume-method and the SIMPLE-C algorithm with an orthogonal body-fitted grid were used for numerical simulation. Comparison of mean velocity profiles between the experiments and the numerical simulation shows a good agreement except for the separation region, however, the surface pressure data show almost similar distributions.

• 대한기계학회논문집A
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• 제40권3호
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• pp.305-315
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• 2016

본 논문은 로봇이 이동하는 동안 장애물이 출현하는 불확실한 환경에서 N-R방법을 이용하여 개발된 로봇 비젼제어 기법의 효율성을 알아보고자 한다. 본 연구에 사용되는 비젼 시스템 모델은 6개의 카메라 매개변수(C1~C6)를 포함한다. N-R방법의 일괄처리기법을 이용하여 사용한 각 카메라에 대한 6개의 카메라 매개변수의 추정을 개발하고, 각 카메라에 대한 6개의 매개변수를 사용한 로봇 관절각 기법을 개발하여 얇은 막대 배치 작업을 수행한다. 특히, 불확실한 환경에서 얇은 막대 배치 작업을 위해 장애물에 의한 불연속 궤적은 시작영역, 중간영역, 타겟 근처 영역 등 3개 영역으로 구분하였다. 제안된 로봇 비젼 제어기법을 사용하여 얇은 막대 배치 실험을 통해 각 장애물 영역에서 장애물의 개수 증가에 따른 영향을 조사하고자 한다.

• 한국지리정보학회지
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• 제25권2호
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• pp.88-99
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• 2022

하천망은 하천 관리에 있어서 필수적인 지형특성 중 하나이다. 기존에 현장조사를 통해 구축되었던 하천망은 최근에 원격탐사 자료를 활용하여 효율적으로 구축되기 시작하였다. 교량 등 장애물이 많은 도시 하천망의 경우, 하천 내 장애물 제거에 어려움이 있어 온전한 하천망을 구축한 사례는 드물다. 본 연구는 Sentinel-2 위성영상을 활용하여 도시 내 하천에 존재하는 장애물을 제거하고 경계선이 보전된 온전한 하천망을 자동으로 추출하는 기술을 개발하였다. 우선 Sentinel-2 위성영상의 다중분광 밴드를 활용하여 정규수분지수 영상을 제작하고 수체와 그 외 지역을 구분할 수 있는 이진화 영상을 제작하였다. 그리고 모폴로지 연산을 이진화 영상에 적용하여 장애물이 제거되고 경계선이 보전된 온전한 하천망을 추출하였다. 본 연구에서 개발한 기술을 서울시 한강에 적용한 결과, 경계선은 보존되고 교량 등 장애물이 제거된 온전한 하천망을 추출할 수 있었다.