• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.2
• /
• pp.93-100
• /
• 2007

The mobile robots to rescue a life in a disaster area and to explore planets demand high mobility as well as recognition of the environment. To avoid unknown obstacles exactly in unknown environment, accurate sensing is required. This paper proposes a sensor fusion to recognize unknown obstacles accurately by using low-cost sensors. Ultrasonic sensors and infrared sensors are used in this paper to avoid obstacles. If only one of these sensors is used alone, it is not useful fer the mobile robots to complete their tasks in the real world since the surrounding environment in the real world is complex and composed of many kinds of materials. So infrared sensor may not recognize transparent or reflective obstacles and ultrasonic sensor may not recognize narrow obstacles, far example, columns of small diameter. Therefore, I selected six ultrasonic sensors and five infrared sensors to detect obstacles. Then, I fused ultrasonic sensors with infrared sensors in order that both advantages and disadvantages of each sensor are utilized together. In fusing sensors, fuzzy algorithm is used to cope with the uncertainties of each sensor. TAMRY which is terrain-adaptive mobile robot is used as the mobile robot for experiments.

• Journal of Digital Convergence
• /
• v.14 no.9
• /
• pp.485-493
• /
• 2016

This study analyzes the collision occurring in the daily life of the United States where diverse ethnicities live side by side, as portrayed in the film 'crash'. The analysis is followed by a counseling method necessary for a diverse society. To analyse the essence of conflict in the film, a convergence psychological analysis was conducted based on desire theory. The result was that the desire to survive and innovate always collided with frustration. This is because of the obstacles in real life that suppresses desire. The process of frustrated desires and their distortion was structurized. In the conclusion, a counseling method and theory with 'a recovery model that promotes change' was presented for problematic personalities that are entrenched widely in the United States about pain by conflict.

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.2
• /
• pp.180-188
• /
• 1999

The objective of this paper is, based upon the principles of artificial life, to induce emergent behaviors of multiple autonomous mobile robots which complex global intelligence form from simple local interactions. Here, we propose an architecture of neural network learning with reinforcement signals which perceives the neighborhood information and decides the direction and the velocity of movement as mobile robots navigate in a group. As the results of the simulations, the optimum weight is obtained in real time, which not only prevent the collisions between agents and obstacles in the dynamic environment, but also have the mobile robots move and keep in various patterns.

• Journal of Educational Research in Mathematics
• /
• v.20 no.3
• /
• pp.305-322
• /
• 2010

The epistemological obstacles in the area learning of plane figure can be categorized into two types that is closely related to an attribute of measurement and is strongly connected with unit square. First, reasons for the obstacle related to an attribute of measurement are that 'area' is in conflict. with 'length' and the definition of 'plane figure' is not accordance with that of 'measurement'. Second, the causes of epistemological obstacles related to unit square are that unit square is not a basic unit to students and students have little understanding of the conception of the two dimensions. Thus, To overcome the obstacle related to an attribute of measurement, students must be able to distinguish between 'area' and 'length' through a variety of measurement activities. And, the definition of area needs to be redefined with the conception of measurement. Also, the textbook should make it possible to help students to induce the formula with the conception of 'array' and facilitate the application of formula in an integrated way. Meanwhile, To overcome obstacles related to unit square, authentic subject matter of real life and the various shapes of area need to be introduced in order for students to practice sufficient activities of each measure stage. Furthermore, teachers should seek for the pedagogical ways such as concrete manipulable activities to help them to grasp the continuous feature of the conception of area. Finally, it must be study on epistemological obstacles for good understanding. As present the cause and the teaching implication of epistemological obstacles through the research of epistemological obstacles, it must be solved.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.11
• /
• pp.1130-1136
• /
• 2009

A new control algorithm for the yaw motion control of a unicycle robot has been proposed in this paper. With the increase of life quality, there are various transportation systems such as segway and unicycle robot which provide not only transportation but also amusement. In most of the unicycle robots share the same technology in that the directions of roll and pitch are controlled by the balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However, one disadvantage of this technology is that it cannot provide the capability to the robots to avoid obstacles in their path way. This research focuses to provide the yawing function to the unicycle robot and to control the yaw motion to avoid the obstacles as desired. For the control of yawing motion, the yaw angle is adjusted to the inertia generated by the velocity and torque of a yawing motor which is installed in the center axes of the unicycle robot to keep the lateral control simple. Through the real experiments, the effective and robustness of the yawing control algorithm has been demonstrated.

• Proceedings of the KIEE Conference
• /
• 1998.07g
• /
• pp.2189-2192
• /
• 1998

The objective of this paper is, based upon the principles of artificial life, to induce emergent behaviors of multiple autonomous mobile robots which form from simple local rules to complex global intelligence. Here, we propose an architecture of neural network learing with reinforcement signals which perceives the neighborhood information and decides the direction and the velocity of movement as mobile robots navigates in a group. As results of the simulations, the optimum weights are obtained in real time, which not only prevent from the collisions between agents and obstacles in the dynamic environment, but also have the mobile robots move and keep in various patterns.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2018.10a
• /
• pp.290-291
• /
• 2018

This paper suggests a design for an embedded system to control automobiles using mobile phones and applies the design on Arduino automobile models. Simulation of accidents that can happen in real life were conducted using Arduino automobile with attached sensors. The design includes algorithms for an automatic control that responds to events by detecting potential obstacles that maybe appear in the vehicle's surrounding and by measuring the distances between the obstacle and the vehicle. The feasibility of the suggested system is also reviewed.

• Food Science of Animal Resources
• /
• v.44 no.1
• /
• pp.39-50
• /
• 2024

The projected growth of global meat production over the next decade is attributed to rising income levels and population expansion. One potentially more pragmatic approach to mitigating the adverse externalities associated with meat production involves implementing alterations to the production process, such as transitioning to cultured meat, hybrid cultured meat, and meat alternatives. Cultured meat (CM) is derived from animal stem cells and undergoes a growth and division process that closely resembles the natural in vivo cellular development. CM is emerging as a widely embraced substitute for traditional protein sources, with the potential to alleviate the future strain on animalderived meat production. To date, the primary emphasis of cultured meat research and production has predominantly been around the ecological advantages and ethical considerations pertaining to animal welfare. However, there exists substantial study potential in exploring consumer preferences with respect to the texture, color, cuts, and sustainable methodologies associated with cultured meat. The potential augmentation of cultured meat's acceptance could be facilitated through the advancement of a wider range of cuts to mimic real muscle fibers. This review examines the prospective commercial trends of hybrid cultured meat. Subsequently, the present state of research pertaining to the advancement of scaffolding, coloration, and muscle fiber development in hybrid cultured meat, encompassing plant-based alternatives designed to emulate authentic meat, has been deliberated. However, this discussion highlights the obstacles that have arisen in current procedures and proposes future research directions for the development of sustainable cultured meat and meat alternatives, such as plant-based meat production.

• International Journal of Computer Science & Network Security
• /
• v.24 no.5
• /
• pp.1-10
• /
• 2024

Individuals with visual impairments face numerous challenges in their daily lives, with navigating streets and public spaces being particularly daunting. The inability to identify safe crossing locations and assess the feasibility of crossing significantly restricts their mobility and independence. Globally, an estimated 285 million people suffer from visual impairment, with 39 million categorized as blind and 246 million as visually impaired, according to the World Health Organization. In Saudi Arabia alone, there are approximately 159 thousand blind individuals, as per unofficial statistics. The profound impact of visual impairments on daily activities underscores the urgent need for solutions to improve mobility and enhance safety. This study aims to address this pressing issue by leveraging computer vision and deep learning techniques to enhance object detection capabilities. Two models were trained to detect objects: one focused on street crossing obstacles, and the other aimed to search for objects. The first model was trained on a dataset comprising 5283 images of road obstacles and traffic signals, annotated to create a labeled dataset. Subsequently, it was trained using the YOLOv8 and YOLOv5 models, with YOLOv5 achieving a satisfactory accuracy of 84%. The second model was trained on the COCO dataset using YOLOv5, yielding an impressive accuracy of 94%. By improving object detection capabilities through advanced technology, this research seeks to empower individuals with visual impairments, enhancing their mobility, independence, and overall quality of life.

• The Journal of Korean Physical Therapy
• /
• v.27 no.5
• /
• pp.364-368
• /
• 2015

Purpose: Walking in the dual-task condition is a critical skill for hemiplegic patients to live in real-life situations. The purpose of this study was to compare the effect of dual-task gait training and general gait training on gait parameters and cognitive function in patients with chronic stroke during dual-task walking. Methods: The study included 23 patients with chronic hemiparetic stroke who were randomly divided into experimental (dual-task gait training) and control (general walking training) groups. The 11 subjects in the experimental group and nine subjects in the control group received dual-task gait training (walking while handling a ball, crossing obstacles, picking up various objects, and problem solving simple cognitive tasks and general over-ground gait training, respectively, for 30 minutes per day 5 days per week for 4 weeks. Spatiotemporal parameters and cognitive tasks in the dual-task gait condition were measured. Statistical analysis of the changes between the pre- and post-intervention measurement variables was performed using ANCOVA. Results: In the gait condition under cognitive tasks, the changes pre- and post-intervention in gait velocity, stride length, double support limb, and step symmetry were significantly greater in the dual-task gait training group; however, the dual-task gait training group showed no significant improvement compared to the general gait training group in terms of the assessment of cognitive tasks. Conclusion: The findings suggest that dual-task gait training may be beneficial for walking ability in dual-task walking condition.