• International Journal of Control, Automation, and Systems
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• v.2 no.1
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• pp.107-117
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• 2004

A new algorithm for planning a collision-free path based on an algebraic curve as well as the concept of path space is developed. Robot path planning has so far been concerned with generating a single collision-free path connecting two specified points in a given robot workspace with appropriate constraints. In this paper, a novel concept of path space (PS) is introduced. A PS is a set of points that represent a connection between two points in Euclidean metric space. A geometry mapping (GM) for the systematic construction of path space is also developed. A GM based on the 2$^{nd}$ order base curve, specifically Bezier curve of order two is investigated for the construction of PS and for collision-free path planning. The Bezier curve of order two consists of three vertices that are the start, S, the goal, G, and the middle vertex. The middle vertex is used to control the shape of the curve, and the origin of the local coordinate (p, $\theta$) is set at the centre of S and G. The extreme locus of the base curve should cover the entire area of actual workspace (AWS). The area defined by the extreme locus of the path is defined as quadratic workspace (QWS). The interference of the path with obstacles creates images in the PS. The clear areas of the PS that are not mapped by obstacle images identify collision-free paths. Hence, the PS approach converts path planning in Euclidean space into a point selection problem in path space. This also makes it possible to impose additional constraints such as determining the shortest path or the safest path in the search of the collision-free path. The QWS GM algorithm is implemented on various computer systems. Simulations are carried out to measure performance of the algorithm and show the execution time in the range of 0.0008 ~ 0.0014 sec.

• Journal of Educational Research in Mathematics
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• v.22 no.4
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• pp.619-636
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• 2012

The main purpose of this study was to explore the process of generalization generated by mathematically gifted students. Specifically, this study probed how fourth, fifth, and sixth graders might generalize geometric patterns and represent such generalization. The subjects of this study were a total of 30 students from gifted classes of one elementary school in Korea. The results of this study showed that on the question of the launch stage, students used a lot of recursive strategies that built mainly on a few specific numbers in the given pattern in order to decide the number of successive differences. On the question of the towards a working generalization stage, however, upper graders tend to use a contextual strategy of looking for a pattern or making an equation based on the given information. The more difficult task, more students used recursive strategies or concrete strategies such as drawing or skip-counting. On the question of the towards an explicit generalization stage, students tended to describe patterns linguistically. However, upper graders used more frequently algebraic representations (symbols or formulas) than lower graders did. This tendency was consistent with regard to the question of the towards a justification stage. This result implies that mathematically gifted students use similar strategies in the process of generalizing a geometric pattern but upper graders prefer to use algebraic representations to demonstrate their thinking process more concisely. As this study examines the strategies students use to generalize a geometric pattern, it can provoke discussion on what kinds of prompts may be useful to promote a generalization ability of gifted students and what sorts of teaching strategies are possible to move from linguistic representations to algebraic representations.

• Journal of Educational Research in Mathematics
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• v.25 no.1
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• pp.21-58
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• 2015

The aim of this study is to look into the didactical background for teaching proportional reasoning in elementary school mathematics and offer suggestions to improve teaching proportional reasoning in the future. In order to attain these purposes, this study extracted and examined key ideas with respect to the didactical background on teaching proportional reasoning through a theoretical consideration regarding various studies on proportional reasoning. Based on such examination, this study compared and analyzed textbooks used in the United States, the United Kingdom, and South Korea. In the light of such theoretical consideration and analytical results, this study provided suggestions for improving teaching proportional reasoning in elementary schools in Korea as follows: giving much weight on proportional reasoning, emphasizing multiplicative comparison and discerning between additive comparison and multiplicative comparison, underlining the ratio concept as an equivalent relation, balancing between comparisons tasks and missing value tasks inclusive of quantitative and qualitative, algebraic and geometrical aspects, emphasizing informal strategies of students before teaching cross-product method, and utilizing informal and pre-formal models actively.

• Journal of Mechanical Science and Technology
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• v.18 no.1
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• pp.92-105
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• 2004

A new algorithm for planning a collision-free path based on algebraic curve is developed and the concept of collision-free Path Space (PS) is introduced. This paper presents a Geometry Mapping (GM) based on two straight curves in which the intermediate connection point is organized in elliptic locus ($\delta$, $\theta$). The GM produces two-dimensional PS that is used to create the shortest collision-free path. The elliptic locus of intermediate connection point has a special property in that the total distance between the focus points through a point on ellipse is the same regardless of the location of the intermediate connection point on the ellipse. Since the radial distance, a, represents the total length of the path, the collision-free path can be found as the GM proceeds from $\delta$=0 (the direct path) to $\delta$=$\delta$$\_$max/(the longest path) resulting in the minimum time search. The GM of elliptic workspace (EWS) requires calculation of interference in circumferential direction only. The procedure for GM includes categorization of obstacles to .educe necessary calculation. A GM based on rectangular workspace (RWS) using Cartesian coordinate is also considered to show yet another possible GM. The transformations of PS among Circular Workspace Geometry Mapping (CWS GM) , Elliptic Workspace Geometry Mapping (EWS GM) , and Rectangular Workspace Geometry Mapping (RWS GM), are also considered. The simulations for the EWS GM on various computer systems are carried out to measure performance of algorithm and the results are presented.

• School Mathematics
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• v.4 no.2
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• pp.297-316
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• 2002

In this paper, a teaching unit on series of number sentences with patterns is designed according to Wittmann's perspectives. In this paper, series of number sentences wish patterns means number sentences in which some patterns are contained. especially, seven kinds of number sentences wish patterns are offered as basic materials, and fifteen tasks based on these basic materials are offered. These tasks are for ninth grade students and higher grade students. These tasks heap students to recognize patterns, and to understand mechanism underlying in those patterns by looking for patterns and proving whether these patterns are generally hold. As working on these tasks, students can reinforce meaning of algebraic expression, its manipulation, and concept of number series. Students also can reinforce mathematical thinking such as analogical thinking, deductive thinking, etc. In this point, this teaching unit reveal important objectives, contents, and Principles of mathematics education. This teaching unit can also be rich sources for student's activities. Especially, for each task's level is different, each student's personal ability is considered fully. Since teachers can know mathematical facet, psychological facet, and didactical facet holistically, this teaching unit can offer broad possibilities for experimental studies. SD, this leaching unit can be said to be substantial. In this paper, this leaching unit is not applied in classroom directly. Actually such applying in classroom is suggested as follow-up studies. By appling this teaching unit in various classroom, some effective informations for teaching this teaching unit and some particular phenomenons in those teaching processes can be identified, and this teaching unit can be revised to be better one.

• Korean Journal of Remote Sensing
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• v.11 no.3
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• pp.49-60
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• 1995

Features of geological lineaments generally play an important role at the data interpretation concerned geological processes, mineral exploration or natural hazard risk estimation. However, there are intrinsically discordances between lineaments-related features extracted from surficial geological syrvey and those from satellite imagery;nevertheless, any data set contained those information should not be considred as less meaningful within their own task. For the purpose of effective utilization task of extracted lineaments, the mathematical scheme, based on fuzzy set theory, for practical integration of various types of rasterized data sets is studied. As a real application, the geological map named Homyeong sheet(1:50,000) and the Landset TM imageries covering same area were used, and then lineaments-related data sets such as lineaments on the geological map, lineaments extracted from a false-color image composite satellite, and major drainage pattern were utilized. For data fusion process, fuzzy membership functions of pixel values in each data set were experimentally assigned by percentile, and then fuzzy algebraic sum operator was tested. As a result, integrated lineaments by this well-known operator are regarded as newly-generated reasonable ones. Conclusively, it was thought that the implementation within available GISs, or the stand-alone module for general applications of this simple scheme can be utilized as an effective scheme can be utilized as an effective scheme for further studies for spatial integration task for providing decision-supporting information, or as a kind of spatial reasoning scheme.

• Education of Primary School Mathematics
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• v.26 no.1
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• pp.45-63
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• 2023

The activity of finding rules is useful for enhancing the algebraic thinking of elementary school students. This study analyzed the pattern activities of a finding rules unit in 10 different government-authorized mathematics curricular materials for fourth graders aligned to the 2015 revised national mathematics curriculum. The analytic elements included three main activities: (a) activities of analyzing the structure of patterns, (b) activities of finding a specific term by finding a rule, and (c) activities of representing the rule. The three activities were mainly presented regarding growing numeric patterns, growing geometric patterns, and computational patterns. The activities of analyzing the structure of patterns were presented when dealing mainly with growing geometric patterns and focused on finding the number of models constituting the pattern. The activities of finding a specific term by finding a rule were evenly presented across the three patterns and the specific term tended to be close to the terms presented in the given task. The activities of representing the rule usually encouraged students to talk about or write down the rule using their own words. Based on the results of these analyses, this study provides specific implications on how to develop subsequent mathematics curricular materials regarding pattern activities to enhance elementary school students' algebraic thinking.

• Science of Emotion and Sensibility
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• v.4 no.2
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• pp.69-77
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• 2001

Positively biased asymmetry between positive and negative cognition is the basic assumption of heuristic human functioning. This article describes the SOM(states of mind) model for emotional judgement, a psycho-mathematical model built on affective-cognitive assessment research on the balance of positive and negative thoughts and feelings. The SOM model suggests that subjects on the average choose a positive over a negative pole with the probability 0.62 and the precise value of this constant coincides with algebraic “golden section” 　.618:.382. Statistical analyses of 32 normal subjects shows that the mean of SOM ratios of self-referent judgement and incidental recall task for positive/negative emotional words are .62(SD=.08) and .58(SD=.4). Also, the SOM ratios are significantly correlated with self-referent judgement for positive/negative emotional words. Implications of cognitive balance and future research directions for emotional science are discussed.

• Journal of Educational Research in Mathematics
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• v.15 no.1
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• pp.75-105
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• 2005

This study explored a mathematical modeling flow and the effect of interactions among students and between a student and Excel on modeling in a small group modeling environment with Excel. This is a case study of three 8th graders' modeling activity using Excel during their extra lessons. The conclusions drawn from this study are as follows: First, small group modeling using Excel was formed by formulating 4∼10 modeling cycles in each task. Students mainly formed tables and graphs and refined and simplified these models. Second, students mainly formed tables, algebraic formulas and graphs and refined tables considering each variable in detail by obtaining new data with inserting rows. In tables, students mainly explored many expected cases by changing the values of the parameters. In Graphs, students mainly identified a solution or confirmed the solution founded in a table. Meanwhile, students sometimes constructed graphs without a purpose and explored the problem situations by graphs mainly as related with searching a solution, identifying solutions that are found in the tables. Thus, the teacher's intervention is needed to help students use diverse representations properly in problem situations and explore floatingly and interactively using multi-representations that are connected numerically, symbolically and graphically. Sometimes students also perform unnecessary activities in producing data by dragging, searching a solution by 'trial and error' and exploring 'what if' modeling. It is considered that these unnecessary activities were caused by over-reliance on the Excel environment. Thus, the teacher's intervention is needed to complement the Excel environment and the paper-and-pencil environment properly.

• The Mathematical Education
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• v.59 no.1
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• pp.63-80
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• 2020

This study analyzed 3,114 articles published in KCI journals and 1,636 articles published in SSCI journals from 2000 to 2019 in order to compare domestic and international research trends of mathematics education using a topic modeling method. Results indicated that there were 16 similar research topics in domestic and international mathematics education journals: algebra/algebraic thinking, fraction, function/representation, statistics, geometry, problem-solving, model/modeling, proof, achievement effect/difference, affective factor, preservice teacher, teaching practice, textbook/curriculum, task analysis, assessment, and theory. Also, there were 7 distinct research topics in domestic and international mathematics education journals. Topics such as affective/cognitive domain and research trends, mathematics concept, class activity, number/operation, creativity/STEAM, proportional reasoning, and college/technology were identified from the domestic journals, whereas discourse/interaction, professional development, identity/equity, child thinking, semiotics/embodied cognition, intervention effect, and design/technology were the topics identified from the international journals. The topic related to preservice teacher was the most frequently addressed topic in both domestic and international research. The topic related to in-service teachers' professional development was the second most popular topic in international research, whereas it was not identified in domestic research. Domestic research in mathematics education tended to pay attention to the topics concerned with the mathematical competency, but it focused more on problem-solving and creativity/STEAM than other mathematical competencies. Rather, international research highlighted the topic related to equity and social justice.