• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.10
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• pp.1479-1485
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• 2015

Robot's technology was very simple and repetitive in the past. Nowadays, robots are required to perform intelligent operation. So, path planning has been studied extensively to create a path from start position to the goal position. In this paper, potential field algorithm was used for path planning in dynamic environments. It is used for a path plan of mobile robot because it is elegant mathematical analysis and simplicity. However, there are some problems. The problems are collision risk, avoidance path, time attrition. In order to resolve path problems, we amalgamated potential field algorithm with the artificial neural network system. The input of the neural network system is set using relative velocity and location between the robot and the obstacle. The output of the neural network system is used for the weighting factor of the repulsive potential function. The potential field algorithm problem of mobile robot's path planning can be improved by using artificial neural network system. The suggested algorithm was verified by simulations in various dynamic environments.

• Journal of the Korean Society for Library and Information Science
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• v.53 no.3
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• pp.5-23
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• 2019

This study was conducted with a view to examining the determinants of the public library budget in the local governments of south korea. To the end, this study used the public library budget data and macro/micro environments data of 167 local governments in 2017. The analysis results shows that the determinants which have an effect on the public library budget are metropolitan area, the level of education, the population size of young adults in terms of the macro environment, and the number of users, books, and librarians in terms of the micro environment.

• Journal of Korean society of Dental Hygiene
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• v.11 no.1
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• pp.95-101
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• 2011

Objectives : Children who are users of local children's centers are mostly in the lower income brackets or raised by single parents or grandparents. Their parents are usually careless about them, or they are placed in tough environments. Specifically, they are unlikely to be taught at home to brush their teeth on a regular basis. The purpose of this study was to examine the oral health education experiences of teachers at local children's centers and the reality of oral health care provided by them to children, and to pave the way for the development of collaborative oral health education programs by local children's centers and local communities. Methods : The subjects in this study were teachers who worked at 158 local children's centers located in Gyeongnam Province. Each teacher was asked to fill out the given a questionnaire at the centers. The survey was conducted by phone or in person from February 26 to April 1, 2009. The collected data were analyzed with SPSS 15.0 program, and statistical data on frequency and percentage were acquired to find out the general characteristics of the teachers. And crosstabulation was utilized to look for connections between oral health education experiences and actual oral health care. Results : At the 158 local children's centers, 21 teachers had ever learned about oral health education to provide children with that, and 137 teachers hadn't. The local children's centers that the former worked for had more interest in dental caries, and those centers had children do toothbrushing more than the other centers at which the latter served. Conclusions : It seems that local children's centers and local communities should make concerted efforts to develop joint education programs.

• Journal of Korean Society of Rural Planning
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• v.10 no.3 s.24
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• pp.19-26
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• 2004

In this study, a new model for improving the settlement environment and revitalizing hilly and mountainous areas was presented. A case study was conducted in two rural villages of Nakatsu-Mura in Wakayama-Prefecture, Japan. The settlement environment was evaluated from the point of view of the local residents, and the expectation of the local residents about the regional revitalization of their village in the future was assessed. From the analysis, each factor used far the assessment displayed characteristics of the two rural villages well. The type of improvement in rural villages was classified by a combination of the degree of satisfaction over the current settlement environment and expectation about the regional revitalization of the villages in the future. A method for improving and revitalizing settlement environments was clarified.

• International Journal of Control, Automation, and Systems
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• v.4 no.3
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• pp.318-324
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• 2006

The mobile manipulator is expected to work in partially defined or unstructured environments. In our global/local approach to path planning, joint trajectories are generated for a desired Cartesian space path, designed by the global path planner. For a local path planner, inverse kinematics for a redundant system is used. Joint displacement limit for the manipulator links is considered in the motion planner. In an event of failure to obtain feasible trajectories, the task cannot be accomplished. At the point of failure, a deviation in the Cartesian space path is obtained and a replanner gives a new path that would achieve the goal position. To calculate the deviation, a nonlinear optimization problem is formulated and solved by standard Sequential Quadratic Programming (SQP) method.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.05a
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• pp.801-803
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• 2014

In the modern society, image processing is utilized in various fields. Edge detection used for image processing as such is essential for most of the applications. Accordingly, there are studies conducted both in and out of Korea in order to detect edge. Representative edge detection methods include Sobel, Prewitt and Roberts. However, these methods are rather limited when it comes to the edge detection characteristics when used for the image with damaged AWGN(additive white Gaussian noise). Thus, this paper presented edge detection method utilizing local mask in order to overcome the shortcomings of the existing methods.

• ETRI Journal
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• v.43 no.4
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• pp.580-593
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• 2021

When operating in confined spaces or near obstacles, collision-free path planning is an essential requirement for autonomous exploration in unknown environments. This study presents an autonomous exploration technique using a carefully designed collision-free local planner. Using LiDAR range measurements, a local end-point selection method is designed, and the path is generated from the current position to the selected end-point. The generated path showed the consistent collision-free path in real-time by adopting the Euclidean signed distance field-based grid-search method. The results consistently demonstrated the safety and reliability of the proposed path-planning method. Real-world experiments are conducted in three different mines, demonstrating successful autonomous exploration flights in environment with various structural conditions. The results showed the high capability of the proposed flight autonomy framework for lightweight aerial robot systems. In addition, our drone performed an autonomous mission in the tunnel circuit competition (Phase 1) of the DARPA Subterranean Challenge.

• Journal of Environmental Science International
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• v.32 no.5
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• pp.375-384
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• 2023

Climate data were obtained over an eight-year period (July 2013 to June 2021) using an automatic weather observation system (AWS) installed at the foot of Mt. Geumo in Chilgok, Gyeongbuk. Using climate data, the statistical and meteorological characteristics of the local circulation between the Nakdong River and Mt. Geumo were analyzed. This study is based on automatic weather observation system data for Dongyeong, along with comparative climate data from the Korea Meteorological Administration (Chilgok) and the Gumi meteorological observatory. Over the eight- years, mountain and valley winds have occurred 48 times a year on average, with the highest occurring in May and the weakest winds in June and December. When mountain winds occurred, the temperature in the nearby lowland region more strongly decreased than when valley winds blew. However, the potential to use mountain winds to improve urban thermal environments is limited because mountain winds occur infrequently in summer when a drop in nighttime temperature is required.

• IEIE Transactions on Smart Processing and Computing
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• v.2 no.2
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• pp.45-56
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• 2013

The precise identification of vehicle positions, known as the vehicle localization problem, is an important requirement for building intelligent vehicle ad-hoc networks (VANETs). To solve this problem, two categories of solutions are proposed: stand-alone and data fusion approaches. Compared to stand-alone approaches, which use single information including the global positioning system (GPS) and sensor-based navigation systems with differential corrections, data fusion approaches analyze the position information of several vehicles from GPS and sensor-based navigation systems, etc. Therefore, data fusion approaches show high accuracy. With the position information on a set of vehicles in the preprocessing stage, data fusion approaches is used to estimate the precise vehicular location in the local map building stage. This paper proposes an efficient local map building scheme, which increases the accuracy of the estimated vehicle positions via V2V communications. Even under the low ratio of vehicles with communication modules on the road, the proposed local map building scheme showed high accuracy when estimating the vehicle positions. From the experimental results based on the parameters of the practical vehicular environments, the accuracy of the proposed localization system approached the single lane-level.

• Journal of Environmental Science International
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• v.24 no.1
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• pp.97-115
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• 2015

For the purpose of protecting the health of citizens and creating a delightful environment, the Government shall establish the environmental standards, and make such standards keep their propriety according to any changes in environmental conditions. The Special Metropolitan City, Metropolitan City or Do may, in case where deemed necessary in view of the speciality of regional environments, set forth the separate environmental standards which are more expanded and strengthened than the environmental standards by the Municipal Ordinance of the relevant City/Do. The purpose of this study was for the management of stream waters of Jeju Island and proposed the appropriate Jeju local river environmental standards. Jeju-Do and Daejeon-si applies the Local River Environmental Standards in Korea. While each nation? circumstances and environment are different, for the most part, environmental standards and purposes of use are similar to those in Korea. Proposed Jeju River Local Environment Standards followed The River Environment Standards of Nation(Korea) for Living Environment Standards. Newly Strengthened Value is Cd, Carbon tetrachloride, 1,2-dichloroethene, Tetrachloroethylene(PCE) and add Items is Fluorine, Selenium, Phenol and Toluene for Human Health Protection.