• 로봇학회논문지
• /
• 제13권2호
• /
• pp.129-141
• /
• 2018

This paper proposes a unified framework that overcomes four motion constraints including joint limit, kinematic singularity, algorithmic singularity and obstacles. The proposed framework is based on our previous works which can insert or remove tasks continuously using activation parameters and be applied to avoid joint limit and singularity. Additionally, we develop a method for avoiding obstacles and combine it into the framework to consider four motion constraints simultaneously. The performance of the proposed framework was demonstrated by simulation tests with considering four motion constraints. Results of the simulations verified the framework's effectiveness near joint limit, kinematic singularity, algorithmic singularity and obstacles. We also analyzed sensitivity of our algorithm near singularity when using closed loop inverse kinematics depending on magnitude of gain matrix.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제52권2호
• /
• pp.85-92
• /
• 2003

In this paper, we propose a method to evaluate performances of mobile personal robots. A set of performance measures is proposed and the corresponding evaluation methods are developed. Different from industrial manipulators, personal robots need to be evaluated with its mobility, navigation, task and intelligent performance in environments where human beings exist. The proposed performance measures are composed of measures for mobility including vibration, repeatability, path accuracy and so on, as well as measures for navigation performance including wall following, overcoming doorsill, obstacle avoidance and localization. But task and intelligent behavior performances such as cleaning capability and high-level decision-making are not considered in this paper. To measure the proposed performances through a series of tests, we designed a test environment and developed measurement systems including a 3D Laser tracking system, a vision monitoring system and a vibration measurement system. We measured the proposed performances with a mobile robot to show the result as an example. The developed systems, which are installed at Korea Agency for Technology and Standards, are going to be used for many robot companies in Korea.

• 한국산학기술학회논문지
• /
• 제19권3호
• /
• pp.171-179
• /
• 2018

기업은 자사의 제품과 기술의 상호운용성을 확보하기 위하여 연구개발과정에서 표준기술을 적용하게 되는데, 이 과정에서 다양한 종류의 장애요인이 발생하게 되며, 활발한 표준화 활동을 통해 이를 극복하려고 한다. 연구개발과정에서 기업의 장애요인과 장애 극복전략 간의 연구는 다양하게 진행되어 왔으나 표준화 과정에서의 장애요인과 장애 극복전략에 관한 연구는 미흡한 상태이며, 표준화와 관련된 장애요인의 유형과 기업의 장애 극복활동에 대한 유형에 대해서도 부족한 상황이다. 이에 본 연구에서는 기업이 표준화 관련 장애요인의 유형을 도출하고, 이러한 장애요인들이 기업의 표준화 활동에 어떠한 영향을 미치는지에 대해 살펴보고자 하였다. 분석을 위해서 한국표준협회가 국내의 전기전자 정보통신 분야에 종사하는 기업을 대상으로 조사하였던 '국내표준실태조사'의 자료를 활용하였으며, 표준관련 장애사항과 필요성 그리고 표준화활동간 관계는 구조방정식 모형을 통하여 검증하였다. 분석결과에 의하면, 표준관련 장애사항은 표준화 활동에 일정한 영향을 미치고, 표준의 필요성에 의한 매개효과가 있는 것으로 조사됨에 따라 많은 기업들이 표준활동에 의한 장애사항이 발생하게 되면 이를 극복하기 위해 다양한 노력들을 수행하고 있다는 것을 알 수 있었다. 따라서 기업은 장애사항을 극복하기 위한 전략적 행동을 스스로 수행함으로써 표준화 활동은 활발해지고 표준관련 연구개발로 인해 발생하는 장애요인들은 감소되는 선순환 구조를 구축하게 될 것으로 판단된다.

• 보건행정학회지
• /
• 제27권4호
• /
• pp.284-295
• /
• 2017

Background: The objectives of this study were to identify the reasons of quitting smoking, to determine the factors that make it difficult or helpful to maintain smoking cessation and to confirm the changes after the smoking cessation. Methods: This study was conducted an in-depth interview with people who participated in the smoking cessation treatment program. There were 10 participants and they were interviewed thoroughly for 14 times. Using the directed content analysis, we analyzed the transcript which was written by recording the interview and the researchers' note. Results: The results of this study are summarized as 'the experience while at the verge of smoking cessation and stepping over the verge of smoking cessation,' 'the changing experience due to smoking cessation,' and 'maintaining the changes through overcoming re-smoking.' The smoking cessation treatment program induced the smokers to quit smoking. Participants mentioned drinking alcohol was the major obstacle to maintain smoking cessation. Also, they noted that the money and the time that were already spent to quit smoking helped their smoking cessation as well as the social relations which helped to prevent re-smoking. Participants felt well-cared through the smoking cessation treatment program and that it helped them to maintain smoking cessation. Conclusion: Smoking cessation treatment program has a positive effect on the smoking cessation trial and maintenance. In order for smokers to overcome re-smoking, educations regarding drinking problem, formation of supportive social relationship, and the applications for smoking cessation will be beneficial.

• 한국수학사학회지
• /
• 제31권2호
• /
• pp.73-91
• /
• 2018

This study begins with the awareness of problem that the education of mathematics teachers has failed to link the limit and the infinite set conceptually. Thus, this study analyzes the historical and reciprocal development of the limit and the infinite set, and discusses how to improve the education of these concepts and their relation based on the outcome of this analysis. The results of the study confirm that the infinite set is the historical tool of linking the limit and the real numbers. Also, the result shows that the premise of 'the component of the straight line is a point.' had the fundamental role in the construction of the real numbers as an arithmetical continuum and that the moral certainty of this premise would be obtained through a thought experiment using an infinite set. Based on these findings, several proposals have been made regarding the teacher education of awakening someone to the fact that 'the theoretical foundation of the limit is the real numbers, and it is required to introduce an infinite set for dealing with the real numbers.' in this study. In particular, by presenting one method of constructing the real numbers as an arithmetical continuum based on a thought experiment about the component of the straight line, this study opens up the possibility of an education that could get the limit values psychologically connected to the infinite set in overcoming the epistemological obstacle related to the continuum concept.

• 수산해양교육연구
• /
• 제29권1호
• /
• pp.270-285
• /
• 2017

This study is about the solution to solve the problem - aging of fisheries worker and exodus of young adult from fisheries. We tried to find out internal improvements which are necessary for overcoming issues. After that, research about inducements and institutional improvements to drive internal improvements has done. and Current policies of Korea for securing workforce in fisheries were examined especially for Gyeongsangnam-do by literature investigation and survey The main purpose of this study is, problems of policy in order to secure Fisheries managers, identify practical obstacle and the activities and management activities performance of training education. and it is to provide evidence to policy improvement. To achieve the purpose of this study, conducted studies are as below. This study is to investigate the educational performance of Fisheries managers and its impact on their business performance using SEM and SEM-Moderate-effect. In terms of the amount of impact on business performance, the level of educational achievement and management activity outcomes had the most impact followed by excellence of educational condition and programs distinction. Therefore, in order to inspire the motivation for learning and communicate the importance of such education to Fisheries communities, there is a need to introduce a variety of methods, professional facilities. The purpose of this research is to define the problems of the Fisheries Census of Korea and to make better policies for improvement. In order to complete the purpose, the research team has firstly conducted a survey in the six regions to reinvestigate the yes or no for accuracy of the primary data related to the Fisheries Census. Moreover, the team has defined the problems of the Fisheries Census through conducting a survey for the experts and users of the fisheries statistics. Also, the team has derived the short/long term improvement of Fisheries Census through out this survey.

• 벤처창업연구
• /
• 제10권5호
• /
• pp.185-196
• /
• 2015

기존 산학협력의 연구에서, 산학협력의 연계(LINK)는 경로의존성에 의해 향후 지속적인 상호협력을 통해 다양한 채널의 폭을 가진다. 다양한 상호채널의 폭을 통해 산학협력의 연계(LINK)는 더욱 더 강력해지나, 반면 거래관련 장벽이 늘어나게 된다. 즉, 대학과 기업 간 링크(university-industry linkages) 관계를 다루는 문헌은 많이 검토되어져 왔지만, 상대적으로 이들 간에 존재하는 장벽과 그 장벽을 줄일 수 있는 요인에 대한 연구는 그리 많이 다뤄지고 있지 않다. 산학협력 정책의 중요성을 감안할 때, 산학협력의 장애물에 대한 연구의 부족은 효과적인 정책을 설계하는데 심각한 장애요인이 될 것이다. 본 논문은 산학협력의 상호채널의 폭과 산학협력의 장벽에 대해 기존의 문헌을 조사하고, 대학행정의 POB(Positive Organization Behavior)을 통해 산학협력의 장벽을 낮출 수 있는지를 분석해보고 이를 통해 정책점시사점을 제시해보고자 한다.

• 대한수학교육학회지:학교수학
• /
• 제11권1호
• /
• pp.39-53
• /
• 2009

본 연구에서는 중등 수학과 1,2급 자격 연수 과정에 참여한 수학 교사 80명을 대상으로 산파법을 소개하고 산파법을 적용한 지도 사례를 구성해 보는 활동을 실행하였다. 이를 통해 수학 교사들이 산파법을 교육 현장에서 의미 있게 적용하기 위해서는 산파법을 적용한 다양한 교육적 사례에서 산파법 실행의 방법적 아이디어를 얻을 필요가 있음을 확인하였다. 이에 본 연구에서는 산파법이 접목되어 있는 실험수업의 내용을 소개하면서 학교 현장의 수학 수업에서 산파법을 적용하는 방안에 대한 구체적인 아이디어를 제공하고자 하였다. 그 결과 수학 문제 해결 과정과의 접목, 인지적 장애 극복의 과정 지도, 수학적 사고와 태도의 신장을 유도하는 질문, 증명지도에서는 결론 탐색 및 분석 과정 살림, 반성 수정 개선 과정으로서의 수학학습을 구성하는 것이 산파법을 의미 있게 적용하는 방안의 일부가 될 수 있음을 예시하였다.

• 산업진흥연구
• /
• 제6권3호
• /
• pp.79-88
• /
• 2021

요나 콤플렉스는 미국의 유명한 심리학자 매슬로에 의해 제안된 심리 용어이다. 요컨대 요나 콤플렉스는 성장에 대한 두려움이다. 그것은 정신 역학 이론의 가설에서 비롯된다. "사람들은 실패를 두려워할 뿐만 아니라 성공도 두려워한다." 그것은 기회 앞에서 회피하고 후퇴하는 일종의 심리를 나타낸다. 이것은 우리가 잘 할 수 있는 것을 하지 못하게 하거나 심지어 우리의 잠재력을 탐구하는 것을 피하도록 이끄는 감정적인 상태이다. 자기실현이라는 관점에서 보면, 그것은 자기실현에 심리적 장애물이다. 본 논문은 다음과 같이 구성되어 있다. 제1장에서는 본 논문의 연구 배경과 중요성을 설명하고, 제2장에서는 이론적인 근거를 설명하고, 제3장에서는 본 논문의 연구 방법이 문학적인 방법이라고 설명하고, 제4장에서는 요나의 형성 이유를 분석한다. 다섯 번째 장에서는 요나 콤플렉스를 극복하는 방법을 자세히 설명했다.

• Clinical and Experimental Reproductive Medicine
• /
• 제28권3호
• /
• pp.183-190
• /
• 2001

Objective: Recently, microdissection of tissue sections has been used increasingly for the isolation of morphologically identified homogeneous cell populations, thus overcoming the obstacle of tissue complexity for the analysis cell-specific expression of macromolecules. The aim of the present study was to establish the minimal conditions required for the RNA extraction and amplification from the cells captured by the laser captured microdissection. Methods : Mouse ovaries were fixed and cut into serial sections (7 im thickness). Oocytes were captured by laser captured microdissection (LCM) method by using PixCell $II^{TM}$ system. The frozen sections were fixed in 70% ethanol and stained with hematoxylin and eosin, while the paraffin sections were stained with Multiple stain. Sections were dehydrated in graded alcohols followed by xylene and air-dried for 20 min prior to LCM. All reactions were performed in ribonuclease free solutions to prevent RNA degradation. After LCM, total RNA extraction from the captured oocytes was performed using the guanidinium isothiocyanate (GITC) solution, and subsequently evaluated by reverse transcriptase-polymerase chain reaction (RT-PCR) for glyceraldehyde-3-phosphate-dehydrogenase (GAPDH). Results: With the frozen sections, detection of the GAPDH mRNA expression in the number of captured 25 oocytes were not repeatable, but the expression was always detectable from 50 oocytes. With 25 oocytes, at least 27 PCR cycles were required, whereas with 50 oocytes, 21 cycles were enough to detect GA PDH expression. Amount of the primary cDNA required for RT-PCR was reduced down to at least 0.25 $\grave{i}$ l with 50 oocytes, thus the resting 19.75 il cDNA can be used for the testing other interested gene expression. Tissue-to-slide, tissue-to-tissue forces were very high in the paraffin sections, thus the greater number of cell procurement was required than the frozen sections. Conclusion: We have described a method for analyzing gene expression at the RNA level with the homogeneously microdissected cells from the small amount of tissues with complexity. We found that LCM coupled with RT-PCR could detect housekeeping gene expression in 50 oocytes captured. This technique can be easily applied for the study of gene expression with the small amount of tissues.