• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1816-1819
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• 1997

Using the vision system, robotic tasks in unstructured environments can be accompished, which reduces greatly the cost and steup time for the robotic system to fit to he well-defined and structured working environments. This paper proposes a dynamic control scheme for robot manipulator with eye-in-hand camera configuration. To perfom the tasks defined in the image plane, the camera motion Jacobian (image Jacobian) matrix is used to transform the camera motion to the objection position change. In addition, the dynamic learning controller is designed to improve the tracking performance of robotic system. the proposed control scheme is implemented for tasks of tracking moving objects and shown to outperform the conventional visual servo system in convergence and robustness to parameter uncertainty, disturbances, low sampling rate, etc.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.395-399
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• 2006

A method to recognize unpaved road region using a 3D depth measurement system is proposed for mobile robots. For autonomous maneuvering of mobile robots, recognition of obstacles or recognition of road region is the essential task. In this paper, the 3D depth measurement system which is composed of a rotating mirror, a line laser and mono-camera is employed to detect depth, where the laser light is reflected by the mirror and projected to the scene objects whose locations are to be determined. The obtained depth information is converted into an image. Such depth images of the road region represent even and plane while that of off-road region is irregular or textured. Therefore, the problem falls into a texture identification problem. Road region is detected employing a simple spatial differentiation technique to detect the plain textured area. Identification results of the diverse situation of unpaved trail are included in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1093-1098
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• 2003

In this paper, a practical methodology of hand-manipulator motion coordination for indoor service robot is introduced. This paper describes the procedures of opening door performed by service robot as a noticeable example of motion coordination. This paper presents well-structured framework for hand-manipulator motion coordination, which includes intelligent sensor data interpretation, object shape estimation, optimal grasping, on-line motion planning and behavior-based task execution. This proposed approach is focused on how to integrate the respective functions in harmony and enable the robot to complete its operation under the limitation of usable resources. As a practical example of implementation, the successful experimental results in opening door whose geometric parameters are unknown beforehand are provided.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.592-595
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• 2004

This paper presents a study on the development of a multi-sensing inertial sensor with a single mechanical structure, which can be used both as a gyroscope and an accelerometer. The proposed MEMS gyro-accelerometer is designed to detect the angular rate and the acceleration at the same time using two separate detection circuits for one proof mass. In this study, the detection and signal processing circuit for an effective signal processing of different inertial measurements is designed, fabricated, and tested. The experimental results show that the performances of the gyro-accelerometer have resolutions of 1mg and 0.025deg/sec and nonlinearities of less than 0.5% for the accelerometer and the gyroscope, respectively, which are similar results with those of sensors with different structures and different detection circuits. The size of the sensor is reduced almost by 50% comparing with the sensors of separated proof mass.

• Korean Journal of Child Studies
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• v.37 no.2
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• pp.157-168
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• 2016

Objective: This study examined the facotrs influencing the relationship of adolescents with non-custodial parent. Specifically, this study focused on the comparative influence of the family function as a factor controlling other factors such as socio-demographic characteristics, beliefs about parental divorce, and social support. Methods: Data were collected from 322 adolescents from divorced families using a structured questionnaire. SPSS 22.0, descriptive statistical analysis, correlation analysis, and hierarchical multiple regression were performed to analyze the data. Results and Conclusion: The results revealed that beliefs about parental divorce, social support, and family function affected the relationship with non-custodial parent. After controlling the influence of other factors, family function was found to have a significant influence on the relationship with non-custodial parents. Based on the results, practical suggestions were provided to enhance the relationship between adolescents and non-custodial parents.

• Journal of Korean Academy of Fundamentals of Nursing
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• v.16 no.4
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• pp.481-489
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• 2009

Purpose: The purpose of this study was to identify health promoting lifestyle patterns (HPLP) and health perception (HP), and related factors, in elderly people using welfare service centers. Methods: Three hundred elders were interviewed using a structured questionnaire through convenience sampling at two welfare centers. Data were analyzed using the SPSS WIN 12.0 program. Results: Most of the elders had some kind of diseases, such as hypertension, diabetes, or osteoarthritis. The mean HPLP score was 2.53, and significant differences were found according to the elders' general characteristics. The sub-domain nutrition had the highest mean score, and stress management and exercise, the lowest. The mean HP score was 3.38, and significant differences were found according to education level and number of underlying diseases. HPLP showed a correlation with HP. Conclusion: The results indicate that elders have poor practices in stress management and exercise reflecting need for community based stress management programs for welfare service centers elderly clients.

• Journal of The Korean Association of Information Education
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• v.6 no.2
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• pp.120-129
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• 2002

In this paper, I survey the field which students use ICT and propose a teaching and learning model to improve students' ability in using ICT. Also, I apply it and prove its' effect. Because Problem Based Learning treats ill-structured problem which reflects actuality, Students can pick up the actual knowledge and become verse in general principle or concept which can transmit resemble problem or situation. Therefore, I hope a teaching and learning model which I propose in this paper has an effect to improve students' ability in using ICT.

• Journal of Korean Academy of Nursing
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• v.34 no.6
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• pp.1047-1056
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• 2004

Purpose: The purpose of the study was to research how elder abuse affected the abuse results (self-esteem, depression, somatization) through coping strategies. Method: A convenient sample consisted of 499 subjects from 65 to 85 years old. Data was collected using structured questionnaires from July to August, 2002. The SPSS WIN 10.0 version was used for data analysis. Results: The pathway of elder abuse affecting elder's self-esteem was researched by passive coping, emotional abuse, financial abuse, and physical abuse as the variables that directly affected self-esteem. The pathway of elder abuse affecting elder's depression was researched by passive coping, aggressive coping, verbal abuse, and neglect as the variable that directly affected depression. The pathway of elder abuse affecting somatization was researched by neglect, emotional abuse, and aggressive coping as the variables that directly affected somatization. Conclusion: We should develop a systematized intervention program so that elders can learn positive coping in their abuse circumstance.

• Bulletin of the Korean Chemical Society
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• v.34 no.6
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• pp.1845-1847
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• 2013

The lateral photovoltaic effect (LPE) can be observed in semiconductors by irradiating a light spot position between electrodes on sample's surface. Because lateral photovoltaic voltage (LPV) is sensitively changed by light spot position, a LPE device has been tried as a position-sensitive detector. This study discusses the correlation between LPV and conductivity in p-type silicon and nano-structured Au deposited p-type silicon (nano-Au silicon), respectively. Conductivity measurement of the sample was carried out using the four-wire method to eliminate contact resistance, and conductivity dependence on LPV was simultaneously measured by changing the light irradiation position. The result showed a strong correlation between conductivity and LPV in the p-type silicon sample. The correlation coefficient was 0.87. The correlation coefficient between LPV and conductivity for the nano-Au silicon sample was 0.41.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1995.04a
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• pp.147-159
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• 1995

PC that has been used extensively since the end of 1970 has extended its applicability to the structural analysis Held, and recently the study for advanced integrated structural design system is increasing. This paper concentrates on the steel greenhouse structure applying light steel element At first it provides GUI for correct input of structured analysis data from the pre-processor which models greenhouse structure and extracts a shape data from an analysis data file. Secondly, the data thus extracted is automatically connected with external analysis module. Thirdly, it takes up the study concequence of integrated structural design system for greenhouse that presents the analysis result as a diagram instead of a number.