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( Changwan You ),( Kichul Kim ) 한국체육학회 2016 국제스포츠과학 학술대회 Vol.2016 No.1
Purpose: Since there is more emphasis on the teaching-learning assessment development in the second stage with the modification and supplement of the first stage, the development with information more suitable in the field is required. Therefore, more teachers are included in the development in order for higher suitability on the elementary, middle and high schools P.E. curriculums. The balance of theoretical and practical aspects is pursued through literature study, expert council and public hearing in the research process. Method: The ‘teaching-learning and its significance’ and ‘assessment and its significance’ in 2009 revised P.E. curriculum were ‘guidance by contents’ and ‘assessment by contents’ which become more specified in the second stage. The ‘guidance by contents’ was under the teaching and learning direction and planning which might be helpful in sequential understanding but they were not enough in delivering direct assistance on how to achieve the standard of accomplishments that were specified separately. Therefore, they are newly placed under the achievement standard for higher utilization of the standard of accomplishment. Result: One of the focusing of the second stage development is the reconstruction of the ``teaching and learning assessment direction`` to fit new P.E. curriculum. The framework of the 2009 revised P.E. curriculum are maintained while items unsuitable for implementation or that needs modification in the 2015 revised P.E. curriculum are reconstructed. Specialized curriculum in high school P.E. is added in the second stage which are ‘introduction to sports’, ‘P.E. and career exploration’ and ‘P.E. teaching’ in more clarified characteristics. The 2015 revised P.E. curriculum developed in such process were submitted in September, 2015 which went through the final review and announced. After the 2015 revised P.E. curriculum was announced, the second stage was established to modify and supplemented which was to concretize the ``teaching and learning method and assessing example by area`` for better application of the curriculum. Based on the study results, more suggestions were made for the development process of P.E. training, system improvement and their application in schools. Conclusion: After the announcement, the ``teaching-learning method and assessing example by area`` were defined in order to raise their application with appropriate examples to achieve the standard of accomplishment in elementary and middle schools with just one standard of accomplishment. Two areas per subject in high school elective courses and their appropriated standard of accomplishment were selected as its teaching and learning assessment example. The teaching and learning method and assessment examples developed in each area went through reviews and modifications by current teacher in elementary, middle and high schools to have higher completeness. This had been included in the appendix of the second development report.
RGB-D Visual SLAM Algorithm Using Scene Flow and Conditional Random Field in Dynamic Environments
Hyeongjun. Jeon,Changwan Han,Donggil You,Junghyun. Oh 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
For many years, SLAM algorithms for dynamic environments have been studied. Most methods use semantic segmentation models and it was applied to SLAM by erasing a predetermined type of dynamic object. However, these methods ignored static elements that could exist within dynamic objects in the SLAM process. In this paper, we propose an RGB-D Visual SLAM method using Scene flow and Conditional Random Field in dynamic environments. The proposed method uses static elements inside dynamic objects for Visual Odometry. First, we use dense optical flow to obtain pixel matching between frames and RANSAC algorithms to obtain relative pose. Then, we use depth maps between scenes and matching information to obtain Scene Flow. We calculate dynamic likelihood from this scene flow and create dynamic mask and modify it to be resistant to noise using the Conditional Random Field. We conducted experiments in TUM dataset containing dynamic objects. In experiment, this algorithm has been able to achieve similar or better results than the previeous method using semantic segmentation.
( Kichul Kim ),( Changwan You ) 한국체육학회 2016 국제스포츠과학 학술대회 Vol.2016 No.1
Purpose: This study was done to develop a new draft of P.E. curriculum in accordance with the basic directions of 2015 revised curriculum based on creativity-convergence type human resources. To reflect the internal needs to improve P.E. curriculum, the emphasis was on finding ways to redraft the P.E. curriculum in order to foster the core competencies required at the nation level. Method: The development of new draft was done in two stages unlike that of previous process. The nature of P.E., objective, information system, physical activities selection, criteria, examples and accomplishment standards were developed in the first stage. The teaching.learning method, and its significance, evaluation and assessment were developed in the second stage. The second stage was focused on the teaching-learning method and its assessment, however, parts of the first stage was also modified and supplemented. Result: The modified and supplement parts of the first stage were as the following; First, the nature of P.E. were clarified and compressed. The objectives of P.E. were stated as a whole in the first stage, while the objectives of elementary schools and middle schools were further divided separately and briefly stated with an integrated objective to improve the clarity of the goal statement in the proposed section. Second, key concepts and generalized contents were partly modified in its defining elements and activities. In addition, ‘functional’ items developed in the first stage were reconstructed in terms that can encompass the contents of standard of accomplishment more implicitly. Terms to describe in detail were used to promote the cultivation of core competence rather than using terms related to the execution of the achievement standard as a parent concept covering various standard of accomplishment. Third, amount of the standard of accomplishment were reduced since some of the standard of accomplishment were duplicates of detailed achievement standard and some of them were difficult to understand. The improvement was made to reduce the content of standard of accomplishment as well as the number of its lower categories in the second stage. Fourth, examples of physical activities were ordered by classes to avoid any duplication. Since the selection criteria refer to the relevant teaching and learning methods stated, the ``selection criteria and examples of physical activity`` was changed to the ``examples of physical activity`` and suggested physical activity examples were re-selected and refined to suit each classes. Conclusion: In the first stage, the elementary and middle schools curriculums were improved to nurture creative-convergent talents required by the future society while desirable human ideal was reflected for the core competencies and skill-based society. More improvements were searched while the continuity of current curriculum were maintained. In addition, character strengthening education and nurturing creative and well rounded talents were reflected. The strengthening of safety education in particular was debated in terms of how it could be done through the P.E. curriculum which was in great needs of the nation and society.
자율 주행 레이싱 로봇을 위한 보로노이 다이어그램 기반의 지역 경로 계획방법
전형준(Jeon, Hyeongjun),한창완(Han, Changwan),유동길(You, Donggil),이흥재(Lee, Heungjae),오정현(Oh, Junghyun) 대한전기학회 2021 대한전기학회 학술대회 논문집 Vol.2021 No.10
레이싱 로봇이 자율 주행을 수행하기 위해서는 예상치 못한 장애물 나타났을 때 충돌을 회피하기 위한 지역 경로 계획 방법이 필요하다. 본 논문에서는 자율주행 레이싱 로봇을 위한 지역경로 계획을 위하여 먼저 장애물 사이의 공간을 Gap으로 정의하고, 로봇이 지나가기에 적합한 최적의 공간을 선정한다. Gap 정보로부터 가상의 트랙 경계를 생성한 후 Voronoi diagram 기반의 경로생성 방법을 제안한다. 생성된 경로는 장애물들이 존재하는 환경에서도 로봇이 원활하게 주행할 수 있는 경로이며 시물레이션을 통해 본 방법의 타당성을 증명하였다.