The Aspect and Meaning of Free Play in Unstructured Outdoor Environment

( Yoo Young-eui ),( Lee Hae-young ),( Lee Mi-sun ),( Jang Eun-jung ) 한국유아교육학회 2017 정기학술대회 논문집 Vol.2017 No.1

The purpose of this study was to provide basic data about environment, contents, teaching and learning of play by examining and analyzing the aspect and meaning of free play in unstructured outdoor environment. For this purpose, 20 children aged 5 years old at H day care center in Chungcheongnam - do were selected. From October to November, 2016, the children’s play was observed, and the play process was recorded with pictures and videos, and the data were categorized and analyzed. The results were as follow as: First, children’s perception about play environment were changed. Children who did not show great interest in the unstructured outdoor play environment gradually recognized themselves as their space. In addition, they began to show interest in flowers and grass while looking at the outdoor environment, and they showed active explorers and players such as how to protect them. In the outdoor environment, the children seemed not to show much interest even if they had garbage, but they seemed to be leading the play environment by clearing the play environment and building the name of the playground. Secondly, he appeared as an active player. In an unstructured outdoor environment, young children made their own plaything and used their own plaything to create and transform various plays.

비구조적인 놀이환경 운영을 통한 유아 주도의 자유놀이 양상

신지연(Shin, Ji-Youn) 한국유아교육·보육복지학회 2021 유아교육·보육복지연구 Vol.25 No.3

본 연구의 목적은 2019 개정 누리과정에 기초한 비구조적인 놀이환경 구성 및 운영을 통해 유아 주도의 자유놀이 양상을 탐색하고 그 교육적 함의를 찾는 것에 있다. 비구조적인 놀이환경이란 시간, 공간, 놀이자료가 구조화된 형식을 가지지 않고 운영과 방법이 자유롭게 열려있는 놀이환경을 의미하며, 인적환경인 교사의 역할이 ‘교수자’가 아닌 ‘지원자’인 개념을 의미한다. 연구기관은 놀이중심 교육과정을 운영하고 있는 S유치원 만5세반에서 2020. 5월부터 12월까지 실내외 자유놀이시간동안 총 36회기의 참여관찰과 교사면담, 연구자 일지와 교사일지를 통해 이루어졌고, 수집된 자료는 질적 연구의 주제 분석에 따라 주의 깊게 읽고 범주화하는 과정을 거쳤다. 연구결과, 유아 주도의 자유놀이 양상은 첫째, 비구조적 놀이공간 운영에 따른 양상으로 공간을 넘나드는 놀이, 형/동생/친구와의 재미있는 놀이, 점점 확장되고 통합되는 놀이를 보였으며, 둘째 비구조적 시간운영에 따른 양상으로 길게 몰입하는 놀이, 꼬리에 꼬리를 무는 놀이특성을 보였다. 셋째, 비구조적 놀이자료 운영에 따른 양상으로 내 맘대로 만들어 노는 놀이, 연령과 놀이방법의 경계가 허물어진 놀이의 양상을 보여주었다. 본 연구는 비구조적인 놀이환경 운영을 통해 ‘놀이주체자’로서 주도적인 놀이를 통해 의미 있는 배움을 만들어가는 유능한 유아의 모습을 재조명하였다. The purpose of this study is to explore aspects of free play led by children through the operation of an unstructured play environment and find its educational implications. Unstructured play environment means a play environment in which time, space, and play materials do not have a structured format and structures and methods are freely open. The institute conducted a total of 36 sessions of free indoor and outdoor play hours from May to December 2020, and carefully read and categorized the collected data according to the analysis of qualitative research subjects. According to the study, the play aspects of children in free play led by children were first, play across spaces, play with friends, expanded and integrated, second, play with long immersion and tail-biting characteristics. Third, the aspects of the play materials showed that the boundaries between age and play method were broken down. This study sheds light on the appearance of competent children who create meaningful learning through leading play in an unstructured play environment.

Auto-Calibration을 이용한 Unstructured Environment에서의 실내 위치추정 기법

엄위섭(We-sub Eom),서대근(Dae-Geun Seo),박재현(Jae-Hyun Park),이장명(Jang-Myung Lee) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.2

This paper proposes a way of expanding the use area of localization technique by using a beacon. In other words, we have developed the auto-calibration algorithm that recognizes the location of this beacon by attaching the beacon on an arbitrary position and by using the information of existing beacon under this situation. By doing so, the moving robot can overcome the limitation that the localization of moving robot is only possible within the area that has installed the existing beacon since the beacon cannot be installed on the accurate location when passing through a danger zone or an unknown zone. Accordingly, the moving robot can slowly move to the unknown zone according to this auto-calibration algorithm and can recognize its own location at a later time in a safe zone. The localization technique is essentially needed in using a moving robot and it is necessary to guarantee certain degree of reliability. Generally, moving robots are designed in a way to work well under the situation that the surroundings is well arranged and the localization techniques of using camera, laser and beacon are well developed. However due to the characteristics of sensor, there may be the cases that the place is dark, interfering radio waves, and/or difficult to install a beacon. The effectiveness of the method proposed in this paper has been proved through an experiment in this paper.

WPAN기반 원격 조종로봇 유효통신거리 확장을 위한 다 개체 로봇 추종주행기법

김윤구,김영덕,안진웅,김경동,허지광,이석규 한국로봇학회 2011 로봇학회 논문지 Vol.6 No.1

An increasing number of researches and developments for personal or professional service robots are attracting a lot of attention and interest industrially and academically during the past decade. Furthermore, the development of intelligent robots is intensively fostered as strategic industry. Until now, most of practical and commercial service robots are worked by remotely operated controller. The most important technical issue of remote control is a wireless communication, especially in the indoor and unstructured environments where communication infrastructures might be destroyed by various disasters. Therefore we propose a multi-robot following navigation method for securing the valid communication distance extension of the remote control based on WPAN(Wireless Personal Area Networks). The concept and implementation of following navigation are introduced and the performance verification is performed through real navigation experiments in real or test-bed environments.

야지환경에서의 딥러닝 기반 영상 깊이 추정 데이터셋 구축을 위한 플랫폼 연구

하진수,강현욱,이종현,박정희,이채현,김양곤,조기춘 한국자동차공학회 2024 한국 자동차공학회논문집 Vol.32 No.5

Accurate perception is critical for unmanned ground systems in unstructured outdoor environments. LiDAR sensors utilize laser beams to generate point-based 3D spatial information. However, they are vulnerable to external impact. Conversely, camera sensors, known for their affordability and durability, require indirect methods, such as stereo vision and deep learning, to generate spatial information. Creating datasets for deep learning in outdoor environments is challenging due to the absence of specialized data acquisition platforms and the time-consuming and costly process of generating manual annotations. To address these issues, this study proposes an outdoor data acquisition platform and a LiDAR-based technique to generate depth estimation datasets. The platform was employed to construct real outdoor datasets, and to conduct a qualitative evaluation of the constructed dataset. The dataset was then used to train and evaluate a depth-estimation network, validating the method's effectiveness. In conclusion, this study offers a comprehensive solution to acquire data in unstructured outdoor environments.

후보 궤적을 이용한 비구조화된 환경에서의 교차로 인식 및 주행

김민수(Minsoo Kim),안준우(Joonwoo Ahn),김민성(Minsung Kim),박재흥(Jaeheung Park) 한국자동차공학회 2020 한국자동차공학회 학술대회 및 전시회 Vol.2020 No.11

In this paper, we present intersection detection and navigation method in the unstructured environment. The presented method uses only a camera image. It generates candidate trajectories in the segmented camera image and decides whether the vehicle enters an intersection using a histogram of the candidate trajectories. In addition, the vehicle selects the target trajectory and tracks it with considering the vehicle velocity, static obstacles, and navigation information. The proposed method was tested and evaluated in a simulation.

라이다 기반 야지 환경 내 전방 노면 높이 프로파일 및 거칠기 추정 시스템

석지원,김소영,조재영,박정희,이채현,김양곤,조기춘 한국자동차공학회 2024 한국 자동차공학회논문집 Vol.32 No.5

Unmanned ground systems equipped with sensors, such as cameras, radar, and LiDAR, play a crucial role in detecting environmental conditions. Specifically, recognizing drivable areas in uneven terrain is essential in establishing stable navigation plans. Information on the oncoming road's height profile and roughness obtained from LiDAR sensors will help ensure safe navigation and effective control planning. This study introduces a real-time, LiDAR-based approaching road height profile and a roughness estimation system in perceiving unstructured outdoor environments. Considering the mechanical characteristics of the system, the proposed method estimates the driving path, and generates a road height profile by using LiDAR point clouds. Finally, we will be analyzing road roughness in the frequency domain, and will be classifying roughness based on the ISO 8608:2016 standard. Real-world experiments conducted in both off-road and on-road environments demonstrate the feasibility and effectiveness of the proposed system in estimating terrain roughness in real time

환경 문제 해결을 위한 구조화된 수업 모형과 비구조화된 수업 모형의 적용 효과 분석

이향미,최돈형 한국환경교육학회 2007 環境 敎育 Vol.20 No.2

The Environmental problem solving model is an instructional strategy to accomplish the aim of environmental education through investigation of environmental problems and issues of the community. This study is intended to compare the instructional effect of the structured model with the unstructured model of environmental problem solving. The experimental group received the structured instruction and the control group received the unstructured instruction. There did not appear to be any significant difference between the groups in regard to knowledge but in regard to knowledge of environmental issues, the experimental group was more effective than the control group. No significant differences existed between the groups in attitude. In regard to investigating skill and evaluation of environmental issues, the experimental group was significantly more effective than the control group. The experimental group was significantly more effective than the control group in regard to environmental action skills. To foster responsible environmental behavior, environmental education a number of methodologies must be considered and learners must be trained to become problem-solving citizens. It was noted that the structured instruction was more effective than the unstructured instruction in middle school where environmental issues were not taught as an independent

A Time Synchronized Multi-robot Coverage Algorithm for Unstructured Environment

Tae-Shin Kim,Young-Ho Lee,Jong-Koo Park,Tae-Yong Kuc,Sang-Hoon Ji,Sang-Moo Lee,Yong-Sun Moon 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10

This paper considers a design problem for time synchronized coverage control of cooperative mobile robots. The derived algorithm provides a coverage control which not only considers the mobility characteristic of each mobile robot for task allocation but generates robot velocity profile for synchronized coverage completion within the constrained time. Since the environment for robot coverage work is modeled as a set of locations to visit by robots, the derived coverage algorithm and its control method are equally well suited to an unstructured working environment as to the structured work space. In determining the number of locations for each robot to visit during coverage operation, a time index derived from the minimum time velocity profile is used for the comparison of robot performance. Once the set of locations has been determined for each robot, the corresponding path tree and velocity profile are generated for synchronized execution of coverage work. The completeness of synchronized group coverage within the constrained time is proven through simulation for a group of mobile robots with different motor characteristics. An additional consideration by the derived coverage controller is collision avoidance of mobile robots in a crowded environment with the aid of finite potential function approach.

교실의 비구조적 놀이 환경에서 나타나는 유아놀이의 탐색

이희경 ( Lee Hee-kyung ) 한국실천유아교육학회 2019 실천유아교육 Vol.24 No.1

본 연구는 유치원의 비구조적 놀이환경에서 나타나는 유아의 놀이를 탐색하기 위해 이루어졌다. 연구 대상은 서울 S유치원의 5세 반 유아 17명으로 2018년 9월 3일 부터 10월 23일 까지 6주 동안 주 2회 일일 1시간씩 총 10회 동안 유아들의 자유놀이를 관찰하는 참여 연구로 진행되었다. 연구결과, 유아들의 놀이는 개방적이고 통합적인 지유놀이와 함께 만들어가는 재미있는 놀이로 범주화 되었다. 첫째, 개방적이고 통합적인 자유놀이는 불편함과 편리함, 그리고 놀이의 확장과 통합으로 재 범주화 되었다. 즉 찾아서 노는 놀이, 놀잇감을 둘러싼 갈등과 돌팔구가 동시에 나타났으며, 놀이가 확장되고 지속되며 영역활동이 통합되는 놀이로 탐색되었다. 둘째, 유아읭 놀이는 함께 만들어가는 놀이와 재미있는 놀이로 재범주화 되었다. 즉, 서로 도우며 관계를 돈독히 다지고, 놀이 영역을 새로 만들어 노는 놀이, 그리고 재미를 더해가며 도전하고 창의성을 발휘하는 놀이로 탐색되었다. The purpose of this study is to explore the play of young children in unstructured play environments in kindergarten. The study examines 17 young children under 5 years old in S Kindergarten in Seoul, who were observed during free time playing twice a week for a period of six weeks from September 3 to October 23, 2018, for a total of 10 times. The findings of the study were as follows. First, the play of young children has been categorized as interesting(enjoying) play which is made up of open and integrated free play. Open and integrated free play has been further re-categorized into discomfort, comfort, and the expansion and integration of play. When conflicts over toys occurs, free time playing becomes tools for peaceful conflict resolution and as a result of this, the play has been expanded, endured and integrated with other domains of activities. Second, playing together with other children has been re-categorized as playing together and enjoying play. In fact, children's peer relationships were strengthened and more creative areas of play were explored, while they were enjoying playing together.