Earticle

이 연구에서는 중학교 2학년 학생들의 물질의 특성에 대한 거시적, 미시적 수준의 개념을 비교하였다. 기초 입자 개념 검사와 녹는점, 용해도, 밀도 개념에 대한 거시적, 미시적 수준의 개념 검사를 개발하여 371명의 중학생들을 대상으로 실시하였다. 학생들의 응답을 거시적 수준과 미시적 수준의 개념 이해 여부에 따라 네 가지로 범주화하고 범주별 비율과 특징을 분석하였다. 연구 결과, 거시적 수준의 개념을 이해한 학생들은 미시적 수준에서 다양한 오개념을 가지고 있는 경우가 많았다. 많은 학생들은 물질의 특성과 관련한 미시적 수준의 개념뿐 아니라 거시적 수준의 개념 이해에도 어려움을 겪었다. 거시적 수준의 개념을 이해하지 못한 학생들은 대부분 미시적 수준에서 거시적 수준의 응답과 일치하는 응답을 하지 못하였다. 기초 입자 개념 문항에 옳은 응답을 한 학생들도 물질의 특성 관련 개념을 이해하는 데 어려움을 겪었으나, 거시적 수준의 개념을 이해한 경우 미시적 수준의 개념도 함께 이해한 비율이 높았다. 연구 결과를 바탕으로 물질의 특성 관련 개념의 효과적인 교수학습 및 향후 교육과정의 개선을 위한 교육적 시사점을 논의하였다.

In this study, we compared 8th graders' macroscopic and microscopic conceptions related to the properties of substances. A test for the basic particle concept and a test for the macroscopic and microscopic concepts of melting point, solubility, and density were developed and administered to 371 students. Their responses were classified into 4 categories on the bases of their understanding of the macroscopic and microscopic concepts. The proportions and characteristics of each category were also analyzed. The analyses of the results revealed that the students who understood the macroscopic concepts had various misconceptions at the microscopic level. Many students had difficulty in understanding not only microscopic concepts but macroscopic concepts. The microscopic responses of the students who did not understand the macroscopic concepts hardly corresponded with their macroscopic level responses. The students who responded correctly to the test for the basic particle concept also had difficulty in understanding the concept of the properties of substances. When they understood the macroscopic concepts, the proportions of the students who understood the microscopic concepts were high. On the bases of the results, educational implications for effective teaching and learning of concepts related to the properties of substances and for improving the future national curricular are discussed.

This study proposes a novel feature point initialization method in order to improve the accuracy of feature point positions by fusing a vision sensor and a lidar. The initialization is a process that determines three dimensional positions of feature points through two dimensional image data, which has a direct influence on performance of a 6-DoF bearing-only SLAM. Prior to the initialization, an extrinsic calibration method which estimates rotational and translational relationships between a vision sensor and lidar using multiple calibration tools was employed, then the feature point initialization method based on the estimated extrinsic calibration parameters was presented. In this process, in order to improve performance of the accuracy of the initialized feature points, an iterative automatic scaling parameter tuning technique was presented. The validity of the proposed feature point initialization method was verified in a 6-DoF bearing-only SLAM framework through an indoor and outdoor tests that compare estimation performance with the previous initialization method.

This paper presents the principle, dynamics modeling and control, hardware implementation, and flight test result of a hybrid-type unmanned aerial vehicle (UAV). The proposed UAV was designed to provide both hovering and fixed-wing type aerodynamic flight modes. The UAV's flight mode transition was achieved through the attitude transformation in pitch axis, which avoids a complex rotor tilt mechanism from a structural and control viewpoint. To achieve this, a different navigation coordinate was introduced that avoids the gimbal lock in pitch singularity point. Attitude and guidance control algorithms were developed for the flight control system. For flight test purposes, a quadrotor attached with a tailless fixed-wing structure was manufactured. An onboard flight control computer was designed to realize the navigation and control algorithms and the UAV's performance was verified through the outdoor flight tests.