• Proceedings of the Korea Information Processing Society Conference
• /
• 2020.05a
• /
• pp.611-614
• /
• 2020

본 논문은 안정적으로 계단을 주행하는 로봇에 관한 연구로 바퀴변형 시스템의 설계 방법을 제시하고, 기존의 계단극복 로봇의 문제점 중 하나인 계단 주행 시 발생하는 추락을 IMU센서와 서보모터를 이용한 방지법과 아날로그 IR센서를 통한 간단하고 빠르게 계단을 감지하는 방법을 제시한다.

• Korean Journal of Applied Biomechanics
• /
• v.18 no.4
• /
• pp.161-169
• /
• 2008

The purpose of this study was to investigate kinetic variables of the lower extremity during walking on three different stair widths in healthy adults. Ten healthy college-aged adults($23.5{\pm}3.5$) recruited for this study. Each stairs with the same height and length(l8cm and 90cm) under the Korean Constructional Law but three different widths(26cm, 31cm and 36cm) were conducted for this study. One force plate(9286AA, Kistler Co.) was put on third stairs. One-way ANOVA was performed to find the stair width effects during stair walking and the following findings ware obtained. There was significantly decreased in ankle resultant joint moment at Pull-Up phase(p<.05) and, significantly increased in knee extension moment during mid-stance phase as stair width increase(p<.05), but there was no significance in ankle resultant joint moment was found at Forward Continuance Phase in Ascending Stair Walking and There was significantly increased in ankle resultant joint moment as stair width increase during mid-stance phase(p<.05) and no significance in knee and hip resultant moments among the stair width in descending stair walking.

• Korean Journal of Applied Biomechanics
• /
• v.19 no.3
• /
• pp.435-448
• /
• 2009

The purpose of this study was to investigate the kinemaitc gait parameter of lower extremities with different gait conditions(level walking, stairs, ramp) in old adults. Fourteen healthy older adults participated in this study and kinematic data were measured using 3D motion analysis system(Vicon, Oxford Metrics, England). Statistical analysis was used one-way ANOVA to know the difference of lower extremities angle at each gait phase with a different gait conditions. In sagittal plane, pelvic anterior tilt increased in stairs and ramp climbing and hip and knee flexion increased in stairs climbing but ankle dorsiflexion increased in ramp climbing. In frontal plane, pelvic was up in stairs and hip abduction and adduction more changed in stairs climbing than level walking. Knee varus and ankle inversion increased in stair climbing. In horizontal plane, pelvic internal rotation increased in stairs and ramp climbing and knee internal rotation increased in stairs climbing but ankle external rotation increased in stairs climbing. This results was shown that the stairs and ramp climbing changed the kinematic gait parameters of lower extremities in healthy old adults.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.10 no.3
• /
• pp.395-402
• /
• 2015

In this paper, we propose an efficient gait trajectory generation method for the static stair climbing of a quadruped robot with mechanism of insectile legs, which has no collision with staris. First, we derive the kinematic and inverse models of a quadruped robot using the algebraic and geometrical methods, respectively. In the proposed method, we generate the stair locomotion trajectory of a sine wave after lifting a leg from the start position, and then determine the coefficient of the generated trajectory to avoid the collision with stairs. In addition, we make the gait sequence for the stable stair locomotion. Finally, we verify the effectiveness and applicability of the proposed stair locomotion method through computer simulations.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.11 no.10
• /
• pp.3964-3973
• /
• 2010

The main purpose of this study is the vertical circulation elements(stairs, elevator, ramp) in a Museum. The first is numerically analyzed in the study. And museum of Korea was limited to the case. The result of the study can be summarized as follows. 1. 50% of cases have 3~4 vertical circulation elements.; (1) ~8 elements: 1(3%), (2) 7 elements: 2(5%), (3) 6 elements: 5(13%), (4) 5 elements: 6(16%), (5) 4 elements: 8(21%), (6) 3 elements: 11(29%), (7) 2 elements: 4(11%), (8) 1 element: 1(3%). 2. There was "stairs alone", "elevator + stairs", "elevator + stairs + ramp", "stairs + ramp" in museum of Korea. Cases of "elevator alone", "ramp alone", elevator + ramp", "stairs + elevator + ramp" was not.; (1) stairs alone: 8(21%), (2) elevator + stairs: 21(55%), (3) elevator + stairs + ramp: 8(21%), (4) stairs + ramp: 1(3%).

• Fire Science and Engineering
• /
• v.22 no.1
• /
• pp.29-36
• /
• 2008

This study is intended to examine the effect of the evacuation guidance that used phosphorescent material for stairs in the event of smoke and failure of both the power to the lighting and illuminated sign. To achieve the purpose, the test stairs was established and 35 students(1st 20, 2nd 15) were examined the visibility, the convenience and the comfort of going up and down of stairs. The results of this study are as follows; The evacuation from stairs showed that the stair nosing and landing used phosphorescent material for was very effective in dark conditions(0 lux) because of the high visibility of stair nosing and the convenience and the comfort of going up and down of stairs. The phosphorescent material located on the stair nosing and stair landing will aid in evacuation from stairs in the event of failure of both the power to the lightings and illuminated sign.

• Journal of Korea Water Resources Association
• /
• v.43 no.1
• /
• pp.41-49
• /
• 2010

Stepped weir of this study was suggested a type of natural type structures. Unique flow, such as Wave type flow, at downstream of mild slope stepped occurs. WTF(Wave type flow) is different with hydraulic jump occurred at Round crest weir. WTF is phenomenon to rise the water level by recirculation area occurred by step height at downstream of mild slope stepped. Wave height of WTF condition is higher than tailwater level and maximum velocity of WTF condition occurs in area of water surface. In this results, WTF presents to be important factor for design of join area of weir with levee. This study got and analyzed hydraulic condition occurred of WTF, scales of WTF and velocity profiles on flow patterns using experiments. WTF was not consider to stepped weir design and this results can be important data for design of stepped weir and structures.

• Korean Journal of Applied Biomechanics
• /
• v.18 no.1
• /
• pp.169-178
• /
• 2008

The goals of this study were to provide data of 3 dimensional ground reaction force(GRF) parameters during stair ascent and descent on three different stair runs and to investigate variability and asymmetry index of them. 10 healthy adults participated in this study and performed 7 different types of gait with 10 trials each. After data analysis, following results were found. Firstly, stair run did not affect on the pattern of GRF parameters, coefficient of variation and asymmetry index. Secondly, a significant different GRF pattern was found between level walking and stair walking. Especially, ascending stair walking has only large Fz1 and small Fz3 while level walking and descending stair walking have a "M" shape connected by Fz1, Fz2 and Fz3. Thirdly, only vertical GRF parameters of stair walking revealed acceptable coefficient of variation and asymmetry index.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.30 no.1
• /
• pp.28-35
• /
• 2002

In cavity flow, the rectangular step generates so strong sound that many researchers have investigated method to suppress the nois during interaction between vortical flow and rectangular forward step. In this study the flow noise from the vortex motion in two-dimentional low Mach number flow past a forward step with various chamfering angle is calculated numerically. Inviscid incompressible discrete vortex model and matched asymptotic expansion(MAE) theory are applied to obtain the inner flow field and the outer noise field. Both source acoustic pressure and sound intensity are obtained with various chamfering height, chamfering angle and initial vortex position. The pressure amplitude is most suppressed when the chamfering angle is between $15^{\circ}C$ and $30^{\circC}$ at the chamfering length of 30% of the step height.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.20 no.5
• /
• pp.125-133
• /
• 2006

This paper presents comparison results of Step Response Model of Dynamic Matrix Control(DMC) for a drum-type boiler-turbine system of a fossil power plant. Two possible kinds of step response models are investigated in designing the DMC, one is developed with the linearization of theoretical model and the other is developed with the process step-test data. Then, the control performances of each model-based DMC are simulated and evaluated. It is observed that the simulation results with the step-response model based on the test data show satisfactory results, while the linearized model is not suitable for the control of boiler-turbine system.