• Journal of Advanced Marine Engineering and Technology
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• v.30 no.1
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• pp.134-139
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• 2006

A energy efficiency of quadruped walking robot has been studied mathematical modeling, dynamic analysis or simulation by consumption energy per period. In this paper, We used the quadruped walking robot Titan-VIII in order to carry out this experiment. The total moving length is about 2[m] , the stride length is 0.1, 0.2. 0.3, and walking period is changed by 1.0, 1.5, 2.0, 2.5 3.0[sec] Per each stride length. So consumption energy of 15 cases are measured. As a result of this experiment we obtained the best energy efficiency when stride length was 0.3[m], and Period was 1.5[sec].

• Fashion & Textile Research Journal
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• v.21 no.3
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• pp.300-307
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• 2019

This study develops a user centered outdoor jacket capable of energy harvesting based on consumer needs. Jackets are designed for typical outdoor activities such as hiking, trekking, and climbing, integrated with an energy harvesting module that can generate electric power from arm swing in outdoor and daily life walking. Textile based energy generators developed by the previous research of Lee & Roh (2018) were used. A prototype was created based on the arm swing motion experiment for location options and energy harvesting system functions, the simulation by the design sketch, and evaluation of the wearing test by experts. In-depth interviews were later conducted for the prototype with 10 outdoor experts to derive the optimal location of an energy harvesting system in three ways, and the prototype was revised to 5 styles that reflected reviews by experts on function and appearance. Research indicated that the energy harvesting jacket design signifies a user-centered design based on expert interviews and usability evaluation as well as previous research on energy generation and storage device. The jacket is convenient because it combines an energy generator in an optimal position to maximize energy generation with a storage and charging device that can be inserted into various position options for accessibility.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.29 no.1D
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• pp.111-120
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• 2009

Restructuring urban land use patterns from the motor-oriented to transit-oriented ones is a contemporary trend in urban planning and transportation. It is expected that transforming urban land use patterns to be transit and walking friendly would resolve various urban problems such as heavy energy consumptions, air pollutions, and traffic congestions. Korean cities have much potentials for developing transit-oriented urban environments in terms of its density and civil service levels, but the level of transit usage levels and the environmental quality of cities are not good enough for supporting such transition. The purpose of this study is to analyze the urban transit center areas and identify the problems to be solved to create transit-oriented urban environments. Case studies of four urban transit center areas in Seoul Metropolitan region were conducted to examine the spatial characteristics of urban transit center areas and identify their problems. Development density, land use diversity, walk-ability and transit connectivity were the primary feature of interests.

• Journal of Korean Physical Therapy Science
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• v.10 no.2
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• pp.7-16
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• 2003

The purpose of this study was to investigate the effect of Treadmill Training with FES(TTF) on walking velocity, gait endurance, and energy expenditure index(EEI) of hemiplegia patients with foot drop. Two subjects with hemiplegia participated in this study. They took walking excercise 5 times per week for 8 weeks. One time excercise spent 30minutes. The theraputic effect was evaluated by how many seconds they needed to walk 10 meters, how far they could walk for 12 minutes, and how much they spent energy in walking for 12 minutes. Two cases were examined before, after 4 week, and after 8 week, walking training. The results of this study are as follows; 1) Walking velocity : Case 1 increased from 0.52m/sec before walking training to 0.83m/sec after 8 weeks. Case 2 increased from 0.58m/sec to 0.92m/sec. 2) Gait endurance : Case 1 increased from 383.23m to 625.53m. Case 2 increased from 410.19m to 693.47m. 3) EEI : For comfortable walking condition, Case 1 decreased from 0.98beats/min to 0.71beats/min, and Case 2 decreased from 0.93beats/min to 0.68beats/min. For maximum walking condition, Case 1 decreased from 0.93beats/min to 0.67beats/min, and Case 2 decreased from 0.91beats/min to 0.61beats/min. The findings suggest that hemiplegia patients can improve their walking velocity, gait endurance and energy expenditure index through TTF.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.19 no.7
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• pp.73-80
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• 2005

Biped robot requires that an energy source and a control part should be installed on the body to realize active system. So, we choose the DC motor having high torque in compact size in this study. In the DC motor serve system, we choose power amplifier with analog configuration, developed the module combined the controller and the driver. We applied this module to robot actuator and studied the response characteristics in an action and a return. Main controller with serve system, loading PIC micro controller, can be load on the robot with light weight.

• Journal of the Korea Computer Graphics Society
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• v.4 no.2
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• pp.1-13
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• 1998

The most important goal of character animation is to efficiently control the motions of a character. Until now, many techniques have been proposed for human gait animation, and some techniques have been created to control the emotions in gaits such as "tired walking" and "brisk walking" by using parameter interpolation or motion data mapping. This paper proposes a human running model based on a one-legged hopper with a self-balancing mechanism. The proposed technique exploits genetic programming to optimize movement, and can be easily adopted to various character models. We extend the energy minimization technique to generate various motions in accordance with emotional specification.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1029-1036
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• 2011

An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reduce the consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight a unit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D biped robot model to verify the effectiveness of the proposed method.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2004.05a
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• pp.9-14
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• 2004

우리나라의 도시 옥외조명은 1988년 서울올림픽을 전후하여 관심이 확대되었으며, 서울시는 1996년 서울시 경관조명기본방향을 설정하고 숭례문 등 각종 문화재에 옥외조명시설을 설치하기 시작하였다. 최근 옥외조명에 대한 필요성을 인식하고, 설치하고 있는 초기단계에 있어 옥외조명을 계획하는데 반드시 고려해야하는 광공해에 대해서는 아무런 인식 없이 과다한 조명으로 광공해를 유발시키고 있다. 미국과 유럽, 일본 등 선진외국에서는 일찍부터 광공해의 심각성을 인식하고, 이를 방지하기 위해 옥외조명조례의 제정과 가이드라인의 발표로 양호한 조명환경 조성을 위해 노력하고 있다. 이에 본 연구는 광공해가 거주자와 보행자에게 미치는 영향을 고려하여 주거지역의 옥외가로조명의 광공해에 관한 연구를 진행하였다. 외국의 경우 광공해가 발생하는 지역의 조명환경개선사업을 펼쳐 광공해에 따른 악영향을 줄임과 동시에 조명에너지 절약의 효과도 가져왔다. 국내의 경우 전반 확산형(Non-Cutoff) 가로등이 보행자에게는 눈부심을 일으키고, 거주자에게는 프라이버시 침해와 숙면에 방해를 가져오므로 차폐된 조명기구를 사용해 이런 영향을 최소화할 필요가 있다. 따라서 국내의 경우 아직 광공해에 대한 기준이나 가이드라인이 없으므로 이에 대한 대책과 기준안 마련이 시급하다.

• Korean Journal of Applied Biomechanics
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• v.17 no.3
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• pp.133-145
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• 2007

The purpose of this paper was to compare of difference between energy walking and normal walking. Subjects were selected 8 male undergraduates. The kinematic variables of a pelvis and a thorax were analysed at the take off and contact with 3d cinematography. In addition to the variables, the phase plot angle was calculated in order to definite characteristics in the phase space. The pelvic angle and angular velocity showed significant differences in the flexion/extension between two walking patterns. The pelvic angle and angular velocity were increasing when walking speed was increasing and magnitude of the variables of energy walking was larger than corresponding values for normal walking. On the other hand, the thoracic angle demonstrated significant differences in the flexion/extension and rotation between two walking patterns. The angles of energy walking were smaller in the flexion/extension and were larger in the rotation than the angle of normal walking. The kinematic characteristics of energy walking were also showed clearly significant differences in the range of motion and the relative angle of the trunk. The angle of phase plot only showed demonstrated a significant difference in the rotation at contact between the two walking patterns.

• Journal of the Korean Geographical Society
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• v.45 no.1
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• pp.1-10
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• 2010

Low-carbon green waterfront cities for overseas cases were reviewed to propose the direction for Korea. The implications suggested include energy saving by resource circulation, compact land use planning, transit oriented development, and utilization of renewable energy. These in turn suggest the following implementations; (1) Energy saving according to compact city, complex land use, and transit oriented development, (2) Renewable energy use in buildings and daily lives, (3) Expansion of green space for carbon mitigation and improved quality of life, and (4) Water and resource circulation system. We finally discussed that development of the green waterfront cities in Korea requires the fundamentals of low-carbon green waterfront cities achieved by overseas cases study and technical investigation.