• Journal of Korean Society of Transportation
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• v.24 no.5 s.91
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• pp.35-44
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• 2006

Acceleration and deceleration curves have been used for design purposes worldwide. The curve in design level has been regarded as an single deterministic curve to be used for design of climb lanes. It should be noted that the curve was originally made using ideal driving truck and that the curve is applied during design based on the assumption of no difference between ideal and real driving conditions. However. observations show that aged vehicles and lazy behavioring drivers nay make lower performance of vehicles than the ideal performance. The present paper provides the results of truck speeds at climbing lanes then probabilistic variation of acceleration and deceleration corves. For these purposes. a study about identification of vehicle makers, and weights for trucks at freeway toll gates and then observation of vehicle-following speed were performed. The 85%ile results obtained were compared with the deterministic performance curves of 180, 200, and 220 Ib/hp. It was identified that the performance of 85%ile results obtained from vehicle-following-speed observations were lower than one from deterministic performance curves. From these results, it may be concluded that at the beginning Point of climbing lanes additional $16.19{\sim}67.94m$ is necessary and that at the end point of climbing lanes $53.12{\sim}103.24m$ of extension is necessary.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.337-338
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• 2008

2008년 현재 우리나라는 10%의 인구가 60세 이상인 이른바 고령사회에 접어들었다. 노인 인구의 증가로 인해 노인이 여가생활 또는 일반생활을 보조하기 위한 보행 보조기에 대한 관심이 증가되고 있다. 대부분 동력이 없는 보행보조기를 사용하고 있으며 이러한 기구는 경사로 공간 또는 힘이 약한 노인들에게 취약성을 가지고 있다. 이에 동력형 보행보조로봇에 관심이 증가하고 있다. 동력형 보행보조로봇 역시 경사로에 있어서 편리성과 안전성을 높이기 위한 연구가 필요한 실정이다. 이에 본 논문에서는 보행보조로봇이 경사로에 진입 하였을 경우 기울어진 경사로의 정도를 인식하여 모터를 제어 한다. TILT 센서를 이용하여 기울이짐 정도를 측정 하였고, 또한 로봇의 전류 실시간으로 체크하여 로봇의 안전성을 향상 하였다. 제어 시스템 구성은 사용자의 보행의지를 파악하기위해 FSR 센서를 부착하여 조향장치로 사용하였으며, 경사로를 인식하기 위해 Liquid 타입의 TILT 센서를 사용하였으며, 모션 제어를 위해 DSP를 사용하였다. 본 제어 시스템을 보조보행로봇에 적용하였을 때, 보행보조로봇이 오르막 경사로에 진입시 기존보다 힘을 적게 사용하여 경사로를 진행하였으며, 경사로에서 브레이크 작동속도가 향상 되었다. 또한 내리막 경사로에서는 모터의 힘을 적게 사용하고 중력의 힘을 사용하여 이를 통해 전류의 소비량을 개선 하였다.

• Journal of Korean Society of Transportation
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• v.8 no.2
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• pp.109-118
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• 1990

본 고는 도로선형 설계에 확율 및 경제요소를 반영시키는 방법과 그에 따른 효과를 파악하는데 목적을 두고 있다. 접근방법은 도로사용자 비용과 도로시공 및 유지관리 비용 등을 포함하는 총비용을 예상비용함수로 나타내어 이 비용함수를 최소화함으로써 최적 도로선형 설계방법을 찾는 것이다. 이와 더불어 본 고는 이 개념에 의한 최적 설계방법을 등반차선(Climbing lane)의 설계에 적용하였다. 즉, 오르막길의 경사 및 거리에 따른 등반차선의 최적 위치를 찾기 위해 우선 오르막길에서의 승용차와 트럭의 속도분포를 찾아내고 예상예비함수를 등식화하여 그 최적해를 구함으로써 등반차선의 최적 위치를 구하였다. 현재 등반차선의 설계과정(AASHTO, 1984)은 트럭 주행능력에 따른 가정과 트럭과 승용차의 최대 속도 차이를 임의로 선택하여 등반차선의 최적 위치를 찾고 있다. 따라서 본 고에서는 기존 등반차선 설계방법과 새로운 설계방법을 상호 비교하면서 새로운 방법의 타당성과 그에 따른 설계이점들을 증명하였다.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.35 no.2
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• pp.417-426
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• 2015

The representative design elements of the road geometric structure are longitudinal slope, horizontal curve radius, super elevation, and transition curve. According to the function of a road, the design standards of these elements is applied by diverse combinations of them. This study divided expressway into homogeneous segments based on longitudinal slope and horizontal curve radius. And then, data required for analysis were matched to each segment, and the safety performance function was built by using the established data. crash modification factors which can explain traffic accident exposure rate were calculated. When the threshold value of horizontal curve radius R=1,000 m was set to 1.0, the crash modification factors at R=300 m was calculated as 1.33, which means that the accident exposure rate is increased by 33%. When the threshold value of the longitudinal slope 0% was set to 1.0, the crash modification factors demonstrated that the accident exposure rate decreases on the upward slope and the accident exposure rate increases on the downward slope. The results of this study can be used as basic information in the design of expressway geometries during the improvement or the construction of expressways.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.20 no.6
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• pp.84-99
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• 2021

As the micro-mobility market grows, the demand for route guidance, that includes uphill information as well, is increasing. Since the climbing angle depends on the electric motor uesed, it is necessary to establish an uphill road DB according to the threshold standard. Although road alignment information is a very important element in the basic information of the roads, there is no information currently on the longitudinal slope in the road digital map. The High Definition(HD) map which is being built as a preparation for the era of autonomous vehicles has the altitude value, unlike the existing standard node link system. However, the HD map is very insufficient because it has the altitude value only for some sections of the road network. This paper, hence, intends to propose a method to generate the road longitudinal slope using currently available data. We developed a method of computing the longitudinal slope by combining the digital elevation model and the standard link system. After creating an altitude at the road link point divided by 4m based on the Seoul road network, we calculated individual slope per unit distance of the road. After designating a representative slope for each road link, we have extracted the very steep road that cannot be climbed with personal mobility and the slippery roads that cannot be used during heavy snowfall. We additionally described errors in the altitude values due to surrounding terrain and the issues related to the slope calculation method. In the future, we expect that the road longitudinal slope information will be used as basic data that can be used for various convergence analyses.

• Journal of Convergence for Information Technology
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• v.10 no.4
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• pp.160-167
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• 2020

This study analyzes the effects of changes in running velocity and slope on the biomechanical factors of the lower limb joints. For this purpose, 15 adult males in their 20s ran according to changes in running speed (2.7, 3.3 m/s) and slope ( -9°, -6°, 0°, 6°, 9°) on the treadmill, and their running characteristics (stride length, stride frequency). The range of motion of the lower limb joint and the vertical ground reaction force were greater in UR (p <.05), and the moment of the lower limb joint, braking force, thrust and load factor was large in DR (p <.05). In joint power, the ankle joint was greater in DR, and hip joint was greater in the UR (p <.05). These results show that the injuries of the ankle joint will be greater than other cases when running DR at a speed of 3.3 m/s.

• Korean Journal of Applied Biomechanics
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• v.15 no.1
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• pp.155-176
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• 2005

There is some evidence that one of major factors to produce plantar fasciitis depends on the magnitude of the foot arch strain. The orthotics that can reduce the foot arch strain during locomotion may be effective to prevent or treat plantar fasciitis. Therefore, the purpose of this study was to investigate the effect of control condition and three types of foot orthotics on 3-dimensional foot arch strain that can produce plantar fasciitis during treadmill level and uphill walking and running. Sixteen male subjects are recruited and the arch length and height strain according to three types of foot orthotics with respect to control condition were measured by using two digital video cameras. The first hypothesis which the comfort of foot orthotics would be increased from arch pad, half length orthotics to full length orthotics was mostly accepted. It suggested that the types of the foot orthotics could be properly prescribed according foot regions that is pain or abnormal. The second hypothesis which the foot arch strain can be reduced by foot orthotics during level heel-toe walking and running and the third hypothesis which the foot arch strain can be reduced by foot orthotics during uphill heel-toe walking and running were rejected. The foot arch length and height strain during walking and running showed small and subject-specific characteristics and could not be optimal biomechanical variable to prove the overall comfort. The forth hypothesis which the foot arch strain cannot be reduced by foot orthotics during uphill toe walking and running was accepted. With the foot arch length and height strain during uphill toe walking and running the windlass mechanism suggested by Hicks can be explained successfully and excessive uphill toe walking and running can be one of cause of plantar fasciitis. The dynamic investigation on the foot arch such as walking and running should be carefully observed with integrated insights considering ligaments and foot bones as well as plantar fascia, extrinsic muscles and tendons, and intrinsic muscles and tendons.

• Korean Journal of Applied Biomechanics
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• v.16 no.1
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• pp.43-53
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• 2006

Among several movements that occurred upon a slope, golf swing is the most typical one because environmental conditions dynamically vary with many kinds of slopes. Some studies on the golf swing were performed about a weight transfer on flatland, however, there couldn't be seen any study about the weight transfer on slope elsewhere. Therefore, the purpose of this study was to provide quantified data to objectively test the coaching words and keys about the weight transfer at sidehill slope during goal impact EspeciaIly sidehill Slopes with ball above the feet. Four highschool golfer, who have average handy 5, were recruited for this study. Plantar pressure distribution and cinematographic data were collected during golf swing in the conditions of flatland, $5^{\circ}$, $10^{\circ}$ and $15^{\circ}$sidehill slope simultaneously. The two data were used to synchronize the two data later. The plantar regions under the foot were divided into 8 regions according to the directly applied pressure pattern of the subject to insole sensor. The 8 foot regions were hullux, medial forefoot, central forefoot, lateral forefoot, medial midfoot, lateral midfoot, medial heel, and lateral heel. And the plantar pressure data was also divided into four movement address, phases-backswing. downswing, and follow-through phases according to the percentage shown to the visual information of film data. Based on the investigations on public golf books and experiences of golfers, it was hypothesized by the authors in the early of this study that the steeper slopes are, the more weight loads on left foot that positions at the higher place. When observing the results of plantar pressure and vertical force curves according to the sidehill slope conditions, the hypothesis could be accepted.

• Proceedings of the Korean Society of Computer Information Conference
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• 2014.07a
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• pp.249-252
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• 2014

본 논문에서는 IMU를 이용한 6자유도 모바일 로봇을 설계하고 성능을 평가해 보았다. IMU를 이용하여 로봇의 Roll과 Pitch 각을 측정하여 모바일 로봇의 이동경로 경사각을 측정하여 지면이 수평 일 때 모바일 로봇의 6바퀴 모두 항상 지면과 닿아 있는 상태를 유지한다. 또한 오르막과 내리막일 경우 로봇의 동역학에 의한 최소한의 에너지를 유지하여 이동이 가능하도록 하기위한 로봇의 제어기를 설계하고 그 성능을 평가해 보았다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.10
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• pp.4459-4466
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• 2011

The purpose of this study was to compare the lower extremity muscle activities according to the different longitudinal arch and treadmill inclination and to provide basic data on treadmill walking exercise. The selected 17 subjects who had not lower extremity injury and ROM limitation were recruited in this study. The longitudinal arch was divided into normal foot and flat foot. The inclinations of the treadmill were $0^{\circ}$, up hill $5^{\circ}$, $10^{\circ}$, $15^{\circ}$, down hill $5^{\circ}$, $10^{\circ}$ and $15^{\circ}$. The electromyography was used to analyze the muscle activity of rectus femoris, biceps femoris, tibialis anterior, gastrocnemius lateralis and medialis. There were significant differences between the inclination $0^{\circ}$ and down hill $15^{\circ}$. There was no interactive effect of treadmill inclination on the longitudinal arch. The activity difference of lower extremity muscle was not conspicious. There existed the interactive effect between the longitudinal arch and muscle activity. The contrast test within subjects showed positively in the rectus femoris and gastrocnemius medialis, biceps femoris and gastrocnemius medialis. The different longitudinal arch did not influence on the effect(p>.05). There was significant difference between the normal foot and the flat foot. So it is necessary to carry out the long term study.