• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.5
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• pp.692-699
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• 2008

This paper describes optimal operation method using recognition of walker's will for a robotic walker. Recently, walking aid system has been required according to the increase of elder and handicapped person. However, most of walking aid system don't have actuator for its movement. Unfortunately, standard frames have weakness for the movement to upward/download direction of slope. So, active type walking aids are interested, but it is not easy to control. In this paper, we adapt user's will system that can recognize walking direction and speed. First, FSR(Force Sensing Register) is applied to measure user's will to walk. And then, fuzzy algorithm is used for determining optimal wheel velocity and direction of the walking aid. From the result, walking aid can move smoothly and safely following the user's will. The walking aid can help user to walk more optimally. Here, all the processes are verified experimentally in the real world.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.236-237
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• 2008

이 논문은 노인 및 장애인의 활동을 보조하기 위한 보행보조 로봇의 핵심 기술인 사용자의 진행하고자 하는 방향과 속도를 검출하는 보행의지 파악시스템 구현을 하고자 한다. 최근에 노인인구의 증가로 인해 노인 및 장애인을 위한 보행 보조기에 대한 관심이 증가되고 있다. 그러나 대부분의 경우 동력이 없는 시스템으로 경사 등의 공간에서 취약성을 가지고 있다. 이에 동력형 보행보조기에 대만 관심이 증가되고 있으나, 대부분의 경우 보행보조기 조종이 여의치 않다. 이에 본 논문에서는 사용자의 보행의지를 파악할 수 있는 시스템을 도입하고 이를 기초로 보행자의 안정적인 구동을 수행할 수 있도록 하였다. 사용자의 의지력은 FSR 센서를 이용하여 파악하고, 이를 기초로 사용자가 이동하고자 하는 이동 방향과 이동속도 데이터를 기초로 보행보조기의 차량 속도와 방향에 대해 구동 바퀴의 차동구동을 통해 사용자의 의지에 맞춰 구동할 수 있도록 하였다. 이를 통해 사용자의 이동하려는 의지에 대해 안정적으로 차량을 이동시킬 수 있도록 보행 시스템을 구축하였다. 또한 사용자자의 힘에 대한 속도 및 방향 매핑 기법을 개발하여 보행의지의 정확성을 높였다.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.259-260
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• 2008

이 논문은 노인 및 장애인의 활동을 보조하기 위한 보행보조 로봇의 기술인 사용자의 진행하고자 하는 방향과 속도를 검출하는 보행 보조 로봇의 조향 장치를 구현 하고자 한다. 최근에 노인인구의 증가로 인해 노인 및 장애인을 위한 보행 보조기에 대한 관심이 증가되고 있다. 그러나 대부분의 경우 동력이 없는 시스템으로 경사 등의 공간에서 취약성을 가지 고 있다. 이에 동력형 보행보조기에 대한 관심이 증가되고 있다. 대부분의 경우 보행보조기의 제어가 조정한다는 의미가 적합하였다. 그러나 이 논문에서는 사용자의 움직임이 손에 전달되는 힘에 의해 사용자의 의지력을 파악 하는 두가지형태의 조향장치를 구현하였다. 첫째로 가변저항을 이용하여 보행의지를 파악하고, 두 번째로 힘센서를 이용하여 보행의지를 파악하였다. 위 두가지 센서를 기초로 사용자가 이동하고자 하는 이동 방향과 이동 속도 데이터를 기초로 보행보조기의 차량 속도와 방향에 대해 구동 바퀴의 차동 구동을 통해 사용자의 의지에 맞춰 구동할 수 있도록 하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.2
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• pp.181-188
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• 2010

This paper presents the control algorithm of active walking aids estimating external torque of the wheels from user's will. Nowadays, interest of the walking aids is increased according to the increase in population of elder and handicapped person. Although many walking aids are developed, most of walking aids don't have any actuators for its movement. However, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Unfortunately it is difficult to precision control of walking will during its movement, because it is not easy to recognize user's walking will. Many kinds of methods are proposed to recognize of user's walking will. In this paper, we propose control algorithm of walking aids by using torque estimation from wheels. First, we measure wheel velocity and voltage at the walking aids. From these data, external forces are extracted. And then walking will that is included by walking velocity and direction is estimated. Finally, walking aids are controlled by these data. Here, all the processes are verified by simulation.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.4
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• pp.321-328
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• 2016

In this paper, we propose a walk status method which can be fused with conventional walk intention method to improve convenience of an electric assistive walking system for elder people with restricted walking capabilities. The system uses a handlebar as a trigger and regards grabbing a handlebar as expressing will to walk. And the system uses a user's linear velocity and angular velocity as linear velocity and angular velocity of a system, checked by laser range finder. To achieve this, we propose a method to find a virtual central point of a human body by estimating a central point between two legs. The experiments are carried out by comparing user's linear velocity and angular velocity, and system's linear velocity and angular velocity. The results show that the error of linear velocity and angular velocity between a user and a system are 1% and 2.77%, which means the linear velocity and angular velocity of a user can be applied to a system. And it is confirmed that the proposed fusion method can prevent a user from being dragged by an assistive walking system or a malfunction caused by lack of experience

• Journal of Practical Agriculture & Fisheries Research
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• v.21 no.2
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• pp.103-114
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• 2019

In this study we examined the preferences of college life factors for students at Korea National College of Agriculture and Fisheries(KNCAF). Analytical techniques of unstructured data used opinion mining and text mining techniques, and the results of text mining were visualized as word cloud. And those results were used for statistical analysis of the students' willingness to farm after graduation. The items of the favorable survey consisted of 10 items in 5 areas including university image, self-capacity, dormitory, education system, and future vision. After classifying the emotions of positive and negative in the collected questionnaire, a dictionary of positive and negative was created to evaluate the preference. The items of 'college image' at the time of university support, 'self after 10 years' after graduation, 'self-capacity' and 'present KNCAF' showed high positive emotion. On the other hand, positive emotion was low in the items of 'college dormitory', 'educational course', 'long-term field practice' and 'future of Korean agriculture'. In the cross-analysis of the difference in the will to farming according to gender, farming base, and entrance motivation, the will to farm according to gender and entrance motivation showed statistically significant results, but it was not significant in farming base. Also in binary logistic regression analysis on the will to farming, the statistically significant variable was found to be 'motivation for admission'

• Journal of Korean Society of Transportation
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• v.25 no.4
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• pp.57-66
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• 2007

According to the rapid economic growth and the escalation of recreational tourism activities due to the change of job and working patterns, currently various traffic problems often occur in tourist areas. As tourist traffic, contrary to general traffic, is not regional but rather from outside the area of interest, it is hard to grasp the traffic situation surrounding the tourist area. Furthermore, since the traffic is concentrated during a limited tourist season, it is difficult to examine and solve the problem. In this study, in order to test the feasibility of introducing a traffic transfer system to reduce congestion in tourist areas, the authors considered the differences in traffic congestion between typical and tourist seasons and designed a willingness to pay model. The willingness to pay amount for a shuttle bus fare is assumed as 1,430 Won and 1,650 Won is assumed for a transfer parking charge. These amounts were slightly above the current bus fare in the study area, but many people thought that the introduction of a traffic transfer system would help to relieve the traffic congestion approaching the tourist area and to develop tourism resources. As the willingness to pay appeared high from the persons used in this study, it was indirectly confirmed that the introduction of a traffic transfer system would be a step in the right direction.

• Proceedings of the Safety Management and Science Conference
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• 2011.04a
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• pp.529-539
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• 2011

본 연구에서는 반도체 시장의 급격한 성장에 따라 점차 사용량이 증대되고 있는 국내의 특수고압가스를 포함한 독성가스의 취급, 운송 실태를 파악하여 문제점을 분석하였다. 그 결과 근로자의 의식을 바꾸기 위한 안전경영시스템의 도입과 운송과정중의 모니터링 시스템, 데이터베이스화를 통한 정보의 공유 등을 대안으로 도출하였으며, 본 연구 결과에 대해 적극적으로 개선하고자 하는 실천의 의지를 가지고 특수가스를 취급, 운송한다면 가스사고 예방에 많은 발전이 있을 것으로 기대된다.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.42-48
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• 2011

This paper presents the vibration reduction algorithm at the walking-will recognition sensors on the uneven terrain. Recently, concern about walking assistant aids is increasing according to the increase in population of elder and handicapped person. However, most of walking aids don't have any actuators for its movement. So, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Especially, vibration analysis and impulse reduction are one of the important elements of the active-type walking aid during moving on the outdoor area because the ground has many kinds of obstacles such as speed dumps, puddles and so on. So, we analyze the influence from vibration by uneven terrain. And then, we propose the impulse reduction algorithm to overcome the vibration. All the processes are verified experimentally in an active-type walking aid.

• The Journal of the Korea Contents Association
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• v.21 no.11
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• pp.553-564
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• 2021

This study was conducted to understand the effects of participation perception, self-efficacy, self-esteem, and empowerment on self-support intention of self-support work project participants. For this study, a survey was conducted on participants in the self-support work project within the G-gu area. As a result of the study, it was found that the participation perception, self-efficacy, and empowerment of participants in the self-support project had a positive (+) effect on the self-support will. Also, in the process where participants' perceptions of participation, self-efficacy, and self-esteem affect the will to self-support, it was found that empowerment partially mediated participation perception and self-efficacy and fully mediated self-esteem. Based on these results, the following are practical suggestions for improving self-support project participants' will to self-support as follows. First, systematic training courses are needed in the application and selection of recipients, establishment of self-support plans, and gateway training courses so that participants in self-support projects can correctly recognize self-support projects. Second, it is necessary to systematize the case management system provided by the self-help center and re-establish the role in order to strengthen the participants' hope for self-reliance. Third, it is necessary to identify the strengths of the participants in the self-support project, create results for self-support, and operate a program that strengthens the latent motivation to solve their own problems and change their behavior. Fourth, the empowerment of participants and professional ability of practitioners should be strengthened so that participants can solve the alienation and social exclusion experienced in the process of participating in the project.