• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.4
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• pp.299-303
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• 2014

Demand of moving auxiliary equipment has increased recently to an increase in the elderly population. pedestrian demand is either moving auxiliary equipment are also increasing. regional migration, such as pedestrian and the elderly and patients is a device to support the sharing received walking the weight of inconvenient people. In this paper, by mounting the electric function to the current manual walking, to prepare the electric walking to support the user's walking. the design applies a lightweight folding structure so that it can be moved to a ride at long distances, were fabricated.

• 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.

• Journal of the Korean Association of Geographic Information Studies
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• v.26 no.3
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• pp.85-96
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• 2023

This study developed and evaluated a safe route guidance service for electric personal assistive mobility device used mainly by the mobility impaired people to improve their mobility. Thirteen underlying factors affecting the mobility of electric personal assistive mobility device have been derived through a survey with the mobility impaired people and employees in related organizations in Busan Metropolitan City. After assigning safety scores to individual factors and identifying the relevant factors along routes of interest with an object detection AI model, the safe route for electric personal assistive mobility device was provided through an optimal path-finding algorithm. As a result of comparing the general route of T-map and the recommended route of this study for the identical routes, the latter had relatively fewer obstacles and the gentler slope than the former, implicating that the recommended route is safer than the general one. As future works, it is necessary to enhance the function of a route guidance service based on the real-time location of users and to conduct spot investigations to evaluate and verify its social acceptability.

• Journal of Korea Society of Industrial Information Systems
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• v.25 no.3
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• pp.31-38
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• 2020

In this paper, we compare and analyze smart technologies and present six obstacle detection features to help visually impaired people walk. Traditionally, visually impaired people walk with the white cane or a guide dog. With the development of IoT technology, various smart walking aids systems have been developed. Those intelligent walking aids systems have obstacle-detecting systems and route-guidance systems. Many researchers are developing the walking aids system, which detects an obstacle and provides the obstacle information by haptic feedback. Also, they are designing the database server system to share the obstacle information. Particularly the composed system can quickly give an obstacle-avoidance route using shared obstacle information. Smart walking aids systems for visually impaired people will advance more rapidly by applying machine learning and intelligent systems.

• 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.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.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.43 no.8 s.350
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• pp.47-58
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• 2006

Due to the movement of nodes, ad-hoc networks suffer from the problems such as the decrease of data delivery ratio, the increase of end-to-end delay, and the increase of routing overhead. The backup routing schemes try to solve these problems by finding the backup routes during the route discovery phase and using them when a route fails. Generally the backup routing schemes outperform the single-path routing schemes in terms of data delivery ratio, end-to-end delay, and routing overhead when the nodes move rapidly. But when the nodes don't move rapidly, the backup routing schemes generate more routing traffics than the single-path routing schemes because they need to exchange packets to find the backup route. In addition, when the backup route fails earlier than the main route, it can not use the backup route because in many backup route algorithms, the backup route is found only at the initial route discovery phase. RBR(Reactive Backup Routing Algorithm) proposed in this paper is an algorithm that provides more stable data delivery than the previous backup routing schemes through the selective maintenance of backup route and the backup route rediscovery. To do that RBR prioritize the backup routes, and maintain and use them selectively Thus it can also decrease the routing overheads. Also, RBR can increase data delivery ratio and decrease delay because it reestablishes the backup route when the network topology changes. For the performance evaluation, OPNET simulator is used to compare RBR with the single-path routing scheme and some of the well known backup routing schemes.

• Tunnel and Underground Space
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• v.24 no.1
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• pp.11-20
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• 2014

This study analyzed the optimal routes of auxiliary vehicles in an open-pit mine that need to traverse the entire mine through many working points. Unlike previous studies which usually used the Dijkstra's algorithm, this study utilized a heuristic algorithm for the Traveling Salesman Problem(TSP). Thus, the optimal routes of auxiliary vehicles could be determined by considering the visiting order of multiple working points. A case study at the Pasir open-pit coal mine, Indonesia was conducted to analyze the travel route of an auxiliary vehicle that monitors the working condition by traversing the entire mine without stopping. As a result, we could know that the heuristic TSP algorithm is more efficient than intuitive judgment in determining the optimal travel route; 20 minutes can be shortened when the auxiliary vehicle traverses the entire mine through 25 working points according to the route determined by the heuristic TSP algorithm. It is expected that the results of this study can be utilized as a basis to set the direction of future research for the system optimization of auxiliary vehicles in open-pit mines.

• Proceedings of the Korea Information Processing Society Conference
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• 2021.11a
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• pp.1305-1307
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• 2021

이동형 X선 장비를 이용하는 초보자들이 운전에 대한 부담감을 줄이고 손쉽게 훈련하면서도 장비의 손상을 방지하면서 교육할 수 있도록 안전한 X선 검사를 통한 국민보건향상을 위해 디지털 이동형 X선 장비의 교육용 보조 시스템을 개발하고자 하였다. 본 시스템은 교육 훈련을 위한 전용 코스 환경 개발, 장애물 인식을 위한 라인트레이서 탐색 및 초음파 센서 개발로 구성되어 있다. 학생들을 위한 이동형 X선 장비 교육을 위한 보조 시스템 개발로 이동형 X선 장비 전용 코스 환경은 교육을 위해 ㄷ형, T형, S형 등의 다양한 형태이다. 이 기능을 이용하여 각각의 코스에서 교육생들이 운전의 오류를 화면에 점수화하여 실무능력을 높일 수 있으리라 기대된다.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.9 no.1
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• pp.1-9
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• 2015

This paper reviews trends of the rehabilitation welfare devices on the basis of products and markets. Latest assistive devices tend to have a fold function. Auxiliary power assist module has been added. The completion of products has been improved. The folding function has strong relationship with portability. Specifically, various mobility devices, including foldable devices, are associated with enhanced portability. Powered auxiliary wheels and upper extremity supporting modules have entered the market. The leading-edge technology like Segway's control technology applies to two-wheel wheelchairs. The brand- new technology, lower extremity robotic exoskeleton, applies to markets. Standing wheelchairs, ramps, stair climbing assistive devices becomes more common. In addition, a combination of a variety of smart devices is being promoted to the classical assistive devices' part. Rehabilitation welfare devices can be more valuable due to nice industrial design, improved materials, and processing technology.