• Physical Therapy Korea
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• v.9 no.4
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• pp.1-11
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• 2002

본 연구의 목적은 이중과업 방법론(dual task methology)을 사용해서 젊은 사람과 노인을 대상으로 독립된 두 사건(two separate concurrent events)을 동시에 수행하는데 요구되는 주의력에 대한 분석과 노인에서의 특징적 차이를 찾는 것이다. 본 실험은 대상자가 힘판(force plate) 위에서 장애물(10cm) 보행시에 경피자극(cutaneous stimulation)에 대하여 마이크로 스위치(micro-switch)를 사용하여 반응하면서 시행되었다. 힘판과 시간(temporal events) 그리고 반응시간(reaction time)에 관한 자료들은 1000 Hz의 주파수로 수집되었다. 반응시간은 대상자들이 서 있는 상태(baseline) 장애물 보행시(dual task)에서 수집되었다. 반응시간은 아중과업 조건에서 대상자 모두에게서 긴 것으로 나타났으며 특히 노인에서 정상 성인보다 반응시간이 긴 것으로 나타났다. 이중과업 조건 하에서 노인 대상자가 정상 성인에 비해 발가락이 장애물에 닫지 않고 통과할 수 있는 공간, 즉 토우 클리어런스( toe-clearance)와 슬관전 굴곡(knee flexion) 각도가 훨씬 큰 것으로 나타났다. 이중과업 조건하에서 모든 대상자가 족관절 배측굴곡(ankle dorsiflexion) 각도를 감소시키는 것으로 나타났다. 노인들은 젊은 대상자들보다 훨씬 더 긴(124 ms) 유각시간을 보여 주었으며 정상 장애물 보행시 유각 시간은 이중과업보다 50 ms 긴 것으로 나타났다. 이러한 보행 특성의 차이는 노인대상자들이 젊은 대상자들보다 장애물 보행시에 이중과업의 영향을 더 받았기 때문인 것으로 판단된다. 이중 과업 시행시 이러한 토우 클리어런스의 감소와 장애물 통과시에 보행 속도의 증가는 아마도 낙상의 가능성을 증가시키는 요인이 될 수 있는 것으로 보여진다. 본 연구의 결과는 다중과업(multitasks)을 필요로 하는 보행 훈련 프로그램(gait training program)의 개발과 시행에 있어서 기초적인 자료를 제공할 수 있는 것으로 보여진다.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.2
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• pp.231-240
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• 2023

It remains a challenge for robots to learn avoiding obstacles automatically in path planning using deep reinforcement learning (DRL). More and more researchers use DRL to train a robot in a simulated environment and verify the possibility of DRL to achieve automatic obstacle avoidance. Due to the influence factors of different environments robots and sensors, it is rare to realize automatic obstacle avoidance of robots in real scenarios. In order to learn automatic path planning by avoiding obstacles in the actual scene we designed a simple Testbed with the wall and the obstacle and had a camera on the robot. The robot's goal is to get from the start point to the end point without hitting the wall as soon as possible. For the robot to learn to avoid the wall and obstacle we propose to use the double deep Q networks (DDQN) to verify the possibility of DRL in automatic obstacle avoidance. In the experiment the robot used is Jetbot, and it can be applied to some robot task scenarios that require obstacle avoidance in automated path planning.

• Journal of the Institute of Convergence Signal Processing
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• v.10 no.3
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• pp.198-206
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• 2009

This paper presents the reduction of the positional uncertainty of an ultrasonic sensor ring with overlapped beam pattern for the efficient obstacle detection of a mobile robot. Basically, it is assumed that a relatively small number of inexpensive low directivity ultrasonic sensors are installed at regular spacings along the side of a circular mobile robot with their beams overlapped. First, for both single and double obstacles, we show that the positional uncertainty inherent to an ultrasonic sensor can be reduced using the overlapped beam pattern, and also quantify the relative improvement in positional uncertainty. Second, given measured distance data from one or two ultrasonic sensors, we devise the geometric method to determine the position of an obstacle with respect to the center of a mobile robot. Third, we examine and compare existing ultrasonic sensor models, including Gaussian distribution, parabolic distribution, uniform distribution, and impulse, and then build the sensor model of overlapped ultrasonic sensors, adequate for obstacle detection in terms of positional uncertainty and computational requirement. Finally, through experiments using our prototype ultrasonic sensor ring, the validity of overlapped beam pattern for reduced positional uncertainty and efficient obstacle detection is demonstrated.

• Journal of the Korea Convergence Society
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• v.10 no.7
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• pp.289-294
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• 2019

In order to prevent recidivism of ex-offenders, this paper needs to provide various ways of helping out-of-pocket-survivors adapt to the local community. One of solutions is the employment link through appropriate vocational training. A recent study from the US Department of Justice found that about 60% of ex-offenders unemployed for one year after their release. In such a situation, the employment possibility of ex-offenders with disabilities may even lower, so called "Dual Barriers". The purpose of this study is to present strategies to reduce the recidivism rate and increase the employment possibility of ex-offenders with disabilities presenting the cases in in the United States through literature reviews related.

• Spatial Information Research
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• v.22 no.1
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• pp.75-84
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• 2014

Power lines are one of the main obstacles causing an aircraft crash and thus their realtime detection is significantly important during flight. To avoid such flight obstacles, the use of LIDAR has been recently increasing thanks to its advantages that it is less sensitive to weather conditions and can operate in day and night. In this study, we suggest a fast method to detect power lines from LIDAR data for flight obstacle avoidance. The proposed method first extracts non-ground points by eliminating the points reflected from ground surfaces using a filtering process. Second, we calculate the eigenvalues for the covariance matrix from the coordinates of the generated non-ground points and obtain the ratio of eigenvalues. Based on the ratio of eigenvalues, we can classify the points on a linear structure. Finally, among them, we select the points forming horizontally long straight as power-line points. To verify the algorithm, we used both real and simulated data as the input data. From the experimental results, it is shown that the average detection rate and time are 80% and 0.2 second, respectively. If we would improve the method based on the experiment results from the various flight scenario, it will be effectively utilized for a flight obstacle avoidance system.

• Journal of the Institute of Convergence Signal Processing
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• v.19 no.1
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• pp.20-27
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• 2018

In this paper, the problem of a double-parked car has been investigated and a method to solve it is studied. Double parking is very common in a public parking lot with insufficient parking space. If a double-parked car blocked the way, a person needs to push the double-parked car to move it. The problem is that moving a double-parked car with hands is very hard and dangerous, especially for the old and the weak. To solve the above mentioned problem, an automatic mover for a double-parked car is proposed and developed. The basic idea is that a double-parked car can be moved by rolling its one wheel. Two rollers are designed and manufactured, which are used to roll a wheel of a double-parked car. The developed automatic mover has two rollers, two driving wheels, and four castors. It also has several ultrasonic sensors so that it can detect obstacles in the way and prevent possible collision. It is verified through several experiments that the developed automatic mover can move a double-parked car safely and easily.

• Proceedings of the Korea Water Resources Association Conference
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• 2023.05a
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• pp.109-109
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• 2023

지구 온난화 등 기상이변으로 추정되는 단시간 동안 특정지역에 집중되는 국지성 집중호우가 빈번해지고 있으며, 내수침수가 홍수재해의 주된 원인이 되고 있다. 내수침수의 원인으로는 하수관로의 통수능력 부족(39%), 저지대 침수(37%), 내수배제불량(16%) 및 기타(8%)로 조사된 바 있으며, 이중 하수관로의 경우 용량 및 통수능 부족, 구배불량, 토사퇴적에 의한 배수 불량 등으로 이에 대처하기 위해서는 기초자료의 조사가 우선 되어야 한다. 하수관로의 문제로 인한 내수침수의 원인으로 첫째 하수관로 내·외부 불량으로 인한 통수능 저하로 측구 및 빗물받이에 토사 등 장애물, 관로내부 장애물, 관로내부 불량(뿌리침임, 영구장애물, 관붕괴, 관파손, 관변형, 내피생성, 토사퇴적 등)이 있으며, 두 번째로 하수관로 구배불량과 마지막으로 외수위(또는 해수위) 상승으로 인한 내수침수로 구분될 수 있다. 이러한 하수관로의 문제점은 많은 부분이 불탐지역으로 조사가 매우 어려워서 대안 없이 방치되는 실정이다. 금회 연구에서는 이러한 불탐지역의 조사를 위한 장비의 개발 및 정밀조사를 통해서 하수관로를 진단하고 내수침수 예방을 위한 대책을 찾고자 하였다. 특히, 계단부 관로조사용 내시경 VR장비, 준만관 조사용 부유식 VR장비, 가스 및 안전위험 지역 조사용 지하 드론 장비를 개발하여 시험검증을 하고자 하였다. 또한, 스마트 하수관로 체계에 빅데이터를 기반으로 한 하수관로 토탈 솔류션(nPASS) 시스템으로 내수침수대응 및 하수관로 유지관리를 위한 시스템의 필요성을 규명하고자 하였다. 하수관로의 선진화를 통한 내수침수예방의 시작은 불탐지역 하수관로 조사를 통한 정확한 원인 파악이며, 조사 및 축적되는 빅데이타를 기반으로 하수관로 토탈 유지관리 시스템의 구축을 제안하고자 하였다.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.6
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• pp.1311-1316
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• 2021

In this paper, we present a bifocal stereo camera system combining two cameras with different focal length cameras to generate stereoscopic image and their corresponding depth map. In order to obtain the depth data using the bifocal stereo camera system, we perform camera calibration to extract internal and external camera parameters for each camera. We calculate a common image plane and perform a image rectification for generating the depth map using camera parameters of bifocal stereo camera. Finally we use a SGM(Semi-global matching) algorithm to generate the depth map in this paper. The proposed bifocal stereo camera system can performs not only their own functions but also generates distance information about vehicles, pedestrians, and obstacles in the current driving environment. This made it possible to design safer autonomous vehicles.

• Journal of the Korean Society of Physical Medicine
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• v.6 no.4
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• pp.465-473
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• 2011

Purpose : This study was to evaluate gait velocity and muscle activity on 3 different gait conditions in elderly women. Methods : There were one group was 20's generation(n=12), and the other group was over 60's generation (n=12). The velocity of gait was analysed for using the Footscan system, EMG(MP150) for muscle activity. Subjects were measured 3 gait condition(normal, obstacle-10cm, dual obstacle-10cm. Measured values were used by the independent t-test for analysing between groups, and repeated measurement of ANOVA for analysing within group. Results : The results were as follow: velocity and acticities of lower 4 muscles were significantly differences in experimental group. In control group, there were not significantly differences. Contrast-groups were significantly differences of velocity(obstacle, dual obstacle), muscle activities(soleus-dual obstacle, hamstring-all). Conclusion : These results indicate that elderly people are reduced gait ability in dual task, and obstacle gait. So Elderly women need to training obstacle/dual gait for preventing falling.

• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.212-220
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• 2007

This paper proposes a method of avoiding obstacles and tracking a moving object continuously and simultaneously by using new concepts of virtual tow point and fuzzy danger factor for differential wheeled mobile robots. Since differential wheeled mobile robot has smaller degree of freedom to control and are non-holonomic systems, there exist multiple solutions (trajectories) to control and reach a target position. The paper proposes 'fuzzy danger factor' for obstacles avoidance, 'virtual tow point' to solve non-holonomic object tracking control problem for unique solution and three kinds of fuzzy logic controller. The fuzzy logic controller is policy decision controller with fuzzy danger factor to decide which controller's result is more valuable when the mobile robot is tracking a moving object with obstacles to be avoided.