• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.131-136
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• 1988

In this paper we describe a motion control algorithm for a 4-legged robot over slopped terrain and steps. The new concept of the mechanically constrained angle has been introduced and the algorithm has been developed based on the relationship between the gait stability margin and the slope angle. The result then has been extended to the case where the robot walks over steps.

• 한국전문물리치료학회지
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• 제19권1호
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• pp.1-9
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• 2012

The purpose of this study was to investigate the kinematic and kinetic changes that may occur in the pelvic and spine regions during cross-legged sitting postures. Experiments were performed on sixteen healthy subjects. Data were collected while the subject sat in 4 different sitting postures for 5 seconds: uncrossed sitting with both feet on the floor (Posture A), sitting while placing his right knee on the left knee (Posture B), sitting by placing right ankle on left knee (Posture C), and sitting by placing right ankle over the left ankle (Posture D). The order of the sitting posture was random. The sagittal plane angles (pelvic tilt, lumbar A-P curve, thoracic A-P curve) and the frontal plane angles (pelvic obliquity, lumber lateral curves, thoracic lateral curves) were obtained using VICON system with 6 cameras and analyzed with Nexus software. The pressure on each buttock was measured using Tekscan. Repeated one-way analysis of variance (ANOVA) was used to compare the angle and pressure across the four postures. The Bonferroni's post hoc test was used to determine the differences between upright trunk sitting and cross-legged postures. In sagittal plane, cross-legged sitting postures showed significantly greater kyphotic curves in lumbar and thoracic spine when compared uncrossed sitting posture. Also, pelvic posterior tilting was greater in cross-legged postures. In frontal plane, only height of the right pelvic was significantly higher in Posture B than in Posture A. Finally, in Posture B, the pressure on the right buttock area was greater than Posture A and, in Posture C, the pressure on the left buttock area was greater than Posture A. However, all dependent variables in both planes did not demonstrate any significant difference among the three cross-legged postures (p>.05). The findings suggest that asymmetric changes in the pelvic and spine region secondary to the prolonged cross-legged sitting postures may cause lower back pain and deformities in the spine structures.

• 한국도로학회논문집
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• 제14권2호
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• pp.83-91
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• 2012

이 연구는 회전교차로의 운영효율을 다루고 있다. 회전교차로는 일반적으로 높은 용량, 지체감소, 안전개선 등의 장점을 가지고 있다. 원형교차로는 통행우선권에 따라 로터리와 회전교차로로 나눌 수 있다. 이 연구의 목적은 시나리오에 따른 로터리와 회전교차로의 운영효율을 비교 분석하는데 있다. 이를 위해 이 연구는 진입교통량과 방향별 교통량에 따른 256개의 시나리오를 설정하고, VISSIM을 사용하여 지체를 분석하는데 중점을 두고 있다. 주요 결과는 다음과 같다. 첫째, 로터리의 평균지체가 회전교차로의 차량지체보다 1.56-8.74배 높은 것으로 분석되었다. 둘째, 주도로와 부도로의 교통량 비율의 차이가 클수록 운영효율이 더 좋은 것으로 분석되었다. 셋째, 4지 교차로의 평균지체가 3지 교차로보다 1.77-11.70배 높은 것으로 평가되었다. 마지막으로 2차로(3지와 4지) 교차로가 1차로(3지와 4지) 교차로에 비해 2.02-2.23배 많은 교통량을 수용할 수 있는 것으로 분석되었다.

• 대한교통학회지
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• 제25권5호
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• pp.67-77
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• 2007

본 연구는 청주시 비신호교차로의 교통사고를 다루고 있다. 연구의 목적은 비신호교차로의 도로환경요인이 교통사고에 미치는 영향과 사고특성을 분석하는 것이다. 청주시의 3지와 4지 비신호교차로를 대상으로 상관분석을 시행한 결과, 3지의 경우에는 교통량과 시거요인, 그리고 4지는 교차각, 최대종단경사와 시거요인이 교통사고와의 상관관계가 높게 나타나고 있다. 또한 다중선형과 다중비선형 회귀분석 결과, 3지의 경우 교통량과 이중정지선의 수가 증가할수록 사고가 증가하며, 4지의 경우 교차각이 $90^{\circ}$에 가까워질수록 사고가 감소하고, 최대종단경사가 높을수록 사고가 많이 발생한다. 이와 같은 분석결과는 청주시의 장래 교차로 개선사업에 중요한 단서를 제공하게 될 것으로 기대된다.

• 한국도로학회논문집
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• 제17권6호
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• pp.65-73
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• 2015

PURPOSES : This study tries to develop the accident models of 4-legged signalized intersections in Busan Metropolitan city with random parameter in count model to understanding the factors mainly influencing on accident frequencies. METHODS : To develop the traffic accidents modeling, this study uses RP(random parameter) negative binomial model which enables to take account of heterogeneity in data. By using RP model, each intersection's specific geometry characteristics were considered. RESULTS : By comparing the both FP(fixed parameter) and RP modeling, it was confirmed the RP model has a little higher explanation power than the FP model. Out of 17 statistically significant variables, 4 variables including traffic volumes on minor roads, pedestrian crossing on major roads, and distance of pedestrian crossing on major/minor roads are derived as having random parameters. In addition, the marginal effect and elasticity of variables are analyzed to understand the variables'impact on the likelihood of accident occurrences. CONCLUSIONS : This study shows that the uses of RP is better fitted to the accident data since each observations'specific characteristics could be considered. Thus, the methods which could consider the heterogeneity of data is recommended to analyze the relationship between accidents and affecting factors(for example, traffic safety facilities or geometrics in signalized 4-legged intersections).

• 한국도로학회논문집
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• 제16권2호
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• pp.119-129
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• 2014

PURPOSES : The purpose of this study is to develop the U-turn accident model at 4-legged signalized intersections in urban areas. METHODS : In order to analyze the characteristics of the accidents which are associated with U-turn operation at 4-legged signalized intersections in urban areas and develop an U-turn accident model by regression analysis, the tests of overdispersion and zero-inflation are conducted about the dependent variables of number of accidents and EPDO (Equivalent Property Damage Only). RESULTS : As their results, the Poisson model fits best for number of accident and the ZIP (Zero Inflated Poisson) fits best for EPOD, the variables of conflict traffic, width of opposing road, traffic passing speed are adopted as independent variable for both models. The variables of number of bus berths and rate of U-turn signal time at which the U-turn is permitted are adopted as independent variable only for EPDO. CONCLUSIONS : These study results suggest that U-turn would be permitted at the intersection where the width of opposing road is wider than 11.9 meters, the passing vehicle speed is not high and U-turn operation is not hindered by the buses stopping at bus stops.

• 한국전문물리치료학회지
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• 제15권4호
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• pp.80-86
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• 2008

Cross-legged sitting postures are commonly assumed during computer work. The purpose of this study was to determine the effects of leg crossing on trunk muscle activity while typing at a computer. Trunk muscle activity was measured in three 8 different sitting postures, in random order. These posture were: normal sitting with a straight trunk and both feet on the floor (NS), upper leg crossing (ULC), and ankle on knee (AOK). The right leg was crossed onto the left leg in both cross-legged postures. Twenty able-bodied male volunteers participated in this study. Subjects typed on a computer keyboard for one minute. Surface electromyography (EMG) was used to record bilateral muscle activity in the external oblique (EO). internal oblique (IO), and rectus abdominis (RA). The EMG activity of each muscle in the NS posture was used as a reference (100% EMG activity) in relation to the two cross-legged postures. Muscle activity in the right EO. right IO, and left IO was significantly lower in the ULC posture than in the NS posture. In contrast, muscle activity in the right RA was significantly higher in the ULC posture than in the NS posture. Muscle activity in the tight RA was significantly higher in the AOK posture, as compared to the NS posture, whereas activity in the left IO was significantly lower in the AOK posture, as compared to the NS posture. The right-left muscle activity ratios in the EO and IO showed significantly different patterns in the cross-legged postures, suggesting that asymmetrical right-left oblique muscle activity had occurred.

• 한국지능시스템학회논문지
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• 제24권3호
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• pp.304-309
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• 2014

본 논문에서는 허리 구조를 갖는 복합 바퀴-다리 이동형 로봇의 설계 방법을 제안한다. 제안된 복합 이동형 로봇은 비평탄 및 평탄 지형에서의 효과적인 이동을 위하여 로봇의 다리에 바퀴가 결합된 복합 바퀴-다리 구조와 로봇 주행 중 보행 자세로의 안정적인 전환과 비평탄 지형에서 기구적인 제한의 개선을 위하여 허리 관절을 갖는 구조로 설계하였다. 또한 다양한 지형을 인지하기 위하여 LRF센서, PSD센서, CCD 카메라를 사용하였다. 제안한 로봇 시스템의 검증을 위해 지형별 주행과 보행 자세를 선택할 수 있는 운동 계획 기법을 제안하였다. 실제 복합 바퀴-다리 이동형 로봇을 설계 및 제작하고, 제안된 운동계획을 사용한 실험을 통해 지형에 따른 효율적인 이동 성능을 검증하였다.

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.493-497
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• 2016

Walking mechanism, there are many types. Prior to the modeling and design, we thought about a variety of mechanisms based on the Janssen mechanism to design a walking mechanism optimized for walking. The more the legs increases the stability of the structure, while the weight is heavy and if that advantage had the disadvantage, the legs are easier to walk in the utilization and structural aspects of the torque had fewer advantages. The disadvantage is that the instability mechanism, four-legged, but improve it and look forward to the idea of utilization and cost-effectiveness, its future utilization will be endless. To study this, we utilized a variety of software, such as m-sketch, Edison design program, we have seen the actual production through scientific experiments box.

• 한국지능시스템학회논문지
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• 제21권2호
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• pp.159-164
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• 2011

본 연구에서는 4절 링크 이론(four-bar linkage mechanism)과 얀센 메커니즘(Jansen mechanism)을 기반으로 다관절 보행 로봇(multi-legged walking robot)인 게(crab) 로봇을 제작하고, 게 로봇의 움직임에 대하여 기구학적인 해석을 제시한다. 제작된 게 로봇은 영상 획득을 위하여 카메라를 장착하였고, 장애물 회피를 위하여 3조의 초음파 센서를 가지고 있다. 또한 RF통신으로 외부에 영상 정보를 전달하며, Blue-tooth 통신 모듈을 장착하여 외부로부터 부여된 임무를 수행할 수 있다. 게 로봇의 설계와 제작을 하기 위해서 필요로 하는, 로봇 다리의 움직임을 알기 위해서는 관절 변수와 다리 끝단의 위치 및 자세와의 관계를 얻어야 한다. 따라서, 제안된 기구학적 해석은 로봇의 설계와 제작에 있어서 많은 도움을 주며 중요한 과정이다.