• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.4
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• pp.316-321
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• 2005

We designed and implemented fish robots for various purposes such as autonomous navigation, maneuverability control, posture balancing and improvement of quick turns in a tank of 120 X 120 X 180cm size. Typically, fish robots have 30-50 X 15-25 X 10-20cm dimensions; length, width and height, respectively. It is essential to have the ability of quick and smooth turning to avoid collision with obstacles or walls of the water pool at a close distance. Infrared distance sensors are used to detect obstacles, magneto-resistive sensors are used to read direction information, and a two-axis accelerometer is mounted to compensate output of direction sensors. Because of the swing action of its head due to the tail fin movement, the outputs of an infrared distance sensor contain a huge amount of noise around true distances. With the information from accelerometers and e-compass, much improved distance data can be obtained by fuzzy logic based estimation. Successful swimming and smooth turns without collision demonstrated the effectiveness of the distance estimation.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2009.05b
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• pp.5-8
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• 2009

This paper investigated the qualitative introduction status of domestic major construction company. And that focused on a point of suggestions about CM at Risk introduction. The survey analysis showed that three importan suggestions. First, the biggest obstacles factors to CM at Risk introduction that related laws is lagging amendment. Second, we have to improve the available hands ability in domestic major construction company. And last, we have to do that using uncomplicated design and standard design form. Consequently, environmen analysis for the introduction and example project is urgently required.

• Physical Therapy Korea
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• v.18 no.3
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• pp.16-25
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• 2011

This study aimed to evaluate factors related to the ability of ambulatory patients with cerebral palsy (CP) to walk over vertical and horizontal obstacles. Twenty patients with spastic CP who were able to walk independently for at least 10 m with or without walking devices were recruited for the study. Participants were required to walk over small obstacles (1, 4, and 8 cm in height or width; total of 6 conditions). A 'fail' was recorded when either the lower limbs or the walking device contacted the obstacle. Linear regression analyses were used to determine the effects of age, sex, walking devices, eyeglasses, subtype (hemiplegia or diplegia), ankle foot orthoses, functional level, and score of body mass index on the ability of obstacle crossing. Fifteen participants (75%) failed to adequately clear the foot or walking device over obstacles in at least 1 condition. The chance of failure in crossing vertical obstacle was affected by the use of ankle foot orthoses, eyeglasses, gender, and CP subtype (p<.05). The failure rate crossing horizontal obstacle was affected by CP subtype. These findings suggest that rehabilitation procedures should (1) consider the clinical characteristics of patients in order to prepare them to be more independent while performing daily activities, and (2) incorporate environmental conditions that patients encounter at home and in the community.

• Journal of the Korean Society of Physical Medicine
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• v.9 no.1
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• pp.69-74
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• 2014

PURPOSE: The aim of this study is to compare the spatio-temporal gait parameters between paretic and non-paretic limb while stepping over the different obstacle's heights in subjects with stroke. METHODS: Nine subjects with stroke were participated in this study. Subjects were asked to step over obstacles with a different height. 8 camera motion analysis system(Motion Analysis Corporation, Santa Rosa, USA) was used to measure spatio-temporal parameters. The two way repeated measurement ANOVA was used to compare spati-temporal gait parameters between paretic and non-paretic limbs while stepping over a different obstacle's height(0cm, 10cm, 20cm). RESULTS: Step width, velocity, single supoort time, and double support time were not different among obstacle's height(p>0.05) but stride length, step length, and cadence were significantly different(p>0.05). In stride length, cadence, and double support time, the interactions between obstacle's heights and limbs were not different(p>0.05) but it was significantly different in velocity, step length, and single support time(p<0.05). Velocity, stride length, cadence, and double support times were not different between paretic limb and non-paretic limb(p>0.05) but step length and single support times were significantly different between paretic limb and non-paretic limb(p<0.05). CONCLUSION: These results show that there are differences with spatio-temporal gait parameters among obstacle's heights and between paretic and non-paretic limb during obstacle crossing in subjects with stroke.

• The Magazine of the Society of Air-Conditioning and Refrigerating Engineers of Korea
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• v.14 no.3
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• pp.200-211
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• 1985

The paper discusses the problem of the reduction in Coefficient of Performance (COP) in a refrigerator due to the inadequate position or some flow obstacles such as shelves in a room. The propriety of the present numerical method has teen proved by experiments using the flow visualization technique. The COP are calculated from the temperature rise of the condenser whose temperature indicates the condensing temperature of refrigerant The temperature rise is predicted by the theory of the steady two-dimensional laminar natural convection. In a room size of $2m\;{\times}\;2m$ the COP are decreased by 0.3 when the gap between the wall and condenser are decreased from 10cm to 2cm. While the COP are decreased by 0.55 as the shelf length increases from 0 to 75cm.

• Journal of Korean Physical Therapy Science
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• v.15 no.3
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• pp.55-63
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• 2008

Background : The Purposes of this study were to understand difference between free walking and obstacle over walking through the naked eye and motion analysis device, and to review merits of obstacle walking training as item of functional assessment in clinical situations. Methods : All participants were male and performed 3 types of walking methods: free walking, obstacle over walking with low block(height=10cm, width=8cm), and obstacle over walking with high block(height=20cm, width=8cm). All walking were performed 3 trials respectively. Results : In the naked eye, initial contact with toes occurred more than heel strike in obstacle over walking, and the flexion angle of hip and knee were increased in obstacle over walking. On interpretations though motion analysis device, cadence, gait speed and weight accept were significant statistically(p<.05). Cadence and gait speed were decreased, and weight accept duration was increased in obstacle over walking. Rotation among three pelvic motions was significant statistically(p<.05), flexion among three hip motions was significant statistically(p<.05) and flexion among three ankle motions was significant statistically(p<.05). Rotation and flexion among three ankle motions was significant statistically(p<.05). Conclusion : Both the naked eye and interpretations of the device presented many difference between free walking and obstacle over walking. In overcrossing obstacles, many participants appeared walking strategy by perform initial contact with toes. Knee flexion was most significant statistically(p<.05) in obstacle over walking with 20cm block.

• Proceedings of the Korean Vacuum Society Conference
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• 1999.07a
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• pp.121-121
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• 1999

Gallium nitride (GaN) semiconductor is intensively under investigation for commercialization of short wavelength light emitting devices and laser diodes. One of serious obstacles to overcome is to reduce the defect density in GaN film grown by various techniques such as MOCVD, HVPE, etc. Many research groups including SAIT are trying to improve the defect density to 106-107/cm2 from the level of 108-1010/cm2. We have investigated epitaxial growth behaviour of GaN thin and thick films under hidride vapour phase epitaxy (HVPE) condition. In this report, we present the microstructural and crystallographical characteristics of the GaN films grown on sapphire (0001) substrate which were studied by both conventional and high-resolution transmission electron microscopy (TEM). Also we present some microscopic analysis results obtained from GaN films grown by ELO(dpitzsial lateral overgrowth)-HVPE and from GaN quantum well structures grown by MOCVD. Another serious problem in growing GaN thick film by HVPE is internal micro-cracks. We also comment the origin of the micro-crack.

• The Journal of Korean Physical Therapy
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• v.23 no.2
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• pp.1-5
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• 2011

Purpose: This study examined the difference in the center of pressure (COP) displacement time in older adults according to the obstacle height during stance at each sub.phase when crossing obstacles. Methods: Fifteen older adults were enrolled in this study (${\geq}65$ years of age). The F-scan was used to measure the COP displacement time when crossing a 0, 10 and 40cm obstacle, and the stance phase was divided into 4 sub-phases according to the foot contact pattern. Results: During the stance phase, the COP displacement time increased with increasing obstacle height. During the mid-stance, terminal stance and pre-swing except for the loading response, there were significant differences in the COP displacement time according to the obstacle height. Conclusion: This study suggests that older adults show differences in the COP displacement time according to the stance sub-phase while crossing obstacles, and they use different mechanisms according the sub-phases to maintain balance during obstacle crossing.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.193-200
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• 2012

Mobility is one of the most important issues for search and rescue robots. To increase mobility for small size robot we have focused on the mechanism and algorithm inspired from centipede. In spite of small size, using many legs and flexible long body, centipede can overcome high obstacles and move in rough terrains stably. This research focused on those points and imitated their legs and body that are good for obstacle negotiation. Based on similarity of a centipede's legs and tracks, serially connected tracks are used for climbing obstacles higher than the robot's height. And a centipede perceives environments using antennae on its head instead of eyes. Inspired from that, 3 IR sensors are attached on the front, top and bottom of the first module to imitate the antenna. Using the information gotten from the sensors, the robot decides next behavior automatically. In experiments, the robot can climb up to 45 cm height vertical wall and it is 600 % of the robot's height and 58 % of the robot's length.

• The Journal of the Korea institute of electronic communication sciences
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• v.12 no.4
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• pp.533-538
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• 2017

In this thesis, the ambulatory aid mechanism was implemented so that blind people could be safer at risk of walking outdoors. Using ultrasonic sensors, the obstacles can be detected when the distance between the obstacle is within 50 cm of the obstacle. If the light sensor becomes less than 25 lux, the LED will automatically turn on and help the safety of the visually impaired and the security of sight of the peripheral walkers. Color recognition sensors increase the rate of recognition of yellow color by the detection distance is 1cm, it vibrated when yellow light was detected. Using GPS with 7.3 m of error range, the guardian was able to check the location of the visually impaired.