• 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.

• Geotechnical Engineering
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• v.9 no.4
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• pp.45-54
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• 1993

In this paper, the behaviors of reinforced earth retaining walls according to material properties of reinforcement were performed through the centrifuge model tests. Skin element was used flexible aluminum plate in the process of tests. And reinforcements were used with aluminum foil strips and non -woven polyester sheets. As a result of it, model retaining wall utilizing non-woven polyester sheets than aluminum foil strips was supported at high stress level, and maximum horizontal displacement value of skin element was 0.6H height at model walls. In the other hand, coefficient relation diagram for evaluation of horizontal displacement according to skin element location was proposed using test results.

• Geotechnical Engineering
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• v.11 no.4
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• pp.87-98
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• 1995

Laboratory tests were performed on modeling of in situ remediation of contaminated soils by aqueous solution extraction, thus investigating the feasibility of in situ treatments of soil to promote desorption of organic hazardous wastes. The investigation was conducted using phenol, aniline, quinoline, and 2-napthol adsorbed onto a UH40 soil, and various aqueous solutions were used to desorb, or otherwise remove, these organic contaminants. Decontaminants consisted of deionized water as a reference, hydrogen peroxide, acidy, bases, and surfactants. In situ conditions were modeled in the laboratory by permeating potential extracting liquids through reconstituted, contaminated soil specimens under controlled hydraulic gradients and stress condition through flexible wall permeameter tests. Sodium hydroxide desorbed phenol effectively. Aniline was effectively descorbed by nonionic surfactant. Anionic surfactant remediated quinoline and 2-napthol.

• Proceeding of Spring/Autumn Annual Conference of KHA
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• 2005.11a
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• pp.157-162
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• 2005

It is necessary for us to research and analyze of Open Housing in order to change new housing system, because exiting multi family housing is lack of flexibility and easy remodeling. The purpose of this study is to supply and grasp basic planning and design data for flexibility of Open Housings in Korea. This study is based on the literature survey and actual investigation through visiting 17 open housing sites from 1995 to 2005 in Netherlands, Finland and Japan, which are main Open Housing. We analyzed the planning methods and elements for flexibility of open housing block and unit plan, and described the contents of analyses. We found a lot of planning and design methods-supplying option plan and user participation before occupation, various structural system for openness, common piping shaft location, slab-down and applying access flooring system, movable and demountable partition wall system etc. -applied to the open housings, and findings are applicable to the planning and designing works of apartment housings in Korea.

• Korean Institute of Interior Design Journal
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• v.19 no.1
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• pp.94-99
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• 2010

The purpose of this study is to develop living room storage furniture with multiple functions and for analyzing living room system furniture that can correspond with lifestyles in the living room. Literature survey was used by collecting data on interior design books and magazines. System furniture is very functional depending on the purpose and spaces, and can be modified effectively with the development of design based on the resident's demand. Living room furniture was mostly arranged by two types. One was lower and slimmer in order to use the space effectively, the other totally occupied one side of the living room wall. Furniture combined with multiple functions of lights and electronics can increase the satisfaction and convenience of users. And furniture maximizes storage space and is systemized so that mixture and arrangement are diversified. Flexible and active way furniture that accept various electronic fixtures and performances in the living room. Furniture forms, materials, and colors will be designed for the functions and atmosphere of living rooms. This results will contribute to develop furniture that has additional features such as lighting and electronic appliances hereafter.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.295-300
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• 2001

In recent years, as changing the habit of eating, the pathology in the colon grows up annually. For that reason, the colonoscopy is generalized. But it requires much time to acquire a dexterous skill to perform an operation. And the procedure is painful to the patient. Therefore, biomedical and robotic researchers are developing a locomotive colonoscope that can travel safely in colon. In this paper, we propose a novel design and concept of semi-autonomous colonoscope and two actuators for the micro robot. The micro robot comprises camera and LED for diagnosis, steering system to pass through the loop, pneumatic actuator and bow-shaped flexible supporters to control a contact force and to keep the space between colon wall and the actuator. For actuating mechanism, we suggest two models. One is based on the reaction force, and the other is impact force. In order to validate the concept and the performance of the actuators, we carried out the preliminary experiments in rigid pipes.

• Tuberculosis and Respiratory Diseases
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• v.41 no.5
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• pp.494-503
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• 1994

Background: Fibrostenosis of large airway due to tuberculosis is one of the most perplexing clinical problems not only because it can lead to respiratory failure but also because of difficulty in the management. No one technique, such as balloon dilatation or insertion of self expandable metallic stent, has proved totally satisfactory in the management of fibrostenosis. We evaluated the effect of laser therapy in patient with severe fibrostenosis due to tuberculosis. Method: We classified the fibrostenosis to three types by bronchoscopic finding - the diaphragm type: stenosed by fibrous diaphragm, sparing the tracheobronchial wall, the collapse type: stenosed by collapse of the wall due to destruction of the cartilage, and the combined type: stenosed by nonspecific inflammatory scar tissue within internal lumen with collapse of the wall. We have treated 10 patients complaining dyspnea due to with severe fibrostenosis of the diaphargm or the combined type using a neodymiumyttrium aluminum garnet(Nd-Y AG) laser through a flexible bronchoscopy. Results: Eight of the 10 cases improved after laser therapy and maintained during a follow up period of average 31.9 months. All of the cases undergoing laser therapy showed no serious complication to need the therapy. Conclusion: The results of our present study indicate that the Nd-YAG laser therapy is an effective and safe method for the management of selective tuberculous fibrostenosis.

• Journal of the Architectural Institute of Korea Planning & Design
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• v.34 no.11
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• pp.113-123
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• 2018

First of all, the multi-story Housing applying resident's participation in europe was classified by the menu selection method, the two-step supply method and the cooperative method. And then I analyzed flexible unit plan of cases for deriving the planning methode and the characteristics of flexibility. First, I analyzed the area and form of the unit plan, structure and Installation, fixed and variable elements to derive the planning method. The area of units are distributed from a minimum of $35m^2$ to a maximum of $150m^2$, and many of the unit planes have a narrow front and a deep depth. The structure is a long-span wall-structure or a skeleton structure, and is designed without any columns and bearing walls in the interior space for flexibility in spatial composition. The vertical shafts are located in the center of the unit in a box-form or in the corner at the unit dividing wall for free placement of interior wall. Fixed elements are framework and facility systems. Most of the future residents in the two-steps supply method and the cooperative method were able to freely design the internal space within the zoning concept proposed by the architect and change the location of the facade element within module system proposed by the architect. Second, the characteristics of the flexibility applied to the unit plan were divided in integrated flexibility, functional flexibility, construction flexibility, and supply flexibility. The integrated flexibility enables residents to give the variable space combination based on the complex structure of the inner space for providing various living experiences. Regarding functional flexibility, the three-dimensional spatial structure with neutral space has multi-functionality according to the needs of residents and easily accepts mixing of hybrid programs such as work and residence. Constructive flexibility allows residents to create identity by freely planning interior space and changing the size or location of facade components in a determined system of architects. Finally, various types of size and space composition are proposed and realized in the whole building applying menu selection method, so that flexibility in the offer can accommodate and integrate various types of living.

• Journal of the Korean Geotechnical Society
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• v.23 no.5
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• pp.77-88
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• 2007

Lateral earth pressure and horizontal displacement of the diaphragm walls constructed in multi-soil layers were analyzed by the field instrumentation from six building construction sites in urban area. The distribution of the developed earth pressure of the anchored diaphragm walls during excavation shows approximately a trapezoid diagram. The maximum earth pressure of anchored diaphragm walls corresponds to $0.45{\gamma}H$ and the earth pressure acts at the upper part of the walls. The maximum earth pressure is two times larger than the empirical earth pressure of flexible walls in sands suggested by Terzaghi and Peck(1967), Tschebotarioff(1973), and Hong and Yun(1995a). The horizontal displacement of diaphragm walls is closely related with supporting systems such as struts, anchors, and so on. The horizontal displacement of anchored walls shows less than 0.1 percent of the excavated depth, and the horizontal displacement of strutted walls shows less than 0.25 percent of the excavated depth. Therefore, the restraining effect of horizontal displacement to the anchored diaphragm walls is larger than the strutted diaphragm walls. In addition, since the horizontal displacement of the diaphragm walls is lower than the criterion, $\delta=0.25%H$, used for control the anchored retention wall using soilder piles, the safety of excavation sites applied with the diaphragm walls is pretty excellent.

• Journal of Navigation and Port Research
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• v.26 no.3
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• pp.323-328
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• 2002

Soil-steel structures have been used for the underpass, or drainage systems in the road embankment. This type of structures sustain external load using the correlations with the steel wall and engineered backfill materials. Buried flexible conduits made of corrugated steel plates for the coastal road was tested under vehicle loading to investigate the effects of live load. Testing conduits was a circular structure with a diameter of 6.25m. Live-load tests were conducted on two sections, one of which an attempt was made to reinforce the soil cover with the two layers of geo-gird. Hoop fiber strains of corrugated plate, normal earth pressures exerted outside the structure, and deformations of structure were instrumented during the tests. This paper describes the measured static and dynamic load responses of structure. Wall thrust by vehicle loads increased mainly at the crown and shoulder part of the conduit. However additional bending moment by vehicle loads was neglectable. The effectiveness of geogrid-reinforced soil cover on reducing hoop thrust is also discussed based on the measurements in two sections of the structure. The maximum thrusts at the section with geogrid-reinforced soil cover was 85-92% of those with un-reinforced soil cover in the static load tests of the circular structure; this confirms the beneficial effect of soil cover reinforcement on reducing the hoop thrust. However, it was revealed that the two layers of geogrid had no effect on reducing the overburden pressure at the crown level of structure. The obtained values of DLA decrease approximately in proportion to the increase in soil cover from 0.9m to 1.5m. These values are about 1.2-1.4 times higher than those specified in CHBDC.