• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1780-1783
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• 2005

In this paper ZMP was considered in order to get a walking stability, so the gait in the stable domain was realized through putting the stability margin in the sole domain of a foot. It is assumed that the robot's legs have 12 joints to operate a open-loop drive and there was no external disturbance under walking phases, additionally, the robot is walking on the flat plane. It was observed that the robot's walking trajectory, locus of COM and ZMP after imposing the motion to each joint. For realizing the simulation considering ZMP and movement of mass center, it was checked if it is stable for the constraint robot model to walk in stability and the feasibility was estimated about its dynamic gait. Eventually it was shown that a constraint gait algorithm is able to realize. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and the simulation has been done by ADAMS.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.16 no.1
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• pp.17-26
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• 2006

In order to obtain basic reference information for the establishment of effective industrial safety programmes in migrant workers who live in Seoul and Kyungin Area, accident causes were investigated among 210 injured workers. The data were analyzed according to the USA Standards Institute and International Labour Organization method. The results obtained were as follows: 1. The major distribution of national were mostly from china(82.9%), ages are mostly between 30 and 40 years old(32%), and males are more than females, and mostly married. 2. The parts of body most frequently injured were hand and finger, foot and toe, which were 55.3% of total 210 cases. 3. According to the accident type, caught in, under or between were most frequently observed, 40.2% of the total number of injuries. 4. The most responsible source of injuries were power machine, others, moving machine and tool, building construction. 5. According to the unsafe acts, carelessness and unsafety information were most frequently observed, 66.7% of the total number of injuries. 6. There were significantly difference(p<0.05), between type of accident and source of injury, and between working period and unsafe act.

• Proceedings of the KSR Conference
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• 2004.10a
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• pp.812-817
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• 2004

Recently drastic improvement of railway technology has been accompanied by the construction of very high-speed tracks. It should be noticed that Continuously Welded Rail(CWR) has played significant role in technical development of railway and that installation of CWR is now being scheduled on existing lines as well as newly-built lines. In general, interaction between CWR and bridge deck takes place on bridge section and additional axial force and displacement is to be developed owing to temperature and braking/acceleration forces. This interaction is known to be mainly governed by span organizations and arrangements of foot bearings. In common practice, movable bearing is stationed and designed on the assumption that it is not able to transfer the horizontal force of upper decks. However, it is well known that horizontal resistance is developed in movable bearings due to friction and that friction coefficient of movable bearing is ranged from 0.03 to 0.20 depending on the material of bearings and magnitude of reactions. Therefore, it is easily reasoned out that friction of movable bearing can influence the mutual behavior of CWR and bridge decks. Suggested in this study is to investigate the validity and efficiency of friction effect of movable bearings in controlling the axial force and displacement of CWR on continuous railway bridges.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.1115-1118
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• 2015

Two wheel type electric vehicles driving with the electric motors for guard are used increasingly at the airport and harbor place to move between narrow indoors. This type two wheel electric vehicles are powerd by batteries and using the steering control apparatus including multi sensors and handle operating device for forward and backward, rotating moving. At this research, we design sensor interfacing electronic control system use only the center of foot balance without the handle type steering apparatus. This design is for safety of drivers at one's cornering.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.9
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• pp.547-555
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• 2005

A fault-tolerant gait of multi-legged robots with static walking is a gait which can maintain gait stability and continue its walking against an occurrence of a leg failure. This paper proposes fault-tolerant gait planning of a quadruped robot walking over a rough planar terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. In this Paper, two-phase discontinuous gaits are presented as a new fault-tolerant gait for quadruped robots suffering from a locked joint failure. By comparing with previously developed one-phase discontinuous gaits, it is shown that the proposed gait has great advantages in gait performance such as the stride length and terrain adaptability. Based on the two-phase discontinuous gait, quasi follow-the-leader(FTL) gaits are constructed which enable a quadruped robot to traverse two-dimensional rough terrain after an occurrence of a locked joint failure. During walking, two front legs undergo the foot adjustment procedure for avoiding stepping on forbidden areas. The Proposed wait planning is verified by using computer graphics simulations.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.10a
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• pp.762-763
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• 2010

The X-ray device used for medical treatment is classified into fixed type that is used by installing at the location with the stable power supply and mobile type that can be taken by moving the X-ray device to the location where a patient is. Mobile X-ray device which is typically used in the mobile type of X-ray can be used very usefully beyond the space restriction. However, due to its difficulty to generate high-voltage, it is mainly applied to take hand and foot shootings which only need low output power. In this study, by designing and producing the large volume of mobile X-ray device which doesn't have the limitations on diagnostic areas of the body, the operating characteristics of device according to the loading change was identified.

• Korean Journal of Heritage: History & Science
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• v.42 no.1
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• pp.4-19
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• 2009

Total 57 sauropod tracks are found from the Cretaceous Kyokpori Formation in the Buangun, Jeollabukdo, Korea. Six sauropod trackways in second stratigraphic level of three stratigraphic levels were recognized and described. The type of sauropod trackways is a wide-gauge trackway which has been generally in Cretaceous sauropod trackways. On the basis of foot length, trackway orientations, and preservation, all of the tracks are thought to have been made by small sauropods moving not only towards and away from the shoreline but also along the shoreline of lacustrine environment.

• Journal of Digital Contents Society
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• v.19 no.8
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• pp.1585-1592
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• 2018

Due to un-balancing weight allocation on the wheelchair the existing wheelchair system are faced with the risk of flipping or falling when a wheelchair goes up to a hill. In to order to be safer during riding the wheelchair, in this paper, we proposed a real-time new solution using the integrated Gyro Sensor and Tilt Sensor for controlling the balance. Because the typical property of wheelchair is for the special user who meets the difficulty in moving on foot the maintain the balance of wheel-chair systems have become important and helpful. In our method, we calculate the seat angle using information from Tilt Sensor. However, due to the law of inertia when a wheelchair is moving there is a deviation in the output value of Tilt Sensor. Therefore, we have to optimize the value of the angle by utilizing the acceleration that is the output of the Gyro Sensor. We took the advantages by using the combination of Gyro and Tilt sensors. Moreover, we also solved the consumption issue of the whole system. Through various experimentations with usage of ZigBee sensor module, the power consumption for the balancing system is reduced significantly.

• Journal of architectural history
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• v.19 no.3
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• pp.51-70
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• 2010

This paper aims to examine the constructional background and process of the Japanese military installations of Oiyang-po(外洋浦), especially based on the military secret documents. Furthermore, it aims to analyze the characteristics of the remains. The results are as follow; 1) The number of the Japanese military secret documents concerning with the installations of Oiyang-po, summed up to 33s. Especially, 14 documents about the expropriation of the lands and houses, and the constructions of the artillery position are reserved in "Mildae-ilgi"(密大日記)written from 1893 to 1942. 2) Imperialist Japan constructed firstly the military installations of Oiyang-po against the Russo-Japanese War. After the moving of the artillery headquarters into Masan in 1911, these installations had been maintained for the defense of Busan and Jinhae Bays. 3) As soon as 1904, the lands and houses of Oiyang-po were forcibly expropriated according to (韓日議定書). The Korean Government payed the expropriation prices to the dwellers. But the amount of money were too small and were lately payed. Moreover the dwellers' fishery right were never recompensed. 4) In 1904, the artillery headquarters and position were constructed by the 3rd Chookseong-dan(築城團) under the command of Matsui, a military engineer officer. The executional constructions were accomplished by the Japanese construction contractors. 5) After the moving of the artillery headquarters into Masan in 1911, the 3rd Chookseong-dan had usually repaired and consolidated the explosive warehouses and artillery facilities. 6) The artillery position constructed with the thick concrete walls was located at the foot of the mountain in back. It's plan was similar to the rectangular shape. It reserved six 280㎜ howizers and several explosive warehouses. 7) The reserve funds and arsenal funds were used for the constructions. And the items of expenses such as the establishments of the electric lights and communication networks, and the repairs of the explosive warehouses were mainly recoded in "Mildae-ilgi".

• Journal of Korean Physical Therapy Science
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• v.14 no.1_4
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• pp.11-23
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• 2007

This study was performed to evaluate the effects of low-intensity ultrasound application to the peripheral nerve injury animal model on enhancement of nerve regeneration and functional recovery. Using aseptic microsurgical techniques, the sciatic nerve of adult male Sprague-Dawley rats was crushed at the outside of right mid-thigh for 30 seconds with fine forceps. Beginning just after surgery, various continuous-wave ultrasound treatments with intensities of 0.2 W/$cm^2$, 0.5 W /$cm^2$ and 1.0 W /$cm^2$ operated at 1 MHz or sham treatment were applied to the opposite inside of the crush site for 1 minute every other day with a transducer moving speed of 2cm/sec. For evaluation of the progress of sciatic nerve regeneration, c-Fos expression in the lumbar spinal cord (L4-5) dorsal horn was investigated. c-fos expression was markedly increased at 1hour after sciatic nerve crush injury, then gradually decreased thereafter. The c-fos expressions were significantly decreased (p<0.05) in all the experimental groups in comparison with the control group until 3days post-crush, and the degrees of decrease were higher in 0.5 W/$cm^2$ and 1 W/$cm^2$ intensity ultrasound application groups. It is suggested that low-intensity ultrasound application to an animal model of sciatic crush injury may suppress pain transmission and promote nerve regeneration, and which may result in delayed progress of muscle atrophy and accelerated progress of muscle recovery and eventually may result in accelerated and improved foot function recovery.