• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.3
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• pp.440-447
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• 2018

Double parking is very common in a parking lot where there is not sufficient parking space. When we double-park a car, we leave transmission gear in neutral position and release the emergency brake so that the double-parked car can be moved just by pushing it. However, moving a double-parked car by pushing is very hard and dangerous especially for the old and the weak. So, we propose an omni-directional mobile robot for moving a double-parked car easily and safely. The developed omni-directional mobile robot moves a double-parked car by rotating a wheel of a double-parked car. It has two specially designed rollers to rotate a wheel of a double-parked car and is designed so that the height of the robot is very low to be able to enter beneath a double-parked car. It can move a double-parked car safely by detecting obstacles in the way with five ultrasonic sensors. We verified by several experiments that the developed omni-directional mobile robot can be used to move a double-parked car easily and safely.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1108-1114
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• 2009

Mobility is one of the most important features for a guard robot since it should be operated in rough places. A wheel-based mobile robot capable of jumping is an appropriate structure for a guard robot because it can easily satisfy the requirements for small guard robots. The jumping robot can reach a higher place more rapidly than other locomotion methods. This research proposes a small robot equipped with the jumping mechanism based on the conical spring with the variable length endtip. The variable length endtip enables the independent control of the jump force and jump angle which are related to the jump height and jump distance, respectively. Various experiments demonstrated that the proposed jumping mechanism can provide the independent control of jump force and jump angle, and improve the mobility of a small robot to overcome an obstacle. Furthermore, a combination of the jumping mechanism and the PSD sensor to measure the distance to the step enable the jumping robot to autonomously climb stairs.

• Korean Journal of Applied Biomechanics
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• v.29 no.2
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• pp.97-104
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• 2019

Objective: The aim of this study was to investigate the strategies for avoiding moving and stationary walker using body segments during walking. Method: Ten healthy young adults (10 males, age: $24.40{\pm}0.49yrs$, height: $175.80{\pm}5.22cm$, body mass: $70.30{\pm}5.22kg$) participated in this study. Each participant was asked to perform a task to avoid collisions with another walker who was moving or stationary during walking on the 10 m walkway. Both walkers were performed at natural self-selected walking speed. Results: Medio-lateral avoidance displacement of the trunk and the pelvis were significantly increased when avoiding a stationary walker (p<.05). There were no significant differences in medio-lateral center of mass trajectory. Rotation angle of trunk, pelvis and foot on the vertical axis were significantly increased when avoiding a stationary walker (p<.05). Conclusion: Based on our results, when another walker moves continuously, the walker recognizes another walker as the object of social interaction and performs the avoidance strategies while expecting the cooperative distance. On the other hand, when another walker is stopped, it is determined that the walker has an obligation to avoid, and the walker performs a relatively safer avoidance strategy.

• Wind and Structures
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• v.12 no.4
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• pp.299-312
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• 2009

It has long been studied about the flow around bluff bodies, but the effect of aspect ratio on the sharp-edged bodies in thick turbulent boundary layers is still argued. The author investigates the flow characteristics around a series of rectangular bodies ($40^d{\times}80^w{\times}80^h$, $80^d{\times}80^w{\times}80^h$ and $160^d{\times}80^w{\times}80^h$ in mm) placed in a deep turbulent boundary layer. The study is aiming to identify the extant Reynolds number independence of the rectangular bodies and furthermore understand the surface pressure distribution around the bodies such as the suction pressure in the leading edge, when the shape of bodies is changed, responsible for producing extreme suction pressures around the bluff bodies. The experiments are carried out at three different Reynolds numbers, based on the velocity U at the body height h, of 24,000, 46,000 and 67,000, and large enough that the mean boundary layer flow is effectively Reynolds number independent. The experiment includes wind tunnel work with the velocity and surface pressure measurements. The results show that the generation of the deep turbulent boundary layer in the wind tunnel and the surface pressure around the bodies were all independent of Reynolds number and the longitudinal length, but highly dependent of the transverse width.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.4
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• pp.245-254
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• 2014

In this paper, stable and robust dynamic walking for a biped motion is proposed. To success this objective, the following structures are processed. In this paper, the proposed control method is one that adjusts actual zero moment position to move to the closest possible point in the stable area instead of following desired zero moment position. This minimizes energy consumption with the smallest joint movements. The proposed control method makes mechanical energy that drives lower limb of the bipedal robot efficient. In this paper, walking experiment is carried out with the three control structures mentioned above. The trajectory generated by off-line is illustrated by performing to walking on flat ground. experiment with an obstacle whose height is lower than that of trajectory is executed to validate dynamic motion.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1195-1200
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• 2007

It is desirable that the guard robot should be small-sized and light-weighted to increase its portability. In addition, it should be able to overcome a relatively high obstacle to cope with different situations. The jumping robot can reach a higher place more rapidly than other locomotion methods. This research proposes the jumping mechanism based on the conical spring for a small robot. Both the clutch mechanism and conical spring are incorporated into the jumping mechanism. In the clutch mechanism, the spring can be immediately compressed and released by one actuator with the planetary gear train and one-way clutch. The robot equipped with the jumping mechanism can overcome the obstacles which are higher than its height. In this paper, the characteristic of the conical spring for the jumping robot is determined and the small-sized, lightweight jumping mechanism is developed. The validity of the jumping mechanism was verified by various experiments. It is shown that the robot using this mechanism can provide good mobility in the rough terrain.

• The Korean Journal of Health Service Management
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• v.5 no.2
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• pp.173-186
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• 2011

The purpose of this study was to know dysfunctions degree, daily living activity, depression and quality of life among stroke elderly person; and to know what kind of factors affecting to quality of life of the stroke elderly person; after that provide a fundamental data to nursing arbitration plan about increase height quality of life of the stroke elderly person. The study subjects were collected 119 people, over than 60 age, who were diagnosed with stoke in D hospital, living in B city. The data was collected by using personal interviews and questionnaire, from Nov 2008 to Jan 2009. The questionnaire were Pre-Stroke MRDS(Modified Rankin Disability Scale), Barthel-ADL(Activities of Daily Living), K-IADL(Korean-Instrumental Activities of Daily Living), GDS-15(Geriatric Depression Scale-15-question form) methods. The pre-stroke MRDS was appeared a functional obstacle. The mean score of activity of daily living was 18.24 which showed the subjects were mildly disabled, the score of instrumental activities of daily living was 7.94 which showed the mildly abled, and score of depressiveness was 7.41 which showed the subjects were mildly depression. There was a significantly correlation among MRDS, ADL, IADL, depressiveness and quality of life. Through these study result, important to check the old subjects' depressiveness, cognitive functions, daily living abilities, dysfunctions degree to main tain their quality of life.

• Journal of Biosystems Engineering
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• v.41 no.2
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• pp.67-74
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• 2016

Purpose: Many tractors have adopted the horizontal control system designed to maintain the three-point mounted implements in horizontal position when they are tilted sideways. The control system rotates the implement in the opposite direction to the inclination of rear axle of the tractor. However, the current control system was found to have poor performance in accuracy and response. A new control system was therefore developed to improve the performance. Methods: The new control system was designed to get the response of the implement to be started earlier by using the tilt information from the front axle of the tractor. By this approach, the rotation of the implement can be adjusted as required to make it horizontal at the expected time, even though the response is slow. The optimal values of the control parameters for the new system were determined by computer simulation and validated by a performance test conducted with an obstacle of 120 mm height on a flat concrete surface. The performance of the control system was evaluated by the root mean square error (RMSE) of the rotation angle of the implement with respect to the actual inclination of the rear axle. Results: The new control system reduced the RMSE of the current control system by 44.6% indicating a high performance improvement. The inclination of the front axle was easily obtained from a sensor mounted on the front axle of the tractor and used as input to the new control system. Conclusions: The method of getting the response of the implement to be started earlier by utilizing the inclination information of the front axle can be applied to improve the performance of the current control system at least cost.

• Korean Journal of Environmental Agriculture
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• v.30 no.2
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• pp.223-228
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• 2011

BACKGROUND: Rhizosphere bacteria may improve plant growth and productivity both by supply nutrients and hormonal stimulation. Although many experiments have shown improvements in plant growth with inoculation of bacterial cultures to the rhizosphere, the main obstacle in the applications of plant growth promoting rhizobacteria in a large scale is the inconsistency of the results. We tested the growth promoting effects of Azospirillum and Methylobacterium strains on red pepper plant. METHODS AND RESULTS: Red pepper seedlings were grown for 25 days in a growth media inoculated with A. brasilense CW903 or M. oryzae CBMB20. The seedlings were transplanted and grown for 45 days in pots with soil in a greenhouse, at half the recommended level of fertilizer. Bacterial culture, $4.0{\times}10^9$ for A. brasilense CW903 and $5.8{\times}10^8$ CFU for M. oryzae CBMB20, was applied in root zone soil periodically every 10 days during the experiment. Inoculation of M. oryzae CBMB20 significantly increased the red pepper plant growth in terms of leaf number, height and mass of shoot, or root mass compared to uninoculated control plants. Although beneficial effects of A. brasilense on plant growth of many crops were observed, the growthpromoting effect of A. brasilense CW903 on red pepper plant was not found in this study. CONCLUSION(s): The factors responsible for the irregularities in plant growth promoting of rhizobacteria are difficult to elucidate. Extensive inoculation experiments in the greenhouse and in the field should enable us to define the factors critical to obtain successful application of plant growth promoting rhizobacteria.

• Journal of Forest and Environmental Science
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• v.33 no.3
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• pp.197-201
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• 2017

Populus. caspica L. is an Iranian indigenous poplar species which naturally distributed in the northern part of country. Unfortunately, overuse has removed many of the stems of better form, so that natural stands now usually appear small and crook. Therefore genetic variation for selection of new superior clone of this species is needed. Conventional hybridization system is currently used to induce genetic variation in poplar species but incompatibility barriers have been observed between them. In vitro ovule embryo culture was used to overcome incompatibility obstacle for interspecific hybridization between Populus caspica L. with Populus deltoids L.62/75. Female flowers of Populus caspica L. have artificially been pollinated with pollen grain of P. deltoides 62/75 in one direction using twig and pot crossing system. Ovaries at different ages (7, 14 and 21 days after pollination) were disinfected through 70% ethanol for 1 minute, 5% of sodium-hypochlorite solution for fifteen min followed by three time rising with sterile distil-water. Isolated ovaries were then transferred to MS hormone free medium containing 30 and 60 g/L sucrose for embryo development and germination. Collected data have been analyzed by two factorial experimental designs. The results indicated that there were significant differences between age of embryos for development and germination at ${\alpha}=0.01%$. Highest embryo germination (45%) was observed from 21 days old ovaries. No significant differences were observed between MS culture media containing 30 and 60 g/L for percentages of ovary-embryo germination and number of germinated embryo per ovary at ${\alpha}=0.05%$. Fourteen percentage of embryo germination obtained in MS medium supplemented with 60 g/L sucrose, while only 35% of isolated ovaries were able to germinate in MS containing 30 g/L sucrose. Induced plantlets in 4 cm height were transferred into pots containing soilless (1:1:1 peat, per lit and vermiculite) medium for acclimatization. After successful acclimatization, plants were delivered to nursery.