• Journal of the Korean Society for Precision Engineering
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• v.29 no.4
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• pp.417-425
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• 2012

This paper presents reference ZMP trajectory generation and implementation for a biped robot via linear inverted dumbbell model (LIDM), which can consider the effect of external momentum on the center of mass (COM) of robot. Based on a reference ZMP trajectory derived by using LIDM, a base trajectory is proposed not only to make the locomotion of robot similar to that of human but also to facilitate its implementation and tuning. In order to realize a dynamic walking using the proposed trajectory, compliance, impedance and ZMP tracking controllers are adopted together. Extensive experiments show that the proposed locomotion of a biped robot is stable and also, similar to that of human. Further researches on balance recovery of a biped robot will be carried out to guarantee its robust locomotion in combination with the proposed trajectory.

• Journal of Korea Water Resources Association
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• v.56 no.12
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• pp.855-869
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• 2023

Low Impact Development (LID) technology has been attracting attention as a countermeasure to solve frequent flood damage in urban areas. LID involves recovery of the natural circulation system based on infiltration and storage capacity at the site of rainfall runoff, to protect the aquatic ecosystem from the effects of urbanization. Bioretention as an element of LID technology reduces outflow through storage and infiltration of storm water runoff, and minimizes the effects of non-point pollutants. Although LIDs are being studied extensively, the amount of quantitative research on small watersheds with bioretention has been inadequate. In this study, a bioretention model was constructed in a small watershed using Korea-Low Impact Development Model (K-LIDM), which was conducted quantitative hydrologic analysis. We anticipate that the results of the analysis will be used as reference data for future bioretention research related to watershed characteristics, vegetation type, and soil condition.

• Proceedings of the Korea Water Resources Association Conference
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• 2020.06a
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• pp.272-272
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• 2020

급격한 도시화와 기후변화로 인해 기존 물순환 체계가 왜곡됨에 따라 저영향개발(Low Impact Development) 기법의 필요성이 증가하고 있는 추세이다. LID 요소 중 하나인 옥상녹화는 국내에 도입이 많이 되었고 적정 설계인자를 설정하기 위해 지속적으로 연구를 수행하고 있다. 따라서 본 연구에서는 옥상녹화 설계인자의 설정과 수문·식생·토양을 고려한 시나리오 구축을 통해 국내 물순환 모형인 K-LIDM을 이용하여 옥상녹화의 정량적 물순환 효율성 분석을 수행하였다. 대상유역은 한국 그린인프라 저영향개발센터 내 옥상녹화 실험장으로 옥상녹화에서 계측하고 있는 측정값을 기반으로 K-LIDM 모형 검보정을 수행하고 옥상녹화의 설계인자에 따른 시나리오를 통해 수문학적 성능평가를 수행하였다. 단기강우 시나리오를 적용하였을 때 옥상녹화는 일반콘트리트 옥상에 비해 5.25 ~ 36.48%의 유출저감률이 산정되었으며, 유출저감 한계효율은 지속시간 60분, 120분, 180분 일 때 각각 8.93%, 6.17%, 5.25%로 산정되었다. 장기강우 시나리오를 적용하였을 때는 연평균 53.54%의 유출저감률이 산정되었다. 또한 토심의 증가에 따른 유출량 감소는 관목>교목>지피 식물 순으로 나타났으며, 토심이 1cm 증가할 때의 저감유출랴은 지피 식물의 경우 0.0002㎥/s, 교목의 경우 0.0005㎥/s, 관목의 경우 0.0008㎥/s로 나타났다. 옥상녹화는 건물 설계에 따른 적재하중과 환경조건, 식물선정, 생육에 많은 영향을 받는 기술요소이므로 다양한 시나리오를 통한 수문학적 성능평가가 필요시 된다. 본 연구결과는 정량적 옥상녹화시스템 효율성 검증을 실시하기 위한 옥상녹화 설계가이드라인에서 고려사항을 제시할 수 있는 기준이 될 것이라고 기대된다.

• Progress in Medical Physics
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• v.24 no.4
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• pp.220-229
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• 2013

Respiratory-induced dynamic tumors render free-breathing cone-beam computed tomography (FBCBCT) images with motion artifacts complicating the task of quantifying the internal target volume (ITV). The purpose of this paper is to study the visibility of the revealed ITV when the imaging dose parameters, such as the kVp and mAs, are varied. The $Trilogy^{TM}$ linear accelerator with an On-Board Imaging ($OBI^{TM}$) system was used to acquire low-imaging-dose-mode (LIDM: 110 kVp, 20 mA, 20 ms/frame) and high-imaging-dose-mode (HIDM: 125 kVp, 80 mA, 25 ms/frame) FBCBCT images of a 3-cm diameter sphere (density=0.855 $g/cm^3$) moving in accordance to various sinusoidal breathing patterns, each with an unique inhalation-to-exhalation (I/E) ratio, amplitude, and period. In terms of image ITV contrast, there was a small overall average change of the ITV contrast when going from HIDM to LIDM of $6.5{\pm}5.1%$ for all breathing patterns. As for the ITV visible volume measurements, there was an insignificant difference between the ITV of both the LIDM- and HIDM-FBCBCT images with an average difference of $0.5{\pm}0.5%$, for all cases, despite the large difference in the imaging dose (approximately five-fold difference of ~0.8 and 4 cGy/scan). That indicates that the ITV visibility is not very sensitive to changes in imaging dose. However, both of the FBCBCT consistently underestimated the true ITV dimensions by up to 34.8% irrespective of the imaging dose mode due to significant motion artifacts, and thus, this imaging technique is not adequate to accurately visualize the ITV for image guidance. Due to the insignificant impact of imaging dose on ITV visibility, a plausible, alternative strategy would be to acquire more X-ray projections at the LIDM setting to allow 4DCBCT imaging to better define the ITV, and at the same time, maintain a reasonable imaging dose, i.e., comparable to a single HIDM-FBCBCT scan.

• Proceedings of the Korea Water Resources Association Conference
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• 2021.06a
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• pp.290-290
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• 2021

급격한 도시화 및 기후변화로 인한 물순환체계가 왜곡됨에 따라 자연수재해 피해가 급증하고 있어 대응방안으로 저영향개발(Low Impact Development, LID) 기법이 대두되고 있다. LID 요소 기술 중 하나인 식생저류지는 도시 유역내에서 발생하는 유출수를 저류 및 침투하여 우수유출수와 비점오염원으로 인한 오염저감 효과를 지니고 있는 LID 요소이다. 본 연구에서는 식생저류지의 우수유출수의 정량적 저감효과를 분석하기 위해 수문해석 프로그램인 K-LIDM(Korea Low Impact Development Model)을 이용하여 유역 내 식생저류지 배열과 저류용량에 따른 유출저감 효과를 분석하였다. 강우시나리오는 부산지점의 10년, 30년 발생빈도에 대하여 60분, 120분, 180분 확률강우시나리오를 선정하여 적용하였다. 모델링 분석결과 식생저류지 배치에 따라 5 ~ 15 % 이상의 유출저감효과가 산정되었으며, 식생저류지 저류용량에 따라 20 % 이상의 유출저감 효과가 산정되었다. 첨두유출 도달시간은 1.13 ~ 1.86배를 지연하는 결과가 산정되었다. 결과를 통해 식생저류지의 배열과 저류용량에 따라 유출량 저감효과와 첨두유출 도달시간에 영향을 미침을 알 수 있었다. 추후에 다른 매개변수인 식생저류지의 저류깊이, 지반의 침투능 및 유출부의 직경 등 여러 매개변수들을 고려한 연구를 수행한다면 식생저류지의 정량적 물순환 평가가 수행될것으로 사료된다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.11
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• pp.104-109
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• 2017

The flooding and deterioration of water quality caused by urbanization and climate change are becoming more serious. In order to respond to this, studies on low impact development (LID) technology, which is designed to restore the hydrological system of the urban basin to its natural state, have been actively pursued all over the world, The announcement of the low carbon green growth law, hydrophilic area special law, etc., highlights the importance of technology such as the LID method. However, whereas various developments have been made in relation to the current LID element technology, there has been little research designed to verify its effectiveness. In this study, we analyzed the optimum spatial distribution of pitcher fire pitcher packing in parking lots using the K - LIDM model to verify the effectiveness of the low impact development (LID) method in the early stages. Using the eight package scenario and the three rain intensity scenarios, it was found that the lower 40% pitcher packaging results in an approximately 90% spill reduction effect, as in the case of the whole pitcher's package. The confirmation of these analyses and experimental verification is expected to ensure that the actual pitcher packaging will be used as a basis for arranging LID facilities such as urban planning and housing development in the future.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.2
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• pp.434-442
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• 2019

Low Impact Development(LID) techniques has been attracting attention as a countermeasure to solve frequent flood damage in urban areas. LID is a techniques for returning to the natural hydrological cycle system by infiltrating the runoff from the impervious surface into the soil. The Bio-retention, one of the LID element technology has outflow reduction effect by reserving and infiltrating storm water runoff from watersheds. Recently, a number of studies have been carried out as interest in the reduction of storm water runoff and non-point pollutants in Bio-retention has increased. However, quantitative analysis on the outflow reduction of Bio-retention applied to small watershed is insufficient. In this study, Bio-retention model was constructed in a small watershed using K-LIDM which is capable of hydrologic analysis. When the storage capacity was increased or dividing the Bio-retention and watershed, the outflow reduction effect was 20% according to the storage capacity increase and 5~15% in the distributed Bio-retention system. The results of this analysis will be used as the basic data of future Bio-retention research related to watershed characteristics, vegetation type and soil condition.

• Journal of Korea Water Resources Association
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• v.55 no.11
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• pp.969-977
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• 2022

In order to respond to the increase in water disasters due to climate change and urbanization, research on low impact development (LID) techniques and application to cities are expanding. The LID technique is a technology that reduces rainwater runoff in the city, controls various water disasters such as flash floods, etc. in an eco-friendly way, and restores the urban water circulation system to a natural water circulation system. However, quantitative analysis of stormwater runoff reduction through the LID technique is insufficient. Therefore, this study analyzed the ratio of the permeable area required to reduce the surface runoff of rainfall (25 mm/hr, 50 mm/hr, 100 mm/hr) with respect to the impervious watershed area of the old city using the permeable pavement. As a result of the analysis, it was found that a permeable area ratio of 7.14 to 12.63% of the total area was required for 25 mm/hr, 15.79 to 26.97% for 50 mm/hr, and 30 to 55.81% for 100 mm/hr.

• Proceedings of the Korea Water Resources Association Conference
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• 2023.05a
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• pp.364-364
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• 2023

최근 환경부에서 발표한 「제3차(2021~2025) 강우유출 비점오염관리 종합대책(2020)」에 의하면, 우리나라는 지난 50년간 급격한 도시화, 산업화 과정을 거치면서 불투수면적이 전 국토의 약 22.4%에 달한다고 보고되고 있다. 특히 전체 소권역의 6%에 해당하는 51개 소권역의 경우 불투수 면적률 25%를 넘어서고 있는 것으로 조사되었다. 이러한 불투수면의 증가는 기후변화에 의한 영향으로 토양 침투량과 기저유출량을 감소, 갈수기 하천건천화 심화, 우기 표면유출수 증가를 가중시키며 이로인한 비점오염물질 유입 증가, 수질 악화의 원인으로 작용 될 수 있다. 이에 정부에서는 저영향개발(Low Impact Development, LID) 사업 및 친환경그린인프라(Green Infrastructure, GI) 기술요소를 적용하여 도시지역 기후위기 대응 수단의 일원으로 우수유출 저감, 물순환 구조 개선, 비점오염원을 관리하고자 '그린빗물인프라(Green Stormwater Infrastructure, GSI) 조성 사업'을 추진하여 공공청사를 중심으로 학교, 도서관, 체육시설, 공원 등 적용 범위를 확대하고 있다. 이에 본 연구에서는 기후변화에 가장 취약한 해안도시지역인 경상남도에 위치하고 있으며, 불투수면적이 높고 노후화된 소규모 청사 2곳을 시범 구역으로 선정하였다. 각 시범 구역별 GSI 시설 적용이 가능한 주차장, 화단, 옥상 등의 개선방안을 제시하였으며, 적용 규모를 달리하여 물순환·물 환경 개선 효과를 검증하였다. 검증에는 국내에서 개발된 K-LIDM 모형을 활용한 우수유출저감 및 직접유출체적 산정결과를 통해 물순환 효과를, 국립환경과학원에서 제시되고 있는 '토지계 지목별 발생부하원단위', 수질환경개선 보고서에서 제시된 침투형, 식생형 비점오염저감시설의 저감효율을 활용하여 물순환 저감효과를 분석하여 비교하였다.