• Journal of Institute of Control, Robotics and Systems
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• v.16 no.10
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• pp.939-947
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• 2010

With the rising numbers of elderly and disabled people, the demand for welfare services using a robotic system and not involving human effort is likewise increasing. This study deals with a mobile-robot system combined with a BWS (Body Weight Support) system for gait rehabilitation. The BWS system is designed via the kinematic analysis of the robot's body-lifting characteristics and of the walking guide system that controls the total rehabilitation system integrated in the mobile robot. This mobile platform is operated by utilizing the AGV (Autonomous Guided Vehicle) driving algorithm. Especially, the method that integrates geometric path tracking and obstacle avoidance for a nonholonomic mobile robot is applied so that the system can be operated in an area where the elderly users are expected to be situated, such as in a public hospital or a rehabilitation center. The mobile robot follows the path by moving through the turning radius supplied by the pure-pursuit method which is one of the existing geometric path-tracking methods. The effectiveness of the proposed method is verified through the real experiments those are conducted for path tracking with static- and dynamic-obstacle avoidance. Finally, through the EMG (Electromyography) signal measurement of the subject, the performance of the proposed system in a real operation condition is evaluated.

• Journal of the Korea Institute of Building Construction
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• v.14 no.5
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• pp.407-413
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• 2014

Appropriate selection of lifting equipments for a high-rise building construction project is one of the important factors to the project's success. Proper position of a tower crane on a construction site is so important to be determined by an expert or an experienced construction manager who draws working range of a tower crane and moves it over 2D(dimensional) site layout plan. 3D CAD, BIM, and virtual reality are is used for building design and construction, but it is not usual to use them for temporary facility planning or selection of a tower crane. This study proposes a suitable method to use augmented reality to select proper position of tower cranes. An augmented reality prototype is implemented by Vuforia and Unity 3D on a smart device to verify the practicability of the proposed method. The prototype application installed on a smart device shows several tower cranes on different markers in a real architectural drawing to locate the proper tower crane.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.23 no.6
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• pp.1-14
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• 2020

Under the 「National Land Planning and Utilization Act」, Development Restriction Zones(DRZ) is one of the designated use district where the Minister of Land, Infrastructure and Transport deems it necessary to control urban development in order to prevent urban sprawl and conurbation and ensure a healthy living environment for citizens by conserving the natural environment surrounding metropolitan cities. DRZ was first designated around the Seoul Metropolitan city in 1971, and had been expanded to the 14 metropolitan areas across the country since 1977. The designated areas were accounted for about 5.4% of the total national land and its importance was demonstrated by contributing to control urban sprawl, curbing real estate speculation, and providing green space to citizens. However, DRZ has been repeatedly relaxed its regulations and allowed development under government. As a result, much of the green areas was damaged and several cities were merged and extended(conurbation). In particular, deregulation implemented for the purpose of securing land as part of national projects and local outstanding business(i.g. constructions of national rental housing, industrial complex, and international stadium) have caused continuous environmental damage around the metropolitan cities. In addition, the habitat fragmentation is in serious situation. Thus, the systematic plans for managing DRZ are necessary, since it is concerned that urban environment become deteriorate in the mid- to long-term. This study aims to continuously protect the urban environment from lifting DRZ. Therefore, firstly, we examined the environmental status through analyzing DRZ Management Plan which shall be drawn up by the Special Metropolitan City Mayor, the Metropolitan City Mayor or the Mayer/Do governor having jurisdiction, every five years to collectively manage DRZ. Secondly, we investigated the actual condition in DRZ based on the case study of Management Plan in Metropolitan areas(i.e. Seoul Metropolis, Gyeonggi-do, and Incheon Metropolis). Finally, we suggested the seven feasible improved political plan for managing DRZ.

• Korean Journal of Construction Engineering and Management
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• v.22 no.1
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• pp.55-62
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• 2021

The productivity of rebar-work and form-work was analyzed with data collected from an actual high-rise construction project, and the actual utilization rates of three tower cranes were also investigated. It was found that the average productivity of the form-work increased from 12.00~8.71(㎡/man·day) in the underground and above-ground/lower-floor to 11.94~20.73(㎡/man·day) in the standard floor. Comparing the productivity of core area to outer, the former was found to be about 11% higher. Moreover, the rebar-work productivity of the outer area(1.12 ton/man·day) was approximately 9.6% higher than that of the core area for the standard floor. The average utilization rates of three TC were surveyed to be about 63.49%, and it was revealed that rainy weather(6.1%), strong winds(6.1%), holidays(17.8%), TC lifting work(5.8%), and other failures and repairs(0.07%) were the causes of non-operation. These research results are expected to be beneficial data in planning and managing the process of high-rise RC construction works in the future.