• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.904-911
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• 2016

This paper presents a novel driving system by the humanoid robot to drive a vehicle in disaster response situations. To enhance robot's capability for substituting human activities in responding to natural and man-made disaster, the one of prerequisite skills for the rescue robot is the mounted mobility to maneuver a vehicle safely in disaster site. Therefore, our driving system for the humanoid is developed in order to steer a vehicle through unknown obstacles even under poor communication conditions such as time-delay and black-out. Especially, the proposed system includes a tele-manipulation interface and stable navigation strategies. First, we propose a new type of path estimation method to overcome limited communication. Second, we establish navigation strategies when the operator cannot recognize obstacles based on Dynamic Window Approach. The effectiveness of the proposed developments is verified through simulation and experiments, which demonstrate suitable system for driving a vehicle in disaster response.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.278-284
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• 2019

Legged locomotion has high mobility on irregular surfaces by touching the ground at discrete points. Inspired by the creature's legged locomotion, legged robots have been developed to explore unstructured environments. In this paper, we propose a modular crawler that can easily adjust the number of legs for adapting the environment that the robot should move. One module has a pair of legs, so the number of legs can be adjusted by changing the number of modules. All legs are driven by a single driving motor for simple and compact design, so the driving axle of each module is connected by the universal joint. Universal joints between modules enable the body flexion for steering or overcoming higher obstacles. A prototype of crawler with three modules is built and the driving performance and the effect of module lifting on the ability to overcome obstacles are demonstrated by the experiments.

• Journal of the Korean Institute of Rural Architecture
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• v.16 no.3
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• pp.45-52
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• 2014

Recently, Korean people are more interested in leisure time as the Korean economy has enjoyed the economic growth on a continual basis. Along with it, the disabled people's demand for enjoying the beach is growing. To meet the disabled people's demand for enjoy the beaches, it is important to prepare the convenient facilities where the disabled people in the wheel chair can use comfortably, including the handicapped parking area, toilet for the disabled, shower stall room and am bathhouse. On the backdrop of this, the study has been made on the obstacles which keep the disabled people from using the convenient facilities installed on 12 beaches in the southern coat of Korea from the perspective of barrier free design. This study showed that half of the beaches in question did not have the handicapped parking places. The parking space was also so narrow that it was difficult for handicapped people to access the parking lot with their vehicles. There were also 3 beaches which did not have the toilet for the disabled. Even the beaches which have the toilet for the disabled, the size of entrance door and floor space was so narrow and there were a lot of physical obstacles such as no handles for the disabled people that it was really hard for the disabled people in wheelchair to use them.

• Journal of Convergence for Information Technology
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• v.11 no.4
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• pp.130-136
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• 2021

This study investigated the general characteristics of mobility disadvantaged persons with disabilities, and to suggest implications to ensure personal mobility with the greatest possible independence for the physically disabled in community. The survey questionnaire included the categories as follows: the general characteristics of the participants, the status of outing and mobility, usage of low-floor buses & taxi for the disabled, service improvement, and mobile support center. Data collected from 219 with physical disabilities were analyzed for this purpose by using descriptive statistics. The study results showed that 54.6% of the total tended to go out everyday, and 17.0% rarely. 53.4% could go out without any assistance, and the major obstacles not to go out were stairs and inconvenience of public transportation. 26.9% used low-floor buses, and 71.1% preferred to use taxi for the disabled. The average waiting time for the usage of low-flow buses and taxi was 66.57 minute and 42.65 minute, separately. 78.7% insisted that the function of mobile support center in the community should be expanded, whereas only 49.8% recognized the role of mobile support center. Based on the study results, the researchers suggested to facilitate access by persons with disabilities to mobility aids, and to improve the actual state of pedestrian environment. In addition, the function of mobile support center should be expanded to help the mobility disadvantaged persons live independently in community, thereby contributing to the promotion of their quality of life.

• Korean Journal of Applied Biomechanics
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• v.17 no.4
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• pp.141-148
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• 2007

Falls associated with tripping over an obstacle can be dangerous, yet little is known about the strategies used for stepping over obstacles in older Parkinson disease. The purpose of this study was to investigate the lower extremity muscle activity on the obstacle gait according to obstacle height in older Parkinson diseases. The obstacle gait of 7 older Parkinson disease was examined during a 5.0 m approach to, and while stepping over, obstacles of 0, 25, 52, and 152mm. Seven pairs of surface electrodes(Noraxon MyoResearch, USA) were attached to the right-hand side of the body to monitor the adductor longus(AL), gluteus medius(GME), gluteus maximus(GMA), biceps femoris(BF), rectus femoris(RF), gastrocnemius(GA), tibialis anterior(TA). Electromyography data were filtered using a 10Hz to 350 Hz Butterworth band-pass digital filter and normalized to the maximum value in the analyzed phases. A one-way ANOVA for repeated measures was employed for selected electromyography variables to analyze the differences of the height of four obstacles. The results showed significant differences between 0.0mm and 25, 52, and 152mm obstacle height in TA and GA activities during the second phase(swing phase). But the more increase obstacle height, the more not increase the muscle activities. This means that the Parkinson disease stepping over obstacle inefficiency. To prevent and reduce the frequency of falls, elderly Parkinson disease maintained and improved their balance, muscular strength, neuromuscular control and mobility.

• Journal of the Architectural Institute of Korea Planning & Design
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• v.35 no.1
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• pp.117-125
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• 2019

The purpose of this study is to examine urban built environments associated with the walking behavior in order to identify the problem of urban infrastructure from the perspective of Universal design theory. Using the walkability criteria developed based on the findings of previous studies on Universal design theory and walking environment, the urban built environments in old town area of Seoul were evaluated. The results of the evaluation indicated that the pedestrian infrastructure in the study area had several shortcomings to improve in order to provide walking-friendly environments. First, the pedestrian infrastructure for visually impaired people were severely limited. Second, walking traffics in large portion of the street networks were interrupted by a variety of obstacles such as parked cars, signboards, and illegal street shops. Third, there were certain areas where the quality of pavement was not properly managed. In summary, this study provides an empirical data to understand the current situation of pedestrian infrastructure in the urban areas. Improvement of pedestrian infrastructure is needed to address the issues related to the mobility of the disabled people. It is also recommended to construct the GIS data on walking environment in order to develop and mange a long-term public investment plan for walking-friendly urban environments.

• Journal of Ocean Engineering and Technology
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• v.4 no.2
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• pp.262-262
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• 1990

In order to check the effect of dislocation behavior on creep rate in 12% Chromium steel, 14 samples of different compositions were examined by creep rupture test, and subgrain sizes, distribution of dislocations and precipitates were checked. And, authors reviewed the behaviors of dislocations, the formation and growth of subgrains and precipitates during creep. The results are as the following: 1) Creep rates calculated by .epsilon. over dot = .rho.bv show 10-15% higher values than actual data measured. However, authors conclude that the density and velocity of dislocations together with subgrain size are important factors governing deformation during creep in 12% chromium steel. 2) The values of the strength of obstacles in the mobility of dislocations are more clearly depended on the effective stress in the range of $10{\pm}5kgf/mm^{2}$ and increase with the increase of temperature. 3) Creep rates decrease with the smaller sizes of subgrains formed and can result in the longer creep rupture lives(hours). The smaller subgrains can be made by forming shorter free gliding distances of dislocations with very fine precipitates formed in the matrix during creep by applying proper alloy design. 4) Dislocation mobility gets hindered by precipitates occurring, which are coarsened by the softening process governed by diffusion during long time creep.

• Journal of Ocean Engineering and Technology
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• v.4 no.2
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• pp.112-120
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• 1990

In order to check the effect of dislocation behavior on creep rate in 12% Chromium steel, 14 samples of different compositions were examined by creep rupture test, and subgrain sizes, distribution of dislocations and precipitates were checked. And, authors reviewed the behaviors of dislocations, the formation and growth of subgrains and precipitates during creep. The results are as the following: 1) Creep rates calculated by .epsilon. over dot = .rho.bv show 10-15% higher values than actual data measured. However, authors conclude that the density and velocity of dislocations together with subgrain size are important factors governing deformation during creep in 12% chromium steel. 2) The values of the strength of obstacles in the mobility of dislocations are more clearly depended on the effective stress in the range of $10{\pm}5kgf/mm^{2}$ and increase with the increase of temperature. 3) Creep rates decrease with the smaller sizes of subgrains formed and can result in the longer creep rupture lives(hours). The smaller subgrains can be made by forming shorter free gliding distances of dislocations with very fine precipitates formed in the matrix during creep by applying proper alloy design. 4) Dislocation mobility gets hindered by precipitates occurring, which are coarsened by the softening process governed by diffusion during long time creep.

• International Journal of Advanced Culture Technology
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• v.10 no.3
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• pp.371-376
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• 2022

The purpose of this study is to develop a walking assistance system with mobility support and life support functions so that the elderly with reduced physical ability and patients who are uncomfortable when moving can move comfortably indoors and outdoors, and help social life. An obstacle recognition sensor module that can be applied indoors and outdoors is installed on a lightweight walking aid. The purpose of this study is to develop a walking assistance system with mobility support and life support functions so that the elderly with reduced physical ability and patients who are uncomfortable when moving can move comfortably indoors and outdoors, and help social life. An obstacle recognition sensor module that can be applied indoors and outdoors is installed on a lightweight walking aid. It is a system structure of an integrated actuator and brake system that can avoid obstacles in consideration of the safety of the elderly and is easy to install on the device. In this paper, the design of a lightweight walking aid was designed to increase the convenience of the socially disadvantaged and the elderly with reduced exercise ability. In addition, in order to overcome the disadvantage of being inconvenient to use indoors due to the noise and vibration of the motor during operation, an In-Wheel type motor is applied to develop and apply a low noise, low vibration and high efficiency drive system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.6
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• pp.291-298
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• 2021

In this study, the future of countermobility capability is presented by analyzing the status of the countermobility obstacles focusing on the history of landmines and munitions. The conventional landmine was forbidden globally by the CCW and Ottawa Treaty because it caused civilian damage after the war. Because the inhumanity of those mines had been acknowledged, shatterable mines with a self-destruct (SD) function and M93 "HORNET" anti-tank munition with enhanced sensors have been fielded. In 2016, the Obama administration announced a policy that banned all antipersonnel landmines, leaving a considerable gap in the countermobility capability. To deal with these problems, the developments of "SAVO" and the SLEP program of Volcano mines were conducted. In the sense of a long-term approach, the countermobility obstacles, including mines, were chosen as fundamental forces for Multi-Domain Operations and were improved to Terrain Shaping Obstacles (TSO). TSO has improved sensors and mobility kill capabilities and features an enhanced remote control over each munition on the battlefield through a network established with satellite communication. The combined arms countermobility might be fully capable until 2050 if the TSO program can be completed successfully.