• 한국전문물리치료학회지
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• 제18권3호
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• pp.16-25
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• 2011

This study aimed to evaluate factors related to the ability of ambulatory patients with cerebral palsy (CP) to walk over vertical and horizontal obstacles. Twenty patients with spastic CP who were able to walk independently for at least 10 m with or without walking devices were recruited for the study. Participants were required to walk over small obstacles (1, 4, and 8 cm in height or width; total of 6 conditions). A 'fail' was recorded when either the lower limbs or the walking device contacted the obstacle. Linear regression analyses were used to determine the effects of age, sex, walking devices, eyeglasses, subtype (hemiplegia or diplegia), ankle foot orthoses, functional level, and score of body mass index on the ability of obstacle crossing. Fifteen participants (75%) failed to adequately clear the foot or walking device over obstacles in at least 1 condition. The chance of failure in crossing vertical obstacle was affected by the use of ankle foot orthoses, eyeglasses, gender, and CP subtype (p<.05). The failure rate crossing horizontal obstacle was affected by CP subtype. These findings suggest that rehabilitation procedures should (1) consider the clinical characteristics of patients in order to prepare them to be more independent while performing daily activities, and (2) incorporate environmental conditions that patients encounter at home and in the community.

• 전기전자학회논문지
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• 제24권4호
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• pp.1064-1068
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• 2020

논문에서는 65 kHz 장파대역을 사용하는 단축형 지선식 안테나의 전파 장애물에 의한 근거리 전파전파 특성을 분석하였다. 구축되는 65 kHz 장파대역 단축형 지선식 안테나를 모델링하고, 전파 장애물인 산 높이와 안테나 근접도에 따른 모델링을 통하여 전파 장애물이 안테나 전파 특성에 미치는 영향을 분석하였다. 일반적인 송신 안테나 사이트에 인접한 산 높이와 안테나와의 이격거리를 적용할 경우, 약 1.7 dB 이내의 전계 강도 변화가 발생되었다. 그러나 전파 장애물과 안테나와의 일정한 이격거리 이상에서는 전파 장애물에 의한 영향이 무시될 정도의 전파전파 특성을 나타내었다. 본 논문의 결과는 65 kHz 동작 주파수를 갖는 송신국 안테나 사이트 설계 및 구축 운영에 활용될 수 있다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.1765-1770
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• 2003

This paper describes a study of the spin-up of a free-surface fluid in a rectangular container in which an internal cylindrical obstacle is mounted. Experiments and numerical analysis have been carried out for a variety of obstacle position. Increase in the speed of background rotation and near wall position of cylindrical obstacle results in the complex flow structures. Numerical and experimental results agree well with each other and the Ekman-pumping model is also applied to this flow.

• 한국운동역학회지
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• 제21권4호
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• pp.459-466
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• 2011

The purpose of this study was to analyze of obstacle gait using spatio-temporal and foot pressure variables in children with autism. Fifteen children with autism and fifteen age-matched controls participated in the study. Spatio-temporal and foot pressure variables was investigated using GAITRite pressure sensor system. Each footprint was divided into 12 equal trapezoids and after that the hindfoot, midfoot and forefoot analysis was developed. Independent t-test was applied to compare the gait variables between the groups. The results showed that the autism group were significantly decreased in velocity, cadence, cycle and swing time compared to the control group. The autism group were significantly increased in step width and toe out angle compared to the control group. The autism group were significantly increased at midfoot and forefoot of lateral part of footprint and forefoot of medial part of footprint in the peak time compared to the control group. The autism group were significantly increased at midfoot and hindfoot in $P^*t$, at midfoot in active area, and at hindfoot in peak pressure compared to the control group. In conclusion, the children with autism showed abnormal obstacle gait characteristics due to muscle hypotonia, muscle rigidity, akinesia, bradykinesia and postural control impairments.

• 한국전자통신학회논문지
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• 제7권2호
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• pp.401-407
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• 2012

본 논문에서는 대표적인 이동 로봇의 장애물 회피 방법들의 성능을 분석한다. 이를 위해 장애물 회피 성능 지수로서 목표점까지 이동한 거리, 이동 시간, 장애물과의 거리, 로봇 동작의 평활도(smoothness)를 제시한다. 특히 로봇 동작의 평활도는 로봇 동작 시 조향 방향의 각가속도와 저크(jerk)를 사용하여 로봇의 실질적 이동 효율성을 측정하는 성능 지수이다. 주어진 성능 지수에 의하여 4가지의 주요한 장애물 회피 방법을 비교하였다. 주요한 장애물 회피 방법은 인공 전위계 방법, 탄성력(elastic force) 방법, 가상 거리(virtual distance)에 의한 인공전위계 방법, 그리고 가상 거리에 의한 탄성력 방법이다. 시뮬레이션을 통하여 각 방법의 성능을 비교 분석하여 각각의 장애물 회피 특성을 파악하였다.

• 제어로봇시스템학회논문지
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• 제20권10호
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• pp.1067-1072
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• 2014

The ability to overcome obstacles is necessary for field robots for various applications including the ability to climb stairs. While much research has been performed focusing on overcoming obstacles, the resulting robots do not have sufficient ability to overcome obstacles such as stairs. In this research, the purpose is to overcome relatively large obstacles by flipping locomotion through the modification of the stair climbing robotic platform of the previous research. We propose two scenarios to overcome large obstacles: a rear wheel driving system and an elevation system using a ball screw. The research is performed based on static analyses on obstacle-climbing. As the simulation results indicate, we determined the optimal posture of the robot for climbing obstacles for rear wheel driving. Also, an elevation system is analyzed for obstacle climbing. Between the two scenarios an elevation system is determined to reduce the operating torque of the actuator, and the prototype was recently assembled. The climbing ability of the robotic platform is verified. We expect the application area for this robotic platform will be in accident areas of nuclear power plants.

• 대한기계학회논문집B
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• 제33권4호
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• pp.225-234
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• 2009

The present study has been preformed to investigate the effect of obstacles around a cooling tower with air-guide to prevent recirculation. The external region as well as the cooling tower are included in the computational domain to analyze the flow phenomena around a cooling tower accurately. Three-dimensional analysis is performed using the finite volume method with non-orthogonal and unstructured grid system. The standard turbulence model is used to consider the turbulence effect. In order to investigate the recirculation phenomena, flow and temperature fields are calculated with the distance between cooling tower and obstacle, the allocated geometrical type and the air-guide. The moisture fraction rates decrease with increment of the distance between cooling tower and obstacle. The effect of air-guide to reduce the mean recirculation rate is obviously observed.

• 한국항해항만학회지
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• 제29권6호
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• pp.523-528
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• 2005

장애물이 있는 배관속의 점성유동을 다양한 난류모형을 적용하여 해석하였다. 적용한 난류모형은 k-$\epsilon$, k-$\omega$, Spalart-Allmaras, Reynolds stress 이고, 배관내의 격자는 구조격자(structured grid) 이다. 속도벡터, 압력분포 반복계산(iteration)에 의한 잔류치(residual), 양정(dynamic head) 등을 모사하였다. 4개의 난류모형을 배관유동에 적용하였고 상용 프로그램을 사용하여 해석을 수행하였다.

• Journal of Advanced Marine Engineering and Technology
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• 제20권5호
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• pp.45-57
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• 1996

Flow characteristics and contamination behavior in a three-dimensional room with the desk-type obstacle have been investigated numerically by the k-${\varepsilon}$ two equation turbulence model. The room model has one supply opening on the ceiling and two exhaust openings on the side walls. Thirty six sets of calculation have been performed for twelve contamination sources of $1{\times}10^{-4}kg_c/(m^3{\cdot}s)$ strength at different inlet velocities(0.1, 1, 10m/s). This study can conclude that the source points of contaminant are located near the obstacle edge of Z-axis, at which the maximum contaminant diffusion fields are occured.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제4권2호
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• pp.135-141
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• 2004

This paper proposes a new heuristic search technique for obstacle avoidance of autonomous underwater vehicles equipped with a looking ahead obstacle avoidance sonar. We suggest the fuzzy relation between the sonar sections and the properties of real world environment. Bandler and Kohout's fuzzy relational method are used as the mathematical implementation for the analysis and synthesis of relations between the partitioned sections of sonar over the real-world environmental properties. The direction of the section with optimal characteristics would be selected as the successive heading of AUVs for obstacle avoidance. For the technique using in this paper, sonar range must be partitioned into multi equal sections; membership functions of the properties and the corresponding fuzzy rule bases are estimated heuristically. With the two properties Safety, Remoteness and sonar range partitioned in seven sections, this study gives the good result that enables AUVs to navigate through obstacles in the optimal way to goal.