• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1087-1092
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• 1990

This paper describes the development and control of a quadruped walking robot, named as KAISER-II. The control system with multiprocessor based hierachical structure is developed. In order to navigate autonomously on a rough terrain, an identification algorithm for robot's position is proposed using 3-D vision and guide-mark pattern Also, a simple attitude control algorithm is included using force sensors. Through experimental results, it is shown that the robot can not only walk statically on even terrain but also cross over or go through the artificially made obstacles such as stairs, horizontal bar and tunnel-typed one.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.163-172
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• 2007

A swarm-bot docking with two independent robots aiming at overcoming obstacles or climbing up/down stairs is introduced how it can be manufactured and controlled. Utilizing the fast mobility of the vehicle robot and cooperating between robots expands the applications of the robot. An algorithm for identifying the partner robot and its generic mechanism enabling the docking of two robots are addressed. The designed swarm-bot has advantages in terms of overcoming obstacle or stair climbing which is not easily implemented by a single robot, increasing the adaptability to the environment.

• Fire Science and Engineering
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• v.2 no.2
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• pp.9-16
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• 1988

This study is intended to suggest some ideal measures available in the course of construction from the viewpoint of an architect to reduce damage of human lives and Properties caused by fire accidents in buildings. For this study, 7 buildings burnt by conflaguration in Seoul during the years of 1985 and 1987 are picked up, and 105 withnesses, who were present in one of them at them at fire, are traced for personal interview and respones to the written questionaire about 5 main issues; their perceptional behaviour, their emotional state at that time, their reactions to avoid danger, their escape routes, and their usual awareness to prevent fire. Some desirable measures suggested here are ;making Provisions to install fire centers in large buildings and underground structures in the fire fighting law, and requlating to compose fire units appropriate to the quantity of combustibles inside, limit the length of a blind corridor, furnish balustrade, and limit the width of the landing of the stairs in building code and regulations. Such measures should be considered from the time of planning to construct a building, and some drill and education in fire prevention is demanded for the occupants of the buildings too.

• Journal of architectural history
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• v.6 no.3 s.13
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• pp.9-22
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• 1997

The Wooden Stupa of Hwangnyongsa Temple, existed from Shilla to Koryo Dynasty, is recognized as a typical model of the Korean wooden stupa. The related records on this stupa are found in some historical documents including The Chronicles of the Three States ${\ulcorner}$三國史記${\lrcorner}$. This study, through the interpretation of these documents, attempts to discuss and analyse design and structural methods of the stupa, viz., i) the relationship with both Chinese and Japanese wooden stupa, ii) the height, iii) each floor's linking methods, iv) the 'Noban' (Basement of the upper part), v) structure of the 'Simju' (Central pillar) and vi) the stairs and the handrails. The results of this study would be hopefully used for the further researches as well as the restoration of this precious architectural asset.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.5
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• pp.489-495
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• 2008

This paper offers a practical control scheme for driving mode transformation of a rescue robot already developed. The rescue robot, VSTR(Variable Single-Tracked Robot), has two driving modes, so can traverse untidy terrain and overcome obstacles such as stairs easily by use of timely driving mode transformation. Classical PI control scheme was used firstly for driving mode transformation, but stationary phenomenon, which might have a bad effect on the performance in real situation, came into existence. Therefore, we suggest a new controller, PI-based feedforward controller, which should be a good alternative for the problem, and compare it with other nonlinear control scheme.

• Journal of the Korean housing association
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• v.14 no.5
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• pp.105-116
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• 2003

The purpose of this study is to suggest the method of prevention of staircase accidents, and to make housing environment better through researching the dimension of a housing staircase for Korean. The scope and method of this thesis is to investigate the dimension limits of a staircase (slope, minimum width of tread, maximum height of riser), and to analyze the characteristics of foot condition (jutting rate, foot angle, ball joint, nosing clearance, clearance distance) using the experiment which takes a photograph of foot motion during walking stairs. The results of this thesis are as follows. The slope of a staircase in house is $32.3^{\circ}$$^{\circ}$-$42.1^{\circ}$$^{\circ}$. The riser should be less than 190 mm. The minimum size of tread is 210 mm and proper size is 270 mm.

• Journal of the Korean housing association
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• v.14 no.5
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• pp.117-128
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• 2003

The purpose of this study is to investigate the effect of functional ability on relocation among the elderly. Longitudinal data from the Asset and Health Dynamics among the Oldest Old (1993, 1995) were analyzed for 6,225 respondents aged 70 or older. Among functional ability measures, difficulties in advanced activities of daily living (i. e., making telephone calls, taking medications, and managing money), lower body activities (i. e., walking several blocks, climbing one flight of stairs, pulling or pushing large objects, and carrying over 10 pounds), and household activities of daily living (i. e., preparing hot meals and shopping for groceries) were the predictors of increased residential move. Difficulties in basic activities of daily living (i. e., bathing, dressing, getting in and out, and using the toilet) were strongly related to increased entrance into an institutional care facility. Efforts to enhance the independent living of the elderly in the community setting should target the compensation of these functional difficulties.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.312-314
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• 2006

Researches on biped robot walking have been mostly focusing on walking on even surfaces. Therefore, robot walking has been only realized on pre-specified spaces with pre-specified movements according to the previous researches. In this paper a walking system for a biped robot using fuzzy system and neural networks to overcome those constraints. The system enables biped walking to be possible in various environments and with more complicated obstacels. For the purpose, a walking robot should recognize its surrounding environment and determine its movement. In the proposed system, a robot dynamically generates its walking trajectories of each joint by using neural networks when facing new obstacle such as stairs, and it maintains its walking stability by using closed loop fuzzy control system which manipulates the waist joints.

• Korean Institute of Interior Design Journal
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• no.41
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• pp.121-128
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• 2003

This study was purposed to find that the elderly in Daejeon city evaluated design details in bathroom, stairway, entrance etc. On the base of housing expenses and an administrative district, the elderly over 65 were chosen and interviewed by well-trained investigators and 583 case was analyzed through SPSS PC 10.0. The results of this study were as follows ; they said a bathtub was necessary, the floor was not slippery, the height of basin was not high and the grab bar around toilet was not in bathroom and emergency bell was not in house. The elderly pointed out that the non-slip floor, grab bar, bathtub in bathroom and non-slip floor in entrance and stairs should be designed carefully. By the condition of the elderly' health and independent daily living and experience of housing, the evaluation of importance on bathroom and approach design by the elderly were different.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.201-205
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• 2002

In case of fire in the buildings, the appropriate and safe evacuation plans for the building residents are very important to minimize the number of casualties. Since the evacuation time usually depends on the stairs and passages of design of the building, the evacuation plans should be considered while the architectural design is done. Conventionally, the calculation of the evacuation time in the case of fire breakout is based on the approximate mathematical equations which are prone to error. In this study, the simulation software is developed to help the architectural designers to access the more accurate evacuation time and find out the floor plans which offers the most sage evacuation plans for the residents in case of fire.