• The Journal of the Korea Contents Association
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• v.11 no.12
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• pp.682-689
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• 2011

The purpose of this study is to investigate the importance of stairs and to provide information on exploring desirable directions for stairs' designs by analyzing the architectural publicity characteristics for stairs in the office buildings. The research method was as follows: 1) Preparatory study and literature reviews to extract the elements of architectural publicity 2) Based on the elements of architectural publicity, each stairs in the office building was evaluated. The results of the case study show that the stairs of office building built since 2000 were characterized by improved architectural publicity. It was concluded that the stairs in an office building should accommodate and provide architectural publicity characteristics such as approachability, openness and amenity for enhancing the interactive atmosphere within the people in the office building.

• Fire Science and Engineering
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• v.22 no.1
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• pp.29-36
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• 2008

This study is intended to examine the effect of the evacuation guidance that used phosphorescent material for stairs in the event of smoke and failure of both the power to the lighting and illuminated sign. To achieve the purpose, the test stairs was established and 35 students(1st 20, 2nd 15) were examined the visibility, the convenience and the comfort of going up and down of stairs. The results of this study are as follows; The evacuation from stairs showed that the stair nosing and landing used phosphorescent material for was very effective in dark conditions(0 lux) because of the high visibility of stair nosing and the convenience and the comfort of going up and down of stairs. The phosphorescent material located on the stair nosing and stair landing will aid in evacuation from stairs in the event of failure of both the power to the lightings and illuminated sign.

• Physical Therapy Rehabilitation Science
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• v.10 no.1
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• pp.16-21
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• 2021

Objective: To control the rate at which body weight drops, forefoot initiates floor contact with the limb relatively extended at each joint. However, when the knee joints could not extend enough with going down the stairs, the forefoot cannot be contact initially. The purpose of this study was to investigate the differences between forefoot and whole foot in initial contract on soleus and tibialis anterior for health young adults when descending stairs. Design: A cross-sectional observational study design. Methods: Fifteen healthy young adults participated in this study. To compare between forefoot and whole foot in initial contact when going down the stairs, this study measured muscle activation on soleus and tibialis anterior. This study used the paired t-test to analyze the collected data and compare the supporting conditions. Results: After analyzing, the muscle activation of soleus was not statistically significant difference as 25.16% at forefoot initial contact and 24.37% at whole foot initial contact when descending stairs (p>0.05). However, the muscle activation of tibialis anterior muscle was significantly difference was 49.19% at forefoot contact and 71.55% at whole foot contact. Conclusions: The results of this study was that the muscle activation of the tibialis anterior was a higher at whole foot contact than that at fore foot contact when descending stairs. This study suggests that the landing strategy of the initial contact is a beneficial effect at the forefoot contact to maintain the postural balance and the muscle performance effectively when descending stairs in individuals with healthy young adults.

• The Safety technology
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• no.42
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• pp.51-53
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• 2001

• Journal of the Korean Society for Precision Engineering
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• v.23 no.4 s.181
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• pp.75-82
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• 2006

In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• Journal of architectural history
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• v.16 no.4
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• pp.57-75
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• 2007

Bulguk Temple, one of the national temples, sublimated the high formalism and symbolism into lovely art, and thus be called the pinnacle of Korean architecture. Of many characteristic structures of Bulguk Temple, the stone stereobate and stairs have a great importance in that we can read out the purpose of the architect through their relics. Especially, the stone stairs are noteworthy for they structuralize the intentional space division. The objects of this observation are Yeonwhagyo and Chilbogyo bridges at the entrance of Keungnakjeon precinct, and Cheongwoongyo and Baekwoongyo stairs at the entrance of Daewoongjun precinct. All these relics are the structures that divide the precinct areas on the basis of Buddhist theory and have strong symbolic meanings as well. Although the diverse studies have made on the structures, there are many insufficient aspects for the manifestation of the meanings. In this study, I considered the Buddhist dogmatic meanings of the structures in the formalistic view of the Buddhist architecture. The study was proceeded in the way that the establishments of former studies were fully reflected in it. Through the study, I could confirm that the objects of consideration have the double formalistic meanings and they are strongly structuralizing the symbolism.

• Journal of Mechanical Science and Technology
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• v.20 no.5
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• pp.612-620
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• 2006

This paper proposes an optimal trajectory generation method for biped robots for walking up-and-down stairs using a Real-Coded Genetic Algorithm (RCGA). The RCGA is most effective in minimizing the total consumption energy of a multi-dof biped robot. Each joint angle trajectory is defined as a 4-th order polynomial of which the coefficients are chromosomes or design variables to approximate the walking gait. Constraints are divided into equalities and inequalities. First, equality constraints consist of initial conditions and repeatability conditions with respect to each joint angle and angular velocity at the start and end of a stride period. Next, inequality constraints include collision prevention conditions of a swing leg, singular prevention conditions, and stability conditions. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot model that consists of seven links in the sagittal plane. The optimal trajectory is more efficient than that generated by the Modified Gravity-Compensated Inverted Pendulum Mode (MGCIPM). And various trajectories generated by the proposed GA method are analyzed from the viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.11
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• pp.1617-1624
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• 2013

This paper analyzes the relation between fire shutters and fire spread by conducting fire simulation on inner space with fire shutters. Using Fire Dynamics Simulator (FDS), a commercial fire simulation software, the simulation is done on an ideal inner robby, where fire size and the open/close of fire shutters are varied. Our simulation environment can derive significant fire parameters such as temperature variation of fire room walls and entrances of refuge stairs, variation of carbon dioxide, and soot spread. According to the simulation results, temperature and carbon dioxide distribution in refuge stairs have little dependence on vent open or close, but the part close of fire shutters blocks soot inflow to refuge stairs.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.731-735
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• 1990

The mobile robot, named as KAEROT, is designed to go up and down stairs in nuclear facilities. To get a proper stable motion, kinematic modeling and analysis are seriously considered and new climbing algorithm is proposed focused on the stability. A couple of small wheels of one planetary wheel have to contact the surface ol stairs all the time to give the guarantee for stability and safety. To confirm the validity of the proposed algorithm, simulation is carried out. The results make evident of feasibility for the algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1082-1091
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• 2007

In this paper, we developed a new hybrid mobile robot which can climb stairs and go over thresholds by crawl gait with embedded real-time control software. This robot is also categorized into hybrid robot that has advantages of wheeled mobile robot and legged mobile robot, but adopts gait feature of crocodile named belly crawl. We imitated the belly crawl using four legs of 2 DOF, four omni-directional wheels, and embedded control software which controls legs and wheels. This software is developed using RTAI/Linux, real-time drivers. As a result, the new hybrid mobile robot has crawl gait. Using this feature, the new hybrid mobile robot can climb stairs and go over thresholds just by path planning of each leg with size of stairs and thresholds, and computing the movement distance of robot body center without considering stability. The performance of our new hybrid mobile robot is verified via experiments.