• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• Journal of Biosystems Engineering
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• v.13 no.2
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• pp.1-8
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• 1988

A scale model of power tiller-trailer system with the same kinematic characteristics was constructed one eighth of the actual size to validate the effectiveness of mathematical model of motion. The parameters for the scale model of power tiller-trailer system were measured by a series of laboratory experiments. Validation tests for the: scale model was conducted under several ground and operating conditions. The tests were performed on artificial ground surfaces with several kind, of slope and obstacle. The travel path of the scale model was photographed successively in three directions. The travel paths obtained from both the film analysis and the simulation model appeared to be consistent with each other. It was concluded that the simulation model could be used to predict the motion of actual power tiller-trailer system if the parameters for actual power tiller and trailer are provided.

• The Korean Journal of Physiology
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• v.11 no.1
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• pp.33-36
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• 1977

The object of the present study is to examine the effect of physical training during early growth of life on body weight gain and physical performance. Early weaned (2 weeks after birth) male mice were divided into control and training group-and experimental period was divided into growing period (from 1st week to 6th weeks after weaning) and adult period (from 7th weeks to 9th weeks after weaning). Physical training was. given on a small animal treadmill with a speed of 34.3m/min and $19^{\circ}C$ slope and both groups of body weight gain and maximal running time on the treadmill were determined. The results obtained are summarized as follows; 1. Body weight gain was lesser in training group than control group and the difference was. statistically significant at 1, 2.5, 5.7 weeks of training period. 2. Maximal running time of training group was found to be longer than that of control group at 6th (p<0.01), 8th (p<0.001) and 9th weeks. (p<0.01). From the above results, it may be concluded that if physical training is started in early growth of life, there might be an improvement of physical performance.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.169-175
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• 2009

A new wire detection algorithm for power line inspection by a mobile robot has been proposed in this paper. There have been a lot of studies in order to support the high-quality electric power. For the high-quality power supply, it is necessary to investigate the power lines and insulators before the lines or insulators were disconnected or damaged. Although Korea Electric power Corp. has made many efforts for the quality improvement, it is not enough to inspect all the power lines by human inspectors. According to this problem, it is decided to replace the human operators by the power line inspection robot. When the robots are used for the inspection, there could be several advantages, for example, the working efficiency and the prevention of accident. And also the shortage of human power for dangerous jobs can be resolved. In this paper, as a part of the development of power line inspection robot, DICRO, the sensor fusion and fuzzy control algorithms are developed to detect the wire and slope of the wire. The effectiveness of the proposed algorithms is proved by the real experiments with DICRO which is under development so far.

• Proceedings of the Korean Institute of Interior Design Conference
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• 2007.11a
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• pp.99-102
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• 2007

Underground passage shopping center which is one of the underground space is a public facility. Therefore, underground passage shopping center needs physical environment that everyone (such as ordinary adults, seniors, disabled and ETC) could use it without any difficulties. The purpose of this research is to evaluate the application of universal design into main entrance space of underground passage shopping center. The scope of this research was adjusted as 8 underground passage shopping centers that are located in Seoul. Spacial scope of the research was set as public space such as main entrance space, slope way, stairway of underground passage shopping center and the content of scope of this research was the application of universal design. The conclusion of this research is as following. First, public space of underground passage shopping center needs physical environmental improvement for the convenient usage for seniors and disabled. Second, the application of universal design is needed for public space for shelter and rescue of underground passage shopping center. Third, Underground passage shopping center needs a plan to minimize the safety infringement of user by commercial activity of stores in it.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.1 no.1
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• pp.119-132
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• 1998

In recent Japan, the demand for woodland creation on revegetation sites is increasing. In the forests and woodlands, we can find many functions of environmental conservation, in addition of biomaterial production, and all of these existences with such functions are defined as environmental woodlands. Many woodlands has been created from old times for the purpose of forest conservation and flood control, and most of these technology are handed down to present time. After Edo era (from the beginning of Meiji era, 1867), some valuable examples of woodlands were created, like Meiji shrine woodland in Tokyo. After the World War II, a lot of technology for woodland revegetation, such as ecological tree planting, have been developed. At present, many revegetation sites are aiming at woodland creation, like on man-made slope, etc.. In the great change of social structure, revegetation technology is also required to keep in close relationships to the restoration of devastated existing forests and woodlands, and to provide many technology for the restoration of secondary woodland, preservation of soil, mitigation, reclamation, etc.. Now in Japan, the improvement of environment including all the member of biosphere is demanded on a large scale. Therefore, revegetation technology should also try to make an activity taking a broad view of the restoration of natural vegetation in addition to the traditional and new woodland creation.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.16 no.3
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• pp.55-60
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• 2002

Nebulizer which is on sale in our country has many problems like noise and efficiency In order to solve these problems, we used 0.6[kg/$\textrm{cm}^2$] moter in made of the Diaphragm instead of 2.5[kg/$\textrm{cm}^2$] piston type to reduce noise art output power. Nozzle in the core of the Nebulizer was made of the wild collision cross-section and slope of the fluid in detail. It is found that we could be significantly improve remedial value by doing these efforts.

• Proceedings of the Korea Water Resources Association Conference
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• 2002.05b
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• pp.1334-1339
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• 2002

The objective of this study is to help practicing engineers easily use the Clark model which is used for estimating the magnitude of design flood for small stream. A representative unit hydrograph was derived on the basis of the past rainfall-runoff data and unit hydrographs, and the storage coefficient of Clark model was estimated by using hydrograph recession analysis. Since the storage coefficient(K) is a dominating factor among the parameters of Clark method, a mulitple regression formula, which has the drainage area, main channel length and slope as parameters, is propsed to estimate K value of a basin where measured data are missing. The result of regression analysis showed that there is a correlation between a storage coefficient(K) and aforemetioned three parameters in homogenious basins. A regression formular for K was derived using these correlations in a basin of Han River, Nakdong River, Young River, Kum River and Sumjin River

• Journal of the Architectural Institute of Korea Planning & Design
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• v.34 no.1
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• pp.23-32
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• 2018

This study starts from the architectural and urban interest to integrate the daily life and behavior of residents in the city of Seongnam and to sustain the community. A fixed abode is something that can not be separated from the place and should be approached from a comprehensive perspective reflecting the physical and social conditions of the region. Although residential neighborhoods have a residential walking range, which has a steep slope, it has been formed in the suburbs of the residential area where commercial facilities are activated organically. The humanities and social organizations of the residents are integrated with the physical space and act as constituent factors of major cities. This is an attempt to suggest improvement and activation of existing cities based on their daily lives, rather than destroying cities and creating new ones. Also, it is proposed to 'Neighborhood Street' as an indicator of a uniform urban renewal plan for existing urban regeneration projects. Based on the definition of the city of living in the city, the center of the city will be located in the center of the city, and it will be the center of the city's bustling streets.

• Journal of The Korean Society of Agricultural Engineers
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• v.64 no.3
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• pp.1-8
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• 2022

In this study, a farm map utilization strategy for sustainable agricultural environmental resource management was derived. In addition, it is intended to present an efficient method of providing farm map-related services. As a result of the demand survey, the additional information required for the farm map includes 29% of information on crops grown on farmland, 21% of management-related information such as the owner or business entity, 17% of topographical information including slope, 15% of agricultural water information, 17% of land status information, and the addition of functions. 2% was investigated. As a result of intensive interview survey, it was found that it can be used for information on crops cultivated by agricultural businesses, actual cultivated area by township, arable land consolidation division boundary, and management of agricultural promotion zones. The farm map can be used as basic data to efficiently manage agricultural environmental resources. Since the status of support for individual farms or lots, such as soil improvement agent support and organic fertilizer support, may belong to personal information, it can be processed and provided in units required by administration or policies, such as administrative boundaries, subwatersheds, and watersheds. It can serve as a basis for executing the direct payment currently supported only by individual farms, even in a community unit that manages environmental direct payments.