• 한국전문물리치료학회지
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• 제6권2호
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• pp.67-76
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• 1999

Going up and down the stairs is a repeated task in the activities of daily living. These activities are needed during the recovery process with impaired lower limbs. This paper presents the difference of EEI (energy expenditure index) through the slope of stairs. Twenty-one normal young adults took a part in this study (11 males, 10 females). They stepped up and down the stairs which had two different slopes for 5 minutes. Resting heart rate, walking heart rate, and moving distance were recorded. EEI was calculated from the heart rate and moving speed which was calculated by the distance of movement. Data were analyzed by repeated two-way ANOVA with SAS program and the difference of EEI through the slope of stairs was not statistically significant (p=0.9971). The results show that EEI was not affected by the slope of stairs in normal people. But distance of movement (p=0.0067) and speed (p=0.0064) had a significant difference.

• 대한건축학회논문집:계획계
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• 제35권3호
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• pp.59-66
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• 2019

In recent years, urban regeneration is focused on smart and pedestrian oriented development utilizing various mobility technology. The characteristics of walkways needs to reflect such development orientations. This research is the first step to find an adequate slope for ramp replacing stairs and shared by pedestrians, personal mobilities and powered wheelchairs. It aims to check if ramps on a recommended degree of angle by general guidelines are more preferred than stairs and find out what make difference of such preferences. Two surveys were conducted at $9^{\circ}$ and $9.6^{\circ}$ ramps coexisted with stairs at sequential and parallel location. The study on the survey result found that the general evaluation of $9^{\circ}$ ramp was better than $9.6^{\circ}$ ramp but $9^{\circ}$ ramp was not preferred than stairs while $9.6^{\circ}$ ramps was preferred. The difference of preferences was related to characteristics of stairs. The stair with shorter tread and riser next to $9^{\circ}$ ramp was evaluated much better than stairs next to $9.6^{\circ}$ ramp. Therefore the research concludes that $10.0^{\circ}$ which many guidelines recommend for the maximum slop of a ramp was not adequate for a ramp to replace stairs as a preferred means of vertical circulation. In addition the research found that the preference was sensitive to moving direction and gender especially in regards to comfort of stairs and safety of ramp. Most pedestrians chose a means of vertical circulation based on its comfort but pedestrian's evaluation of safety was most different based on moving direction.

• 한국화재소방학회논문지
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• 제25권1호
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• pp.72-77
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• 2011

현대 도시는 수평적 토지이용의 제한, 지가 상숭, 인간 요구의 다양화 등으로 인하여 도시기능의 일부를 지하공간으로 흡수하고자 하는 노력이 증가하는 추세이다. 따라서 건축물의 지하층, 지하철 역사 등이 점차 대심도화 되어 지하공간에서 지상으로 피난에 대한 안전성 여부가 부각되고 있다. 그동안 계단에서 군집보행에 관한 연구는 내려가는 군집보행을 중심으로 진행되어 왔으며, 계단에서 올라가는 군집보행에 대한 연구는 거의 전무한 상황이다. 본 연구에서는한 방향 군집유통이 형성되는 지하철 역사 숭강장 내 계단에서 올라가는 군집의 밀도에 따른 보행속도를 직접 실촉하여 조사하였다. 올라가는 보행은 실측결과 경사도 $23^{\circ}$에서 관계식 V=0.638-0.0949p에 의해 보행속도가 결정되며, 이를 일본건축학회에서 제안하는 계단 경사도에 따른 평균보행속도를 근거로 환산하면 경사도 $30^{\circ}$에서는 V=0.597-0.1067p가 되는 것으로 분석되었다.

• 한국주거학회논문집
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• 제14권5호
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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.

• 한국군사과학기술학회지
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• 제15권6호
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• pp.721-728
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• 2012

The tracked SUGVs(Small Unmanned Ground Vehicles) are frequently operated in the narrow slope such as stairs and trails. But due to the nature of the tracked vehicle which is steered using friction between the track and the ground and the limited field of view of driving cameras mounted on the lower position, it is not easy for SUGVs to trace narrow slopes. To properly trace inclined narrows, it is very important for SUGVs to keep it's heading direction to the slope. As a matter of factor, no roll value control of a SUGV can makes it's heading being located in the direction of the slope in general terrains. But, the problem is that we cannot directly control roll motion for SUGV. Instead we can control yaw motion. In this paper, a new slope driving method that enables the vehicle trace the narrow slopes with IMU sensor usually mounted in the SUGV is suggested which including an estimation technique of the desired yaw angle corresponding to zero roll angle. In addition, a fuzzy steering controller robust to changes in driving speed and the stair geometry is designed to simulate narrow slope driving with the suggested method. It is shown that the suggested method is quite effective through the simulation.

• 문화기술의 융합
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• 제6권4호
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• pp.331-337
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• 2020

이 연구는 NFPA 101기준에 의한 대상아파트인 27층 아파트에서 한 세대 당 적정 수용인원 수를 피난시뮬레이션을 통해 분석하였다. 분석결과는 다음과 같다. 첫째, 한 세대당 3명이 거주하는 경우 아파트 총 세대수는 156명이고 5분 이내에 대피인원을 확인 한 결과 85.25%가 대피한 것으로 나타났다. 둘째, 한 세대당 4명이 거주하는 경우 아파트 총 세대수는 208명이고 5분 이내에 대피인원을 확인한 결과 81.25%가 대피한 것으로 나타났다. 셋째, 한 세대당 5명이 거주하는 경우 아파트 총 세대수는 260명이고 5분 이내에 대피인원을 확인한 결과 71.92%가 대피한 것으로 나타났다. 마지막으로 한 세대당 6명이 거주하는 경우 아파트 총 세대수는 312명이고 5분 이내에 대피인원을 확인한 결과 62.82%가 대피한 것으로 나타났다. 피난시간의 단축방안으로 실내인원 수, 건물 층수, 계단 경사도, 사용자의 특성에 따른 계단 폭의 결정, 계단 환기조건을 반영한 설계, 옥외피난계단, 양방향 계단, 피난용 승강기, 층 중간에 건물외부로 대피할 수 있는 피난안전구역 등의 설치, 옥상에 비상문 자동개폐장치의 의무설치로 인한 옥상대피를 용이하게 하는 등의 방안이 필요하다.

• 한국운동역학회지
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• 제18권4호
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• pp.59-65
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• 2008

본 연구는 일상생활에서 흔히 접하게 되는 시설물 중 낙상의 위험이 큰 계단과 경사로 오르기 동안 젊은 성인과 노인들의 압력중심이동 경로와 족저압 변화에 대해 알아보았다. 측정도구는 MatScan system(Tekscan, USA)을 사용하였다. 보행 조건(평지 보행, 계단 오르기, 경사로 오르기)에 따른 족저 영역별 족저압의 차이를 알아보기 위해 일원배치분산분석(One-way ANOVA)을 사용하였다. 압력중심 이동경로는 젊은 성인의 경우 평지 보행과 비교해 계단 오르기에서 조금 짧아졌으며 전족부에서는 외전하는 경향이 나타났다. 경사로 오르기에서는 대체적으로 내전되는 경향이 나타났고 특히 입각기 말기에 엄지발가락으로 압력중심이 이동하였다. 노인의 경우 평지 보행과 비교해 계단 오르기에서 압력중심 이동 경로가 짧아졌으며 앞뒤로 이동이 많았으며 전족부에서는 외전되었다. 경사로 오르기에서는 압력중심이 좌우로 이동하는 경향이 나타났다. 족저 영역별 최고 족저압은 젊은 성인의 경우 평지보행과 비교해 경사로 오르기 에서 2-3번째 중족골두 영역과 후족부 영역의 최고 족저압이 유의하게 감소하였다. 노인의 경우 첫 번째 중족골두 영역은 계단 오르기에서 최고 족저압이 증가하고 경사로 오르기에서 최고 족저압이 감소하였고, 두 번째 중족관절 영역과 후족부 영역은 평지 보행과 비교해 경사로 오르기에서 최고 족저압이 감소하였다. 같은 기울기의 계단과 경사로 오르기 동안 최고 족저압은 대체적으로 경사로 오르기에서 변화가 크게 나타났다.

• 한국조경학회지
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• 제25권4호
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• pp.39-50
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• 1998

The object of this study was to examine and analyze the environmental deterioration of three major trails and around peak area of Moaksan Provincial park in 1996. Trails are mostly made up at ridgeline and the slope of them is gentle. Mean trail width is 3.6m, and total length of branch trails is 982m in survey area. The environmental deterioration is derived from trail extension. Maximum eroded depth and cross-section area loss are 89cm and 14,050cm2 respectively, and gully erosion type appears at many sites. The environmental deterioration of trails is very heavy at the sections from Khui to Moaksan peak and from Moakchong to ascent part around the peak. The entire width, branch trail, maximum depth, cross-sectional area loss and surface roughness, as the indexes of trail conditions, are significantly greater at the more heavily used trails. Amount of erosion is influenced by eroded depth, longitudinal slope, runoff influence and entire width in descending order as well as the amount of use. Safety and protection facilities on the trail such as stone and soil stairs, rope handrail, stone channel and soil ditch work are built, but they are very deficient. Bared lands about 4,900m2 and fill slopes are caused and formed by recreation activities and constructions around peak area. It is required to carry the recess system and to conserve and rehabilitate the destroyed trail sites and bare fill slopes as soon as possible, before the environmental deterioration becomes critical because of increased used amount in consequence of construction of recreation parks.

• 한국환경과학회지
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• 제21권6호
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• pp.661-666
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• 2012

This article reveals the relationship between the body characteristics of the elder people and the size of park facilities during utilization of parks by scientific investigation. The experiment involves 540 elder people, and offer concrete evidence for park design in ageing society. These evidences mainly consists of the following aspects: First, the relation between physical situation of elder people and their using parks. Secondly, the relation between the hearing status and exchange circle diameter in elders. The last is the relation between the distance visual acuity and designing the scene. Finally we get the most suitable step length range, stairs height, road slope, communication space diameter and general formulas about the best vision distance for elder people.

• 제어로봇시스템학회논문지
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• 제15권6호
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• pp.604-611
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• 2009

Modular snake-like robots are robust for failure and have flexible locomotion for environments, but are difficult to control. Various phase and evolutionary approaches for modular robots have been studied for many years, but there are few comparisons among these methods. In this paper, Phase, GAps, GA and GP approaches are implemented and compared for flat, stairs, and slope environments. In addition, simulations of the locomotion evolution for modular snake-like robot are executed in Webots environments.