• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.759-762
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• 2000

Rapid Prototyping (RP) techniques have their unique characteristics according to the working principles: stair-stepped surface of parts due to layer-by-layer stacking, low build speed caused by line-by-line solidification to build one layer, and additional post processing to improve surface roughness, so it is required very high cost to introduce and to maintain RP apparatus. The objective of this study is to develop and design a new RP process, Variable Lamination Manufacturing using expandable polystyrene foam sheet as part material (VLM-S), which can make up for the disadvantage of existing techniques, and to develop an apparatus to implement the process. In order to examine the possibility of practical utilization of the proposed VLM-S process for prototyping of a general three-dimensional shape, an auto-shift lever knob and a pyramid shape were fabricated.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.1059-1060
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• 2008

In this paper, using a genetic algorithm, consisting of six to seven degrees of freedom links, walking robot to up-stair that can walk to optimize energy and stability to generate. Walking robot to up-stairs of the four-step segmentation of the various situations that match the pace and pattern so that it can generate. It also generated using genetic algorithms to test for Matlab into the Robot Simulation of the humanoid experiment was used.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.108.4-108
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• 2001

The integrated environment for the fuzzy logic controller with the acceleration converter to improve the dynamic characteristic of a one-axis moving table is proposed in the paper. The two inputs of the fuzzy logic controller are position error and velocity. The two inputs of the acceleration converter used to produce the acceleration input for the one-axis moving table are actual and setting rotational speeds. The proposed controller is implemented on a personal computer by using MATLAB and Visual Basic for a real time control via a motion control board. The position control results when the stair input is applied to control the position of the one-axis moving table, are shown. The experimental results of the proposed position control system are compared to the conventional PID ...

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.166-171
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• 1989

In the view of the fact that mobile robot in nuclear facilities should be able to turn in narrow space, go over obstacles, and climb stairs for the inspection and maintenance, a robot, named as KAEROT, is developed. It adopts 2DWIS (2-Driving Wheels, 1-Steering) and has three planetary wheels that are composed of two star-like arms and three small wheels. The experiments were carried out in two locomotion methods; (1) by controlling the rear wheel speed as a function of steering angle, and (2) by using inclination and stair-detection sensor to control the position of planetary and small wheel. The developed robot moved on the floor with stability. Results from the experiment on the rectangular obstacle as well as the computer simulation showed a feasibility on the stairs.

• Proceedings of the Korea Electromagnetic Engineering Society Conference
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• 2002.11a
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• pp.328-331
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• 2002

Hyperthermia용 안테나의 성능은 안테나의 임피던스매칭과 안테나 주위 조직의 SAR 분포에 의해서 결정된다. 본 논문에서는 FDTD 해석법을 이용하여 Coaxial-Slot 안테나를 계단형(stair-caseing)으로 근사화하여 분석하였고, 가열 특성을 개선시킬 수 있는 Hyperthermia용 안테나를 설계하였다. 또한 팁으로부터 슬롯 중심까지의 거리( $L_{ts}$ )와 슬롯 폭을 변화시키면서 hyperthermia 안테나의 공진 특성을 분석하였고 계단형 모델로 근사화된 안테나에서 간에 유기 되는 SAR 1g 평균 첨두치를 계산하였다. 본 논문에서 제안하는 안테나의 SAR 값은 1g 평균 첨두치는 180.7 W/kg으로 나타났고 최대 온도는 상승량은 8.6$^{\circ}C$로 나타났다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.763-766
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• 2000

Rapid Prototyping(RP) techniques have their unique characteristics according to the working principles: stair-stepped surface of parts due to layer-by-layer stackin, low build speed caused by line-by-line solidification to build one layer, and additional post processing to improve surface roughness, so it is required very high cost to introduce and to maintain RP apparatus. The objective of this study is to develop software for automatic generation of unit shape part (USP) for a new RP process, Variable Lamination Manufacturing using linear hotwire cutting technique and expandable polystyrene foam sheet as part material (VLM-S). In order to examine the applicability of the developed software to VLM-S, USP's of general three-dimensional shapes, such as an auto-shift lever knob and a pyramid shape were generated.

• The Journal of Korean Physical Therapy
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• v.21 no.1
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• pp.35-40
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• 2009

Purpose: The purpose of this study was to investigate change of muscle activities during level walking, stairs and ramp climbing in old adults. Methods: Twelve old adults were recruited and agreed this study. Muscle activity was measured by MP150 system (BIOPAC System Inc., Santa Barbara, USA). Statistical analysis was used one-way ANOVA to know the difference according to gait conditions (level walking, stairs and ramp ascending) Results: In stance phase, muscle activities of low extremities with old adults were generally significant difference in ramp ascending. In swing phase, rectus femoris and biceps femoris activity in old adults generally more increased during stairs ascending and tibialis anterior and gastrocnemius activity in old adults generally increased during ramp ascending. Conclusion: These results indicate that stair and ramp climbing is different muscle recruit pattern to level walking.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.12
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• pp.1026-1032
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• 2003

A biped walking robot which is developed as a platform for researching walking algorithm is briefly introduced. The developed walking robot has 6 degrees of freedom per one leg. The origins of the last three axis do not intersect at a point, so the kinematic analysis is cubmersome with the conventional method. In the former version of the robot, Jacobian-based inverse kinematics method is used. However, the Jacobian-based inverse kinematics method has drawbacks for the application in which knee is fully extended such as stair-case walking. The reason far that is the Jacobian becomes ill-conditioned near the singular points and the method is not able to give adequate solutions. So, a method for giving a closed-form inverse kinematics solution is proposed. The proposed method is based on careful consideration of the kinematic structure of the biped walking robot.

• 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.

• Proceedings of the KSR Conference
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• 2007.11a
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• pp.1768-1776
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• 2007

This paper suggests a new Level of Service (LOS) for a pedestrian facility in a transportation transfer center. They include the road, stair, and waiting place for a pedestrian. A current situation of several pedestrian facility was surveyed for the existing transportation transfer center at both Seoul and Pusan metropolitan cities. A new LOS was developed based on the output according to foreign criteria as well as an interview of pedestrians for their satisfaction.