• 한국화재소방학회논문지
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• 제25권1호
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• pp.1-6
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• 2011

고층건축물에서의 피난효율과 수용인원 산정기준의 문제점을 확인하기 위하여 피난 시뮬레이션을 수행하였다. 지상 39층 주상복합 건축물의 계단폭이 각각 1.2m, 1.5m, 1.8m일 때, 피난시간과 피난자수를 Simulex로 계산하였다. 소방법 기준으로 산정한 총수용인원은 실거주자의 2.3배, NFPA 101 인명구조코드 기준의 2.6배였다. 소방법 기준의 경우, 계단폭이 작을수록 증간층에서의 병목현상으로 인해 피난효율이 낮았지만, 실거주나 NFPA 기준에서는 피난효율이 높고 계단폭이 피난효율에 미치는 영향이 미미함을 확인하였다. 소방법 기준을 적용할 때 계단폭이 1.8m에서도 병목현상이 일어나지만, 실거주 또는 NFPA 기준을 적용할 때는 계단폭 1.2m에서도 안전한 것으로 나타 남에 따라 수용인원 산정관련 소방법 기준의 완화가능성에 대한 추가연구가 필요하다.

• 제어로봇시스템학회논문지
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• 제9권1호
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• pp.73-81
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• 2003

An autonomous stair robot recognizing the stair, and climbing up and down the stair by utilizing a robot vision, photo sensors, and appropriate climbing algorithm is introduced. Four arms associated with four wheels make the robot climb up and down more safely and faster than a simple track typed robot. The robot can adjust wheel base according to the stair width, hence it can adopt to a variable width stair with different algorithms in climbing up and down. The command and image data acquired from the robot are transferred to the main computer through RF wireless modules, and the data are delivered to a remote computer via a network communication through a proper data compression, thus, the real time image monitoring is implemented effectively.

• 한국운동역학회지
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• 제18권4호
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• pp.161-169
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• 2008

이 연구는 성인 남성을 대상으로 계단 너비에 따른 계단 보행의 지지국면 시 하지분절의 역학적 변인을 정량적으로 분석하여, 보다 효과적인 계단의 너비를 제시하고자 실시하였으며, 이를 위해 20대의 남자 대학생 10명이 참여하였다. 계단의 높이는 18cm, 최소폭은 90cm로 동일하나 디딤면의 너비가 각각 26cm, 31cm, 36cm인 세 개의 계단을 사용 하였다. 이때 사용된 계단의 세 번째 디딤면에 지면반력기를 설치하여 지지구간의 하지관절 모멘트를 분석한바 다음과 같은 결론을 얻었다. 상향계단보행에서 발목관절의 굴곡/신전 모멘트변화를 분석한 결과 계단의 너비가 증가 할수록 pull-up 단계의 peak 모멘트가 감소하였으며(p<.05), 무릎관절에서는 굴곡/신전 모멘트를 분석한 결과 계단의 너비가 증가할수록 무릎에 작용하는 신전모멘트가 중지지기에 증가하는 것으로 나타났다(p<.05). 그러나 고관절에서 차이가 없는 것으로 나타났다. 그리고 하향계단보행에서 발목관절의 굴곡/신전 모멘트를 분석한 결과 계단의 너비가 증가할수록 지지기 동안 저측굴곡과 배측굴곡의 차이가 확연히 나타나는 것으로 나타났으며(p<.05), 무릎관절과 고관절에서는 굴곡/신전 모멘트를 분석한 결과 계단의 너비에 따라 신전 모멘트의 차이가 크지 않은 것으로 나타났다.

• 교육시설
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• 제17권1호
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• pp.13-20
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• 2010

The aims of this study are to verify the relationships of evacuee speed and affections to the evacuation time according to the width of corridor and stairs in university education facilities. To achieve these purposes, the present conditions of university education facilities were analyzed, and the evacuation experiments were executed in relation to the width of corridor and stairs. The results of this study are as follows ; (1) The deviations of numbers of residents per stair is very high, and the number and width of stairs, corridors are only depend on the minimum guidelines of building code, not considering the residents' evacuation. (2) The width of corridor and stairs are affects on the evacuation speed and time. The rate of decreasing speed is large in stairs, and also the possibility of danger is increasing depend on the speed and density.

• 전자공학회논문지B
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• 제32B권10호
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• pp.1269-1279
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• 1995

A mobile robot in a nuclear power plant is usually needed to equip the ability of going up and down stairs for a some kind of inspection. For this purpose, it is necessary for the mobile robot to figure out the size of stairs laid on a navigation path to gurantee robot's moving freely. In this paper, to measure the size of stairs existing in front of a mobile robot we designed the stair size recognition unit which can measure the stair's height and width using an ultrasonic sensor and/or a CCD camera. Also to obtain higher reliability of ultrasonic sensing data we proposed the horizontal sensing method. On the assupmtions that the mobile robot generates a trajectory while ascending stairs, we simulated it on a IBM compatible computer. The result showed that the suggested method satisfied our purpose. In a stair size estimation, the detected stair's height error was about .+-.3mm, and width was about .+-.5mm.

• 한국운동역학회지
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• 제27권3호
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• pp.181-187
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• 2017

Objective: The aim of the study was to compare & analyze on the variations of ground reaction force during ascending and descending of bus stair. Method: Simulated wooden stair of bus (raiser: 37.66 cm, width: 109 cm, tread: 29 cm) and GRF system (AMTI-OR-7/ AMTI., USA) was set up within experimental room. Adult female (n=8) performed ascending & descending of simulated bus stair, and variables analyzed consisted of TT (transfer-time), PVF (peak vertical force), LR (loading rate), DR (decay rate), CV (coefficient of variation) and AI (asymmetry index). Sample data from GRF cut off at 1,000 Hz. Results: TT showed shortest variation at phase 1 during descending, but longest variation at phase 1 during ascending of stair. PVF19 (Fz2, 100%) showed large pattern during descending than that of ascending, but rather showed small pattern during ascending of stair in case of PVF2 (Fz4). LR showed larger pattern during descending than that of ascending, but rather during ascending of stair in case of DR. Variation of CV (%) did not show difference between LR and DR, but showed higher possible occurrence of variation during descending of stair. Also AI (%) showed higher index during ascending than that of descending of stair. Conclusion: Because introduction of lowered bus stair has various realistic problems, if lined up at designated bus stopage exactly, rather can solve problems of inconvenience, reduce impulsive force and secure a stability of COG during ascending & descending of stair.

• 한국산학기술학회논문지
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• 제13권5호
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• pp.2374-2381
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• 2012

본 연구는 복도와 계단의 폭 변화에 따른 피난밀도 변화가 피난행태에 미치는 영향을 분석하고, 화재에 대한 불안감에 대해 영향을 미치는 변인들의 관계를 분석하는 것을 그 목적으로 하고 있다. 이를 위하여 대학교육시설재실자(대학생)를 대상으로 복도 및 계단의 폭을 조정하여 밀도변화에 따른 피난실험을 실시하고, 피난실험 후 설문조사를 통하여 피난밀도의 변화가 피난행태 및 화재에 대한 불안감에 미치는 주요요인들의 관계를 분석하였다. 연구결과는 다음과 같다. 첫째, 피난행태에 영향을 미치는 변수들을 대상으로 요인분석을 실시한 결과, 리더십(결단력, 설득력, 통솔력, 자신감), 친화력(책임감, 사교성, 의욕적, 신중한) 그리고 독단적 성격(건방, 자기중심적, 경박, 무분별)으로 구분되는 심리적 요인이 중요하게 대두되며, 출구위치, 소방설비, 피난로 축소 등으로 유형화되는 환경적 요인, 그리고 개인적 요인(연령, 사용기간)이 추출되었다. 둘째, 화재에 대한 불안감에 영향을 미치는 가장 중요한 요인은 화재대피방법, 건축물친숙도 및 친화적 성격과 높은 관련성을 지니고 있으며, 일반인들이 잘 알지 못하는 소방설비에 친숙도, 성별 및 연령 등의 개인적 요인, 독단적 성격, 리더적 성격 등은 부차적인 영향을 미치고 있는 것으로 나타나고 있다.

• 한국생산제조학회지
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• 제26권1호
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• pp.89-99
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• 2017

This paper describes the development of a thigh wearable robot for power assistance during stair climbing. In the wearable robot developed in this study, high-power BLDC motors and high-capacity harmonic reduction gears are used to effectively assist the thigh muscle during stair climbing. In particular, normal ground and stair are distinguished accurately by using wireless smart shoes, and the stair climbing assistance is performed by activating the actuators at an appropriate time. Impedance of the hip joint was effectively reduced by performing friction compensation of the gears, and a wearing adjustment mechanism was designed to fit the robot to the thigh by conveniently modifying the width and tilting angle of the robot using set collars. Consequently, the performance of the developed thigh wearable robot was verified through stair climbing experiments with EMG measurement.

• 대한의용생체공학회:의공학회지
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• 제17권1호
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• pp.1-10
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• 1996

In this paper, describe the automatic climbing wheelchair system use an articulated crawler mobile robot. This wheelchair system(call system) is composed of sensor detecting part and wireless communication part with PC. The sensor parts are consisted of sloping sensor and ultrasonic sensor part. The sloping sensor measures the sloping angle of system, and the ultrasonic sensor measures the distance of system's front wheel center from stair. PC will generate the operation data to climb up the stair using the measured data and make primitives for the system. At firsts This system transfer from sensor data to the PC. PC calculate the operation data to climb up the stair from the internal algorithm. We simulated the system in various stair angle slope($25^{\circ}$, $30^{\circ}$, $45^{\circ}$), and tested it on the real staircase with width 37cm, highlt 18cm, Angle $26^{\circ}$ . There were $0.350^{\circ}$ - $1.060^{\circ}$ Angle errors while climbing because adapted sensor has a precision $0.35^{\circ}$ in resolution. Finally, We implemented the sensor detecting part and the wireless communication park and practiced our system in 4cm/sec speed.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2021년도 가을 학술논문 발표대회
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• pp.92-93
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• 2021

In the case of medical facilities, the evacuation time is delayed due to the decrease in the number of people in the hallway and exits due to the increase in the width of evacuation by using mobile beds, wheelchairs, crutches, etc. Accordingly, it is considered to secure evacuation capacity to reduce evacuation time according to corridor width and exit width. Accordingly, we would like to compare the standards related to the evacuation capacity of medical facilities in Korea and NFPA, derive differences, and use evacuation simulations to compare evacuation times according to changes in corridor width and exit width. In Korea, it is calculated based on the floor area by use, but in the case of NFPA 101, the number of evacuation routes, stair width, corridor exit width, and two-way door width was stipulated depending on the number of people. Using evacuation simulation, efficient evacuation capacity is calculated according to the reduction of evacuation time by changing the width of the hallway, changing the width of the exit, the width of the corridor, and the width of the exit. The evacuation simulation is intended to be used to secure evacuation safety of domestic medical facilities by calculating the effective evacuation time reduction by changing the width of the hallway and exit.