• 한국콘텐츠학회논문지
• /
• 제11권12호
• /
• pp.682-689
• /
• 2011

본 연구의 목적은 업무공간 건축물에서 수직적 이동개념의 요소로서 계단이 공간에서 갖는 공공적 특성을 고찰하고 분석함으로써 공용공간으로서의 계단의 중요성을 부각하고 이의 활성화 방안을 모색하는데 있다. 선행 연구 및 문헌고찰, 사례조사 및 현장조사를 통해 건축적 공공성 분석을 통해 업무공간계단의 공공성 분석항목을 도출하고, 도출된 공공성요소를 토대로 사례별 업무공간 건축물 계단의 공공적 특성을 분석 하였다. 연구결과 2000년 이후에 건축된 사례연구 건축물들은 공공의 성격을 활성화하기 위하여 전반적으로 공공적 특성을 지닌 것으로 나타났다. 공간과 공간간의 매개적 요소, 인간행위의 촉매요소, 지각 인식요소로서의 역할을 하는 업무공간의 계단은 접근성, 개방성, 쾌적성의 공공적 특성요소를 강조하여 활성화되어지는 공공성이 더욱 중요시 인식되어야하며 향후 많은 연구가 필요하다고 판단된다.

• 한국화재소방학회논문지
• /
• 제22권1호
• /
• pp.29-36
• /
• 2008

본 연구는 화재시 연기발생 또는 정전이 발생한 경우 계단을 통해 안전하게 피난할 수 있도록 축광재료를 부착한 계단의 피난유도에 관하여 조사하였다. 실험조사는 설계 제작된 계단에 35명(1차 20명, 2차 15명)의 학생이 참여하여 계단의 시인성(visibility), 오르내림의 편리성과 안심감에 대하여 실험을 실시하였다. 실험 조사결과 축광재료를 사용한 계단코는 정전시에도 계단의 단 높이 확인이 가능하여 계단 오르내릴 때 편리하고 안심할 수 있기 때문에 어두운 곳에서 사람이 피난 행동할 때에 매우 효과적이었다. 따라서 계단코와 계단참에 축광재료를 설치하면 정전이 되더라도 평소와 다름없이 피난을 할 수 있을 것으로 판단된다.

• Physical Therapy Rehabilitation Science
• /
• 제10권1호
• /
• pp.16-21
• /
• 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.

• 안전기술
• /
• 42호
• /
• pp.51-53
• /
• 2001

• 한국정밀공학회지
• /
• 제23권4호
• /
• pp.75-82
• /
• 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.

• 건축역사연구
• /
• 제16권4호
• /
• pp.57-75
• /
• 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
• /
• 제20권5호
• /
• pp.612-620
• /
• 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.

• 한국전자통신학회논문지
• /
• 제8권11호
• /
• pp.1617-1624
• /
• 2013

논문에서는 방화셔터와 피난계단이 존재하는 실내 환경의 화재 시뮬레이션을 실시하여 방화셔터와 화재 확산 사이의 관계를 분석하였다. 화재 시뮬레이션용 상용 소프트웨어인 FDS(Fire Dynamics Simulator)를 사용하여 가상으로 설정한 실내 로비에서 화재 규모와 방화셔터의 개폐 여부를 변화시켜 가면서 모의실험을 실시하였다. 실험을 통해 화재실 벽면과 계단 입구의 온도 변화, 이산화탄소 농도 변화, 연기의 확산 등의 변수들을 구하고 결과를 검토하였다. 피난계단에서 온도와 이산화탄소의 분포는 화재규모와 개구부의 개폐 여부와 별 상관이 없으나, 방화셔터의 부분 하강이 연기의 확산을 막고 있음을 알 수 있었다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.731-735
• /
• 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.

• 제어로봇시스템학회논문지
• /
• 제13권11호
• /
• pp.1082-1091
• /
• 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.