• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.270-277
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• 2010

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.

• Journal of the Korean Society of Clothing and Textiles
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• v.35 no.2
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• pp.136-145
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• 2011

This study identifies methods to design patterns for jeans that are suitable for women in their twenties. Five patterns suggested by previous researchers were used to draw the same size of jeans (waist 67 and hip 91). The author compared and analyzed the measurements and shapes of the patterns, ranging from waist to crotch. Samples were produced based on these patterns and then tests were conducted to observe the dynamic functions and exteriors of the samples. The dynamic functions observed in this study include walking, ascending stairs, descending stairs and sitting on chairs. The results of the current study are as follow. The best evaluated pattern in terms of exteriors is the one where the hips and thighs are tightest compared to other patterns and where the back part is wider than the front part. This pattern also received high evaluations in dynamic functions due to comfort when walking. Regarding ascending or descending stairs, the tests found that all its parts (except the front crotch) are more comfortable than those of any other patterns. All these results show that a comfortable fit and easy movement is possible when the crotch width of the back is broader than the hip width so that the hips are comfortably supported.

• Journal of the Institute of Convergence Signal Processing
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• v.5 no.1
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• pp.46-52
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• 2004

In this paper, we introduce a case study of developing a miniature humanoid robot which has 16 degrees of freedom, 42 cm heights, and 1.5kg weights. For easy implimentation, the integrated RC-servo motors are adopted as actuators and a digital camera is equipped on its head. So, it can transmit vision data to a remote host computer via wireless modem. The robot can perform staircase walking as well as straight walking and turning to any direction. The user-interface program running on the host computer contains a robot graphic simulator and a motion editor which are used to generate and verify the robot's walking motion. The experimental results show that the robot has various walking capability including straight walking, turning, and stairs walking.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.654-661
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• 2015

Stairs are the most popular obstacles in buildings and factories. To enlarge the application areas of a field robotic platform, stair-climbing is very important mission. One important reason why a stair-climbing is difficult is that stairs are various in sizes. To achieve autonomous climbing of various-sized stairs, dynamic modeling is essential. In this research, an inverse dynamic modeling is performed to enable an autonomous stair climbing. Stair-climbing robotic platform with flip locomotion, named FilpBot, is analyzed. The FlipBot platform has advantages of robust stair-climbing of various sizes with constant speed, but the autonomous operation is not yet capable. Based on external constraints and the postures of the robot, inverse dynamic models are derived. The models are switched by the constraints and postures to analyze the continuous motion during stair-climbing. The constraints are changed according to the stair size, therefore the analysis results are different each other. The results of the inverse dynamic modeling are going to be used in motor design and autonomous control of the robotic platform.

• Women's Health Nursing
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• v.29 no.4
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• pp.328-336
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• 2023

Purpose: This study aimed to identify factors influencing the health-related quality of life (HRQoL) of older adult women with sarcopenia. Methods: The study was secondary data analysis using data from the 2019 Korea National Health and Nutrition Examination Survey. The final sample consisted of 142 women aged 60 years and older with sarcopenia and were selected from 8,110 women. The participants was analyzed using complex descriptive statistics, independent t-test, and regression. Results: In terms of HRQoL, three general characteristics were found to be influential, with an explanatory power of 56.0%: difficulty climbing stairs, difficulty working, and perceived health status. Having no or mild difficulty when climbing stairs (B=.20, p=.001; B=.21, p<.001) and no or mild difficulty when working (B=.25, p=. 002; B=.208, p=.013) had a significant effect on HRQoL compared to severe difficulty. Having good or ordinary perceived health status had a significant effect on the HRQoL (B=.11, p<.001; B=.09, p<.001). Conclusion: Based on study findings that the HRQoL of older adult women with sarcopenia were influenced by difficulty climbing stairs and working, as well as good perceived health status, healthcare providers should assist elderly women to maintain physical activities in their daily lives.

• Korean Journal of Applied Biomechanics
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• v.18 no.4
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• pp.59-65
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• 2008

The purpose of this study was to investigate the shift of COP pathway and the plantar foot pressure among level walking and stairs and ramp climbing in young and elderly people. Plantar foot pressure was measured by MatScan system(Tekscan, USA). Statistical analysis was used One-way ANOVA to know the characteristics of peak plantar pressure during walking with different the facilities. In young adults, COP pathway during stairs climbing was slightly shorten and trended to abduct at forefoot. COP pathway during ramp climbing was also shorten but trend to adduct at forefoot. Peak plantar pressure of 2-3 metatarsal head and heel during ramp climbing was more decreased than level walking. In elderly people, COP pathway during stairs climbing was more shorten and abducted than leve walking and COP pathway during ramp climbing was more unstable than level walking. Peak plantar pressure of first metatarsal head increased at stair climbing and decreased at ramp climbing. That of second metatarsal head and heel was more decreased at ramp climbing. Conclusionally, Peak plantar pressures of each foot region generally increased and more changed during ramp climbing.

• The Journal of the Convergence on Culture Technology
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• v.6 no.4
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• pp.331-337
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• 2020

The study analyzes the appropriate number of people per a household by applying an evacuation simulation to a 27-floor apartment in accordance with the NFPA 101 standard. The results of the analysis are as follows. First, if there are three people residing in each household, there would be 156 households in total, of which 85.25% were evacuated within 5 minutes. Second, 208 households with 4 residents were evacuated within 5 minutes. Third, if there are five people residing in each household, there would be a total of 260 households and 71.92% of residents were evacuated within 5 minutes. Lastly, 62.82% of the 312 households, each consisting of 6 people, were evacuated within 5 minutes. Measures to reduce evacuation time include determining the width of the stairs according to the number of people indoors, the number of floors in the building, the slope of stairs, and the users' characteristics, the design reflecting the ventilation conditions of the stairs, the installment of outdoor evacuation stairs, two-way stairs, evacuation lift, and the installation of an evacuation safety zone for people to evacuate outside of the building in the middle floors. In addition, measures, such as the mandatory installation of automatic emergency door open-close device to the rooftop, are required to facilitate rooftop evacuation.

• Journal of Information Management
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• v.12 no.2
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• pp.53-60
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• 1979

• Proceedings of the Korean Magnestics Society Conference
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• 2008.12a
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• pp.310.1-310.1
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• 2008

• Korean Architects
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• s.659
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• pp.126-127
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• 2024