• 한국정밀공학회지
• /
• 제25권12호
• /
• pp.65-74
• /
• 2008

This paper deals with the path creation for stable action of a robot and transformation by using the fuzzy algorithm. Also, the obstacle detection and environmental analysis are performed by a stereo vision device. The robot decides the range and the height using the fuzzy algorithm. Therefore the robot can be adapted in topography through a transformation by itself. In this paper, the robot is designed to have two advantages. One is the fast movability in flat topography with the use of wheels. The other is the moving capability in uneven ground by walking. It has six leg forms for a stable walk. The wheels are fixed on the legs of the robot, so that various driving is possible. The height and the width of robot can be changed variously using four joints of each leg. The wheeled joint has extra DOF for a rotation of vertical axis. So the robot is able to rotate through 360 degrees. The robot has various sensors for checking the own state. The stable action of a robot is achieved by using sensors. We verified the result of research through an experiment.

• 한국컴퓨터정보학회논문지
• /
• 제23권4호
• /
• pp.57-64
• /
• 2018

In this paper, we propose the automatic detection method for individual region separation using panorama image. Finding areas that contain individual teeth is one of the most important tasks in automating 3D models through individual tooth separation. In the conventional method, the maxillary and mandibular teeth regions are separated using a straight line or a specific CT slide, and the tooth regions are separated using a straight line in the vertical direction. In the conventional method, since the teeth are arranged in a curved shape, there is a problem that each tooth region is incorrectly detected in order to generate an accurate tooth region. This is a major obstacle to automating the creation of individual tooth models. In this study, we propose a method to find the correct tooth curve by using the jawbone curve which is very similar to the tooth curve in order to overcome the problem of finding the area containing the existing tooth. We have proposed a new method to accurately set individual tooth regions using the feature that individual teeth are arranged in a direction similar to the normal direction of the tooth alignment curve. In the proposed method, the maxillary and mandibular teeth can be more precisely separated than the conventional method, and the area including the individual teeth can be accurately set. Experiments using real dental CT images demonstrate the superiority of the proposed method.

• 한국운동역학회지
• /
• 제29권2호
• /
• pp.97-104
• /
• 2019

Objective: The aim of this study was to investigate the strategies for avoiding moving and stationary walker using body segments during walking. Method: Ten healthy young adults (10 males, age: $24.40{\pm}0.49yrs$, height: $175.80{\pm}5.22cm$, body mass: $70.30{\pm}5.22kg$) participated in this study. Each participant was asked to perform a task to avoid collisions with another walker who was moving or stationary during walking on the 10 m walkway. Both walkers were performed at natural self-selected walking speed. Results: Medio-lateral avoidance displacement of the trunk and the pelvis were significantly increased when avoiding a stationary walker (p<.05). There were no significant differences in medio-lateral center of mass trajectory. Rotation angle of trunk, pelvis and foot on the vertical axis were significantly increased when avoiding a stationary walker (p<.05). Conclusion: Based on our results, when another walker moves continuously, the walker recognizes another walker as the object of social interaction and performs the avoidance strategies while expecting the cooperative distance. On the other hand, when another walker is stopped, it is determined that the walker has an obligation to avoid, and the walker performs a relatively safer avoidance strategy.

• Nuclear Engineering and Technology
• /
• 제54권11호
• /
• pp.4030-4048
• /
• 2022

In this study, road transportation tests were conducted with surrogate fuel assemblies under normal conditions of transport to evaluate the vibration and shock load characteristics of spent nuclear fuel (SNF). The overall test data analysis was conducted based on the measured acceleration and strain data obtained from the speed bump, lane-change, deceleration, obstacle avoidance, and circular tests. Furthermore, representative shock response spectrums and power spectral densities of each test mode were acquired. Amplification or attenuation characteristics were investigated according to the load transfer path. The load attenuated significantly as it transferred from the trailer to the cask. By contrast, the load amplified as it transferred from the cask to the surrogate SNF assembly. The fuel loading location on the cask disk assembly did not exhibit a significant influence on the strain measured from the fuel rods. The principal strain was in the vertical direction, and relatively large strain values were obtained in spans with large spacing between spacer grids. The influence of the lateral location of fuel rods was also investigated. The fuel rods located at the side exhibited relatively large strain values than those located at the center. Based on the strain data obtained from the test results, a hypothetical road transportation scenario was established. A fatigue evaluation of the SNF rod was performed based on this scenario. The evaluation results indicate that no fatigue damage occurred on the fuel rods.

• 한국주거학회:학술대회논문집
• /
• 한국주거학회 2009년도 추계학술발표대회 논문집
• /
• pp.17-22
• /
• 2009

This research was conducted to investigate methods to strengthen the apartment community from the territoriality point of view. In order to achieve this goal, first of all the concept and the structure of territoriality are studied through articles and literature reviews to ensure a full understanding of the community strengthening-related plan elements suggested in the previous research. The study is then divided into the categories of semi-private territory and semi-public territory to pursue analysis based on the issues related to strengthening community such as possession, proximity, defense, boundary-regulation, and personalization in case by case studies. The results of case studies are as follows: in the case of possession with psychological concept of possession, the extension of private space and exclusive space are suggested. And for the concept of proximity, that is, the physical and psychological distance for sense of the same nature, increased opportunity of meeting the residents in the same building or same area are suggested And for the psychological proximity, familiar design and facilities for meeting and exchange-related methods are shown. For the case of indirect defense in defense concept, the methods related to monitoring and supervising facilities for protection are found. For the boundary-regulations, it is based on the concepts of physical and psychological borderlines; walls either vertical or horizontal, or such obstacle-related methods are suggested for the physical borderline, and space structure and symbols-related methods are found for psychological borderline. Finally, for the case of personalization which is related to the expression of identity, design-related methods are suggested.

• 대한조선학회논문집
• /
• 제50권3호
• /
• pp.175-181
• /
• 2013

This paper presents a simulation for passenger ship evacuation considering the inclination of a ship. In order to describe a passenger's behavior in an evacuation situation, a passenger is modeled as a rigid body which translates in the horizontal plane and rotates along the vertical axis. The position and rotation angle of a passenger are calculated by solving the dynamic equations of motions at each time step. To calculate inclined angle of damaged ship, static equilibrium equations of damaged ship are derived using "added weight method". Using these equations, physical external forces due to the inclination of a ship act on the body of each passenger. The crowd behavior of the passenger is considered as the flock behavior, a form of collective behavior of a large number of interacting passengers with a common group objective. Passengers can also avoid an obstacle due to penalty forces acting on their body. With the passenger model and forces acting on its body, the test problems in International Maritime Organization, Maritime Safety Committee/Circulation 1238(IMO MSC/Circ.1238) are implemented and the effects of ship's inclination on the evacuation time are confirmed.

• 한국화재소방학회논문지
• /
• 제32권1호
• /
• pp.66-75
• /
• 2018

랙크 내 설치되는 차단막은 초기 화재확산을 지연시키는데 큰 역할을 담당하고 있으나 소화를 목적으로 설치되는 천장형 스프링클러의 입장에서는 소화수의 원활한 공급에 장애물로서 비춰질 수도 있다. 이에 In-Rack 스프링클러와 차단막을 동시에 적용하는 방법 등이 제시되고 있으나 차단막의 설치조건에 따른 화재확산 지연성능 및 In-Rack 스프링클러에 미치는 영향 등에 관한 연구는 부족한 실정이다. 이에 본 연구에서는 축소모델 화재실험을 통해 차단막의 설치조건에 따른 화재확산 지연성능과 In-Rack 스프링클러에 미치는 영향 등을 분석하였다. 그 결과, 랙크 내에 수평과 수직 차단막을 동시에 설치한 경우, 4배 이상의 화재확산 지연성능이 발휘되는 것을 확인하였으며, 구획화로 인한 구획 내 온도 상승 또한 약 2~3배 가량 높은 것으로 나타나 In-Rack 스프링클러가 조기에 작동될 수 있도록 유도하는 긍정적인 효과 또한 존재하는 것으로 나타났다.

• 한국방재학회 논문집
• /
• 제3권2호
• /
• pp.147-154
• /
• 2003

본 연구에서는 수리모형실험을 통하여 원환 설치 전 후 교각 주위의 수리특성을 분석하였다. 하천 흐름에서 교각 전 후의 수위 변화를 분석한 결과, 교각 전면부에서 원환 설치 전 후의 수위차는 약 0.2cm, 교각 후면부에서 원환 설치 전 후의 수위차는 약 0.1cm로 거의 변화가 없었다. 따라서, 원환이 하천 흐름에 장애가 되지 않는 것으로 판단되었다. 또한, 교각 전 후의 유속 변화를 분석한 결과, 교각 전 후면부에서 원환 설치 전 후의 흐름방향 유속(u)과 횡방향 유속(v)은 변화를 보이지 않았으며, 교각 전면부에서 연직방향 유속(w)은 수심비(y/D)가 0.33인 지점에서 약 16.72% 최대감소효과를 나타냈으며, 교각 후면부에서 연직방향 유속(w)은 수심비(y/D)가 0.67인 지점에서 약 15.83% 최대감소효과를 나타내었다. 원환을 설치했을 경우 교각 주위에서 세굴을 일으키는 하강류의 발생을 억제함으로써 국부세굴심을 감소시킬 수 있을 것으로 판단되었다.

• 한국측량학회지
• /
• 제17권3호
• /
• pp.301-309
• /
• 1999

후처리 없이 cm 정확도의 3차원 좌표를 취득할 수 있는 실시간 이동측량 기법은 GPS 기술에서 중요한 진전으로 인식되어왔다. 이 시스템은 OTF 초기화기법을 이용함으로써 종래의 정지측량 및 이동측량 접근법에서 주요 방해요인으로 작용해 왔던 싸이클슬립 문제로부터 벗어날 수 있게 되었다. 본 연구에서는 실시간 이동 GPS 측량의 정확도를 평가하기 위한 목적으로 우선 일정기선에 대한 연속관측을 행하고 정지측량의 결과와 비교한 결과 수평 및 수직성분에서 각각 RMS $\pm{3mm}$와 $\pm{13mm}$의 반복재현성을 확인할 수 있었다. 또한 30점으로 구성된 소지역의 시험망에 대하여 실시간 이동, 후처리 이동, 신속정지 GPS 및 종래의 기법으로 각각 측량을 행하여 그 결과를 비교 분석하고 실시간 이동측량 기법의 효율성을 검토하였다. 이울러 GPS와 직접수준측량 성과의 조합에 의해 유도된 지오이드고를 PNU95와 EGM96 중력지오이드 모델에 의한 결과와 비교하였다.

• 한국운동역학회지
• /
• 제16권4호
• /
• pp.39-47
• /
• 2006

This study long jump action to each situation on a chessboard and section of sight disabled person and normal person through third dimension reflex analysis mechanical special quality because do comparative analysis sight disabled person's exercise ability and technology structure of action that run understand. As can do better without danger of injury map and training of exercise item that action that run is included, do offer of pabulum by purpose. Through this study, conclusion is as following. 1. Sight disabled persons' long jump average recording (121.84cm) showing normal persons' average recording (259.27cm) and much differences, show that motion of body is not big to Touch-down from Ready action. 2. Each phase body center composition(r) average speed displayed result that it is more meaning more than Each phase time required. 3. Began in line carriage without body back stretching in 1 situation on Event one are sight disabled persons. Was expose that do not bend enough knee and ankle than normal person in Event two. Was expose that body is not drooped for surface of land in Event three, and knee and ankle were expose that do not unfold easily than normal person. Was expose that do not bend enough on Touch-down knee by relation that can not grasp position of the floor in Event four. 4. When taking off, the average of horizontal speed of body center are 1.80m/sec for blind people and 3.53m/sec for the normal. In this connection, the study shows that the difference of horizontal speed between the blind and the normal is bigger than difference of vertical speed, which are 1.56m/sec for the blind and 1.98m/sec for the normal. Also, composite speed also shows us big difference between 2.41m/sec of the blind and 4.07m/sec of the normal. The speed body center of take-off was expose that average adjuster are big width of deceleration than average - beginning disabled person's average by 2.23m/sec - 1.71m/sec in the vertical speed. 5. If examine change of high and low for z Sign of right hand, change of high and low showed as is small than normal person is sight obstacle, and all hand movements are small and was expose that do not use enough reaction of body as well as in ready action.