• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.139-147
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• 2009

When the visually impaired walks inside a building like corridor, a GPS cannot be useful for the walker in estimating his or her position unlike the case of outdoor space. This paper presents two novel methods to measure the walking distance using a low cost camera worn on the chest of the visually impaired. In the first method we analyze the periodic variation of image focusing values. Walking steps are counted by checking the period for the rough measure of the walking distance. The second method counts the step number by monitoring fixtures on the ceiling, which have a certain interval. Lamps on the ceiling appeared on the video are monitored in this paper. The T-S fuzzy theory is used to detect lamps, and the walking steps are estimated by the positional variation of the lamp due to the gait of the walker. The two methods are tested in real experiment, and the results are compared.

• 한국실내디자인학회논문집
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• 제26권6호
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• pp.71-80
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• 2017

The purpose of this study is identify the status of the ward of public hospital for integrated nursing care service. Integrated nursing care service has been expanding on a national scale from 2016 but most of public hospitals are currently unable to operate due to nursing shortage. In this study 8 wards of public hospital have been chosen and analyzed. The measure of space program and area distribution(patient area percentage, staff area percentage, circulation area percentage), nurses's walking distance(distance from ns to patient room, distance from ns to core) were calculated by depthmapX and autocad programs. The result of this study is as follows. Nurse's walking distance is more than 24m so the efficiency of nurse's patient care is reduced. The percentage of patient area in double-corridor is higher and the patient feels more comfortable but the Nurse's walking distance is longer and the accessibility is lowered. NS should be located in the center of the ward and close to the core but some wards are not composed of proper space-separation and flow of human trrafic is overlapped. This study may serve as basic research for the architectural plan for future integrated nursing care ward.

• 한국실내디자인학회논문집
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• 제38호
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• pp.192-200
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• 2003

Interactions with the environment do to firm, deny, or challenge the existing knowledge. People who suffer from the loss of the sight have difficulty conceiving the space and the direction as well as walking. In the study, it wanted to reveal that the border that Is provided as a transfer clue has psychological and functional meaning to the sight-disabled people under given circumstances. It suggests that there is another space among the physical borders and analyzes the utilization clue in the entry space, which is the first starting point that can transfer, and obstacle factors which may happen at that point. And, it also wanted to present the surrounding environmental improvement ways for walking which is smooth and confident based on them.

• 제어로봇시스템학회논문지
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• 제8권6호
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• pp.484-491
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• 2002

We developed a new type of human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The robot overcomes the limit of the driving torque of conventional BWRs. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has a space to board DC battery and controllers. In the performance test, the BWR performed sitting-up and down motion, and walking motion. Through the test, we found the possibility of a high performance biped-walking.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 춘계학술대회 논문집
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• pp.7-8
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• 2008

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제4권1호
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• pp.101-110
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• 2004

The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, humans and robots need to be in close proximity to each other as much as possible. Moreover, it is necessary for their interactions to occur naturally. It is desirable for a robot to carry out human following, as one of the human-affinitive movements. The human-following robot requires several techniques: the recognition of the moving objects, the feature extraction and visual tracking, and the trajectory generation for following a human stably. In this research, a predictable intelligent space is used in order to achieve these goals. An intelligent space is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to follow a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to follow the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and following of the walking human with the mobile robot are presented.

• 대한토목학회논문집
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• 제29권1D호
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• pp.91-100
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• 2009

본 연구는 옥외공간 설계변화에 대해 거주민들은 옥외공간에 대해서 어떤 인식을 가지고 있는지 조사하고자 옥외공간을 녹지공간, 놀이 및 운동 관련 공간, 보행공간, 휴식 및 조경시설 공간으로 분류하고 이에 대해 각각의 만족도와 개선사항을 단지규모별로 분석하였다. 분석결과에 따르면 단지내 특색있는 공간이 어딘지에 대한 질문에 단지의 규모가 클수록 녹지공간과 운동 및 놀이공간, 휴식 및 조경시설공간이 비슷한 비율로 응답된 반면, 모든 단지의 응답자들은 단지내 가장 부족한 공간으로 운동 및 놀이공간을 생각하고 있는 것으로 나타났다. 단지규모에 따른 아파트 단지의 옥외공간에 대한 세부공간별 평가결과를 살펴보면 대단지일수록 옥외공간 설계시 좀 더 많은 설계 항목이 도입되고 운동 및 놀이공간 및 휴게공간 등에 대한 강조가 이루어지고 있는 현실과 달리 주민들의 평가는 이와 상반된 결과를 보이고 있는 것으로 나타났다. 이는 단지규모가 클수록 옥외공간에 대한 이용객이 증가하여 이에 대한 수요가 증가하고 다양화되는데 비해 단지설계는 이를 뒷받침하지 못하고 있음을 보여주는 결과라 할 수 있을 것이다.

• 제어로봇시스템학회논문지
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• 제10권4호
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• pp.350-356
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• 2004

This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.

• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
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• 제22권4호
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• pp.37-45
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• 2016

Purpose: The purpose of this paper is to analyze a sample of single corridor, pod type and composite type of ICUs in terms of patient visibility, spatial configurations and nurse walking distance focused on Korean cases. Methods: The measures of static visibility were used to quantify the patient visibility (upper third part of the patient bed) from the nurse station. The measure of space programme and area distribution (patient zone percentage, staff zone percentage, circulation zone percentage, corridor length per bed, distance from nurse station (NS) to patient bed and departmental gross square meter (DGSM) per patient bed) were calculated by using AutoCAD and MS Excel programs. In the second step of analysis the values of space distribution were compared among the three type of ICUs as well as the nurse walking distance, DGSM per bed and gross factor. in the third step of analysis regression analysis was conducted for the possible correlation between visibility and space programme and area distribution factors as well as nurse walking distance factors. Results: (1) It was found that on average composite type unit offer highest value of patient visibility followed by pod type, while single corridor type unit offers the minimum value of patient visibility among the three plan typologies. (2) Average patient visibility and DGSM per bed shows a strong positive correlation ($r^2=0.75$) and p=0.026. (3) Average patient visibility and average distance from NS has a strong negative correlation ($r^2=0.78$), and P=0.02. (4) On average composite type unit offer the minimum walking distance from NS (7.22 meter) followed by pod type unit (8.35 meter) and single corridor (9.76 meter). (5) Maximum distance from NS was noted in single corridor (18.19 meter) followed by pod type unit (15.14 meter) and Composite type unit (11.1 meter). Implications: This study may contribute to the visibility analysis of existing and future ICU design in Korea to achieve maximum patient visibility and reduced nurse walking distance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.25.1-25
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• 2001

Intelligent Space is a space where many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents, which provide human with services. To realize this, human and mobile robots have to approach each other as much as possible. Moreover, it is necessary for them to perform interactions naturally. Thus, it is desirable for a mobile robot to carry out human-affnitive movement. In this research, a mobile robot is controlled by the Intelligent Space through its resources. The mobile robot is controlled to follow walking human as stably and precisely as possible.