• 제어로봇시스템학회논문지
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• 제11권12호
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• pp.984-990
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• 2005

The aim of this paper is to investigate a control framework for mobile robots, operating in shared environment with humans. The Intelligent Space (iSpace) can sense the whole space and evaluate the situations in the space by distributing sensors. The mobile agents serve the inhabitants in the space utilizes the evaluated information by iSpace. The iSpace evaluates the situations in the space and learns the walking behavior of the inhabitants. The human intelligence manifests in the space as a behavior, as a response to the situation in the space. The iSpace learns the behavior and applies to mobile agent motion planning and control. This paper introduces the application of fuzzy-neural network to describe the obstacle avoidance behavior teamed from humans. Simulation results are introduced to demonstrate the efficiency of this method.

• 한국실내디자인학회논문집
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• 제19권5호
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• pp.234-242
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• 2010

In order to make an effective use of spatial resources in the city, detailed environmental plan strategies based on 'culture' are needed. An integral part of city spaces-'underground space' serves as one of the spatial resources with much effective usage potentials. Hence, 'underground space' needs cultural vitality. The purpose of this study is to propose an thorough indoor environmental plan guideline for the cultural vitality of 'underground space'. The methods used to conduct research include precedent study reviews and survey. Through this research, following conclusions are drawn. First, to promote cultural vitality at the 'underground space', it must be transformed into the cultural public place to be utilized for cultural activities by residents. Second, the 'underground space' requires 'concept of eco-friendly space for clean environment'. Third, 'safe environment' concept must be installed in the 'underground space' to promote the cultural vitality. Fourth, the 'underground space' requires 'complex/block level network plans between cultural spaces in addition to horizontal/vertical walking network between cultural environments in ground level and underground spaces. Fifth, the 'underground space' requires underground public cultural space plan through 'reasonable underground development with considerations of the facilities related to education, culture and history'. Sixth, 'public cultural space plan for various cultural spaces' and 'supply of space for cultural activities for residents and design plan for mutual culture exchange' are necessary.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제5권3호
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• pp.246-252
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• 2005

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. It is desirable for a mobile robot to carry out human affinitive 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. In order to follow a human, control law is derived from the assumption that a human and a mobile robot are connected with a virtual spring model. Input velocity to a mobile robot is generated on the basis of the elastic force from the virtual spring in this model. And its performance is verified by the computer simulation and the experiment.

• 한국환경복원기술학회지
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• 제14권2호
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• pp.83-96
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• 2011

The open space of apartment complex has changed diversely according to construction periods which were divided into the introduction stage (the 1980s), the development stage (the 1990s), and the maturity stage (after 1999). This study set out to analyze the periodic changes of visual characteristics and preference with the open space of apartment complexes in Cheongju City. For analysis of visual characteristics and preference, nineteen adjectives that were determined to sufficiently express the feeling of the open space of apartment complex. The results are as follows. As for adjective image assessment by using descriptive statistics, favorable images were shown in complexes of maturity stage phase that were constructed after the liberalization of apartment sale in 1999. These results may be caused both by quantitative increase and diversification of materials in planting and landscaping furniture and by nature-friendly designing. The results of factor analysis by Varimax rotation method showed that common variance was 73.9%, which indicates higher explanation. The nineteen adjectives could be divided into three factors, 'pleasantness factor,' 'negative factor,' and 'irregular factor.' Visual preference was analysed by using Least significant Difference (LSD) by analysis of variance : complexes of maturity stage phase that were constructed according to the liberalization of apartment sale in 1999 were highest in assessment. The correlation between view preference and adjective images was analyzed by multiple regression analysis, and 'feeling like walking,' 'well-arranged,' 'beautiful,' 'friendly,' and 'clean' (in order) were adjective images that most affected the preference. As for the analysis of the correlation between visual preference and physical components of view, the preference increased as the rate of pavement and greens was higher, while it decreased as size of building was larger. Therefore, backgrounds of walking and greens had strong effects on the preference.

• 한국임상보건과학회지
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• 제5권1호
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• pp.816-824
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• 2017

Purpose. This study was classified into normal and demented elderly through K-MMSE. The purpose of this study was to analyze gait characteristics of normal elderly and demented peoples using GAITRite walking system. Methods. The subjects of this study were selected as elderly people receiving home visit physical therapy. An independent t-test was conducted to verify the statistical significance of the time-space variables of the elderly with dementia. Results. Step time(p=0.041), cycle time(p=0.037), distance(p=0.024), and cadence(p=0.048) were significantly shorter in the normal elderly than in the demented elderly on flat place. The mean age was significantly longer in normal elderly than in elderly persons with dementia. Step time(p=0.022), cycle time(p=0.023), distance(p=0.019), and cadence(p=0.015) were significantly shorter in the mat walking. The mean age was significantly longer in normal elderly than in elderly patients with dementia. Stretch time, cycle time, distance, and hair support time were significantly shorter in the mat walking. The mean age of the elderly was significantly longer than that of the elderly with dementia. The spinal support time, which is a spatial variable, was significantly shorter in the normal elderly than in the demented elderly. Conclusions. It compares the various gait characteristics of the normal and demented elderly people, thereby increasing the walking ability of the elderly person more effectively. This study should be utilized as basic data for preventing fall-down.

• 재활복지공학회논문지
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• 제10권1호
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• pp.65-72
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• 2016

본 논문은 계단 보행 조건에서 작동할 수 있는 능동형 대퇴의지를 설계하고 구조 최적화를 통해 경량화를 진행하는 것을 목적으로 한다. 계단 보행 시 무릎에 걸리는 토크는 일반 보행에 비해 크므로 능동형 상대적으로 큰 토크를 낼 수 있는 동력 시스템이 필요하다. 또한 의지의 무게는 사용자의 착용감과 피로감과 연관이 되므로 의지의 경량화 설계 또한 필수적이다. 계단 보행 시 필요한 토크를 만들어내고 경량화와 소형화 구조를 적용하기 위해 플랫형 BLDC 모터를 사용하였다. 다양한 감속 장치를 이용해 필요 토크를 생성하고 작동각도 및 속도를 만족할 수 있게 감속비를 선정하였다. 구조 및 구동부 설계가 완료된 후 최적화를 통해 구조 경량화를 수행하였다. 계단 보행 시 나타나는 하중 조건을 고려하여 최적화를 수행하였으며, 해석 및 실험을 통해 최적화된 구조의 안정성을 검증하였다. 결과적으로 구조물의 강성은 유지하면서 위상 최적화와 형상 최적화를 통하여 무게를 감량하였으며, 공간 효율이 좋아졌다.

• 한국주거학회논문집
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• 제13권6호
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• pp.121-131
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• 2002

The rebuilding method for old apartment housing blocks has merits of providing new buildings and larger private living spaces. However, it causes many serious urban problems, such as shortage of infrastructure capacity, traffic congestion, reduction of building life, and deterioration of open space quality. Nowadays, remodeling is accepted as a way of overcoming such negative effects of the rebuilding method. This study focuses on the various techniques of remodeling. The results of this research are as follows; First, old apartment blocks provide poor level of service in general, so they have problems of bad accessibility, deterioration of facilities, and degraded landscape. In many cases, there is a hindrance from walking freely and security problem due to illegal privatization of public spaces. Second, various remodeling techniques are required to meet residents' different needs. The residents of apartment housing value private space above public space, and show low level of willingness to pay cost for remodeling. Third, based on these findings, some remodeling techniques are suggested - integration of a space to another, expansion of spaces, connection of spaces, reuses of roofs and walls, relocation and renovation of paths between buildings, and so on.

• International Journal of Advanced Culture Technology
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• 제9권1호
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• pp.7-15
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• 2021

The open space of the healing facility should contribute to the psychological and social healing of the users, provide a social environment for rest, and provide a design factor to support the walking path to move to the destination-connected space. In this paper, I examined the relationship between the environmental elements, spatial devices, and the characteristics of the design factors in the open space for healing facilities. As a research method, based on the analysis of previous studies, a healing facility in modern society was defined, and the relationship between the social support and physical environment factors of the healing facility where open space was considered. Through the consideration of cases, the characteristics of the physical space environment, and the design factors of the open space in the healing facility were categorized. As a result of research, open space in the healing facility is a space to promote a social exchange of users, as a physical form for accommodating psychological and social healing functions, it is necessary to construct the connection of the external space with the internal space.

• 우주기술과 응용
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• 제1권1호
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• pp.64-75
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• 2021

달이나 지구의 특정 지역의 지질학적 형성 과정을 이해하는 가장 쉬운 방법은 지층이 쌓이는 순서인 층서를 관측하는 것이다. 층서를 분석하면 과거의 지질학적 사건과 그 시기의 유추가 가능하다. 달의 바다 중 구름의 바다(Mare Nubium)에는 층서를 관측할 수 있는 Rupes Recta라는 기울기 10° - 30°의 단층 지형이 있으며, 이 지역의 여건상 바퀴로 움직이는 로버는 탐사가 불가능하기 때문에 원활한 탐사를 위해 경사로와 험지 이동도 무난히 수행 가능한 4족 보행 로봇을 사용해야만 한다. 4족 보행 로봇으로 단층면을 탐사하려면 층서의 구현정도, 지형의 경사도, 지형의 거친 정도인 석리(texture)와 장애물의 유무를 고려하여 탐사 경로를 설계할 필요가 있다. 본 논문에서는 기존 화성 탐사선들의 원격 탐사 자료를 활용하여 최적화된 탐사 경로 선정과정을 제시한다. 그리고 4족 보행 로봇을 활용한 단층면 탐사에 필요한 필수탑재체로 층서의 실제 형상을 촬영하고 구별하기 위한 광학카메라, 구성성분을 분석하기 위한 분광기, 지표에 노출되지 않은 시료를 얻기 위한 드릴로 이루어진 구성을 제안한다.

• 한국주거학회논문집
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• 제19권2호
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• pp.55-62
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• 2008

This study is researched to provide design guidelines of service facilities and programs that apartment residents want along with the increased quality of life. This study is signifiant because it sought effective methods to activate the com-munity culture through service facilities in apartment complexes and the design standard and planning direction for residents. The study results are as follows. In the result of the correlations analysis and multiple regression analysis for the importancy of service facilities in apartment complexes, the following orders were considered as important factor; man-ager office, open space, resident community facility, elderly people meeting and activity facility, walking paths, resident athletic facility, a children's playground, library, and rest areas in the complex. and result of the correlations analysis and multiple regression analysis is the following: service facilities whole importance (y) = 1.413$+0.262^*{\times}1$ (manager office importance)$+0.271^*{\times}2$ (open space importance) $+0.185^*{\times}3$ (resident community facility importance) $+0.136{\times}4$ (elderly people meeting and activity facility importance)$+0.036^*{\times}5$ (walking paths importance) $+0.031^*{\times}6$ (resident athletic facility importance) + $(-0.042)^*{\times}7$ (a children's playground importance) + $(-0.045)^*{\times}8$ (library importance) + $(-0.0097)^*{\times}9$ (rest areas importance).