• Journal of IKEEE
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• v.25 no.2
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• pp.362-370
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• 2021

In this paper, we propose the Autonomous Stair-climbing system based on data from ToF sensors and IMU in developing stair-climbing robots to passive wheelchair users. Autonomous stair-climbing system are controlled by separating the timing of landing gear operation by location and utilizing state machines. To prove the theory, we construct and experiment with standard model stairs. Through an experiment to get the Attack angle, the average error of operating landing gear was 2.19% and the average error of the Attack angle was 2.78%, and the step division and status transition of the autonomous stair-climbing system were verified. As a result, the performance of the proposed techniques will reduce constraints of transportation handicapped.

• Fire Science and Engineering
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• v.22 no.1
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• pp.29-36
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• 2008

This study is intended to examine the effect of the evacuation guidance that used phosphorescent material for stairs in the event of smoke and failure of both the power to the lighting and illuminated sign. To achieve the purpose, the test stairs was established and 35 students(1st 20, 2nd 15) were examined the visibility, the convenience and the comfort of going up and down of stairs. The results of this study are as follows; The evacuation from stairs showed that the stair nosing and landing used phosphorescent material for was very effective in dark conditions(0 lux) because of the high visibility of stair nosing and the convenience and the comfort of going up and down of stairs. The phosphorescent material located on the stair nosing and stair landing will aid in evacuation from stairs in the event of failure of both the power to the lightings and illuminated sign.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1303-1304
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• 2011

• Korean Journal of Applied Biomechanics
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• v.24 no.2
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• pp.151-160
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• 2014

The purpose of this study was to investigate the GRF(ground reaction force) parameters according to the shoes's heel heights and ground landing distances during downward stairs on bus. Participants selected as subject were consisted of young and healthy women(n=9, mean age: $21.30{\pm}0.48$ yrs, mean height: $164.00{\pm}3.05cm$, mean body mass: $55.04{\pm}4.41kg$, mean BMI: $20.47{\pm}1.76kg/m^2$, mean foot length: $238.00{\pm}5.37mm$). They were divided into 2-types of shoe's heel heights(0 cm/bare foot, 9 cm) and also were divides into downward stairs with 3 types of landing distance(20 cm, 35 cm, 50 cm). A one force-plate was used to collect the GRF(AMTI, USA) data from the sampling rate of 1000 Hz. The GRF parameters analyzed were consisted of the medial-lateral GRF, anterior-posterior GRF, vertical GRF, loading rate, Center of Pressure(${\Delta}COPx$, ${\Delta}COPy$, COP area) and Dynamic Postural Stability Index(MLSI, APSI, VSI, DPSI) during downward stairs on bus. Medial-lateral GRF and vertical GRF didn't show significant differences statistically according to the shoe's heel heights and landing distance, but 9 cm shoes heel showed higher vertical GRF than that of 0 cm bare foot in landing distance of 50 cm. Also anterior-posterior GRF didn't show significant difference statistically according to the shoe's heel heights, but landing distance of 20 cm showed higher than that of landing distances of 35 cm and 50 cm in anterior-posterior GRF. Loading rate didn't show significant difference statistically according to the landing distance, but 9 cm shoe's heel showed higher than that of 0 cm bare foot during downward stairs. The ${\Delta}COPy$ and COP area didn't show significant differences statistically according to the shoe's heel heights and landing distance, but 0 cm bare foot showed higher than that of 9 cm shoe's heel in ${\Delta}COPx$. Dynamic Postural Stability Index(MLSI, APSI, VSI, DPSI) didn't show significant differences statistically according to the landing distance, but 9 cm shoe's heel showed decreased value than that of 0 cm bare foot in dynamics balance. Considering the above, parameters of GRF showed different characteristics according to the shoe's heel heights and ground landing distances during downward stairs on bus.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.9
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• pp.1039-1048
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• 2015

In this paper, we propose an efficient stair locomotion method for a quadruped robot with mechanism of insectile legs using genetic algorithm(GA). In the proposed method, we first define the factors and the reachable region for the stair locomotion. In addition, we set the gene and the fitness function for GA and generate the gait trajectory by searching the landing position of a quadruped robot, which has the minimun distance of movement and the optimal energy stability margin(ESM). Finally, we verify the effectiveness and superiority of the proposed stair locomotion method through the computer simulations.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2023.11a
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• pp.103-104
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• 2023

The purpose of this study is to specify an erection process for each member of the PC staircase. For this purpose, field work was investigated at the LH PC apartment building site and classified in detail through unit work analysis inspection. The results of this study are intended to be used as basic data for creating work sequences and related guidelines for LH's PC staircase.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.2
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• pp.373-381
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• 2009

In this paper, a humanoid robot is simulated and implemented to walk up a staircase using the blending polynomial and genetic algorithm. Using recently developed kinematics for a biped robot, four schemes for walking up a staircase are newly proposed and simulated separately. For the two schemes of landing a swaying leg on the upper stair, the joint trajectories of seven motors are particularly optimized to generate an energy-minimal motion with the guarantee of walking stability. The proposed scheme of walking upstair is validated by an experiment with a small humanoid robot.

• International journal of advanced smart convergence
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• v.9 no.4
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• pp.26-33
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• 2020

This study measured the downward stepping movement relative to weight change (no load, and 10%, 20%, 30% of body weight respectively of adult male (n=10) from standardized stair (rise of 0.3 m, tread of 0.29 m, width of 1 m). The 3-dimensional cinematography and ground reaction force were also utilized for analysis of leg stiffness: Peak vertical force, change in stance phase leg length, Torque of whole body, kinematic variables. The strategy heightened the leg stiffness and standardized vertical ground reaction force relative to the added weights (p<.01). Torque showed rather larger rotational force in case of no load, but less in 10% of body weight (p<.05). Similarly angle of hip joint showed most extended in no-load, but most flexed in 10% of body weight (p<.05). Inclined angle of body trunk showed largest range in posterior direction in no-load, but in vertical line nearly relative to added weights (p<.001). Thus the result of the study proved that downward stepping strategy altered from height of 30 cm, regardless of added weight, did not affect velocity and length of lower leg. But added weight contributed to more vertical impulse force and increase of rigidity of whole body than forward rotational torque under condition of altered stepping strategy. In future study, the experimental on effect of weight change and alteration of downward stepping strategy using ankle joint may provide helpful information for development of enhanced program of prevention and rehabilitation on motor performance and injury.

• Physical Therapy Rehabilitation Science
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• v.10 no.1
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• pp.16-21
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• 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.

• Sim-seong Yeon-gu
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• v.39 no.1
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• pp.1-60
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• 2024

This thesis originated from a dream of a young man clad in green, suspended like Christ on the stair landing. This dream reminded me of Jung's vision of the Christ on the Cross, bathed in a greenish gold aurum viriditas. Jung associated the analogy of Christ and aurum non vulgi, aurum viriditas of alchemy from this vision. I was fascinated by Jung's words that originally there were four alchemical stages, but by the 15th-16th century they were reduced to three (nigredo-albedo-rubedo); and that viriditas used to exist after nigredo had vanished. This thesis is about the process of unraveling these mysteries through amplification. In the realm of alchemy, viriditas (verdigris) was an old and humble substance, yet it would eventually metamorphose into pure gold under the supervision of alchemists. It was the prima materia of alchemical work and the ultimate product, mercurius itself. It was the celestial spirit, concealed beneath the earth, and the embodiment of transformation, enriching the earth, sprouting a myriad of buds and flowers, turning the land green. I examined the dreams, visions, and pictures of Hildegard of Bingen, C.G. Jung, my analysands, and my own to figure out whether viriditas was the fourth that leads to wholeness that engaged in the whole process of individuation. While working on this thesis, I learned that for our personalities to mature, we must include the lower, the secular, the feminine, the chtonic, and even the evil. To achieve this, we cannot avoid our opposite, the fourth, but to wait and persevere until we can walk together. Then, our lives will be fresh and blossoming.