• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.75-78
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• 2003

Mobile Robot climbing stairs needs high power and high efficiency. one of the high power type motor is Transverse Flux Motor (TFM). Moreover, TFM is a high force density per volume. We analyzed a characteristic for the TFM and simulated the parametric research of the TPM by using 3D FEM solutions. It presents to design the basis of the TPM. design parameters are Radius of outer rotor, pole height, pole depth, pole depth, airgap, and Magnetomotive force.

• 한국주거학회논문집
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• 제16권1호
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• pp.89-95
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• 2005

This study aims to analyze interior spatial characteristics of Korean single-family house which were designed by architects. For that purpose, plans, pictures and data of Korean single-family 113 houses which appeared in architectural publications from 1998.7 to 2002.6. were collected. The results of this study are the followings; 1) the ratio of southern-facing is higher in living room and master bedroom than in dining room and kitchen; 2) spatial elements of master bedroom are bedroom, bathroom and dressroom, those of dining room and kitchen are dining room, kitchen and multipurpose room and those of family bathroom are bathroom and restroom; 3) the living room does not located in the center of the plan; 4) the ratio of exterior door is higher in kitchen and master bedroom than in dinning room and living room; 5) stairs located in hall, corridor, livingroom etc., 6) there are void spaces in about half of houses which were collected.

• ETRI Journal
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• 제36권1호
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• pp.99-105
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• 2014

This paper presents a new locomotion mode recognition method based on a transformed correlation feature analysis using an electromyography (EMG) pattern. Each movement is recognized using six weighted subcorrelation filters, which are applied to the correlation feature analysis through the use of six time-domain features. The proposed method has a high recognition rate because it reflects the importance of the different features according to the movements and thereby enables one to recognize real-time EMG patterns, owing to the rapid execution of the correlation feature analysis. The experiment results show that the discriminating power of the proposed method is 85.89% (${\pm}2.5$) when walking on a level surface, 96.47% (${\pm}0.9$) when going up stairs, and 96.37% (${\pm}1.3$) when going down stairs for given normal movement data. This makes its accuracy and stability better than that found for the principal component analysis and linear discriminant analysis methods.

• 한국실내디자인학회논문집
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• 제7호
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• pp.79-86
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• 1996

This study is searching the characteristics of transferred element in composition of architectural spaces ; it is ultimate goal that frame of reference is arranged system about path of horizontal direction is two-dimension and stairs of vertical in three-dimension as transferred element in Architectural plan. With the exception of stylized discussion or rhetorical analysis about these, it is analysed as element in physical order of a whole architecture in relation to another elements in composition of architecture spaces. And one who is perceptible and cognitive through spaces is the subject. Consequently , these elements are classified concept of location and circulation. And it can't think that the formal is divided the latter for accept behavior of pedestrican and thinking system to consider verticality and time property is absolutely conceptual elements in space of architectural plan.

• 로봇학회논문지
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• 제4권4호
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• pp.265-272
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• 2009

IVarious driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.166-171
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• 1989

In the view of the fact that mobile robot in nuclear facilities should be able to turn in narrow space, go over obstacles, and climb stairs for the inspection and maintenance, a robot, named as KAEROT, is developed. It adopts 2DWIS (2-Driving Wheels, 1-Steering) and has three planetary wheels that are composed of two star-like arms and three small wheels. The experiments were carried out in two locomotion methods; (1) by controlling the rear wheel speed as a function of steering angle, and (2) by using inclination and stair-detection sensor to control the position of planetary and small wheel. The developed robot moved on the floor with stability. Results from the experiment on the rectangular obstacle as well as the computer simulation showed a feasibility on the stairs.

• 고문화
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• 61호
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• pp.3-44
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• 2003

한반도에서의 주거 평면구조는 일반적으로 원형$\rightarrow$방형$\rightarrow$장방형의 순으로 변천하고 있다. 주거의 출입구조는 계단식과 돌출되어 있는 경우, 주거 벽면에서 경사진 구조 등이 있고, 주거바닥은 주로 생토층과 모래바닥을 이용하며, 진흙이나 조개껍질을 깐 경우도 있다. 저장시설은 화덕자리의 주변이나 주거의 벽가에 두고 있으며, 화덕자리는 중앙의 1개소가 일반적이다. 기둥구멍은 벽가를 따라 배치되거나, 각 모서리에 배치되는 경우, 혹은 주거지의 내부와 외부에 동시에 존재하기도 한다. 지붕구조는 낮은 원추형에서 기둥을 걸쳐서 만드는 양면경사의 방형이나 장방형으로 변하며, 주거의 내부공간은 수면이나 취사 이외에도 작업장, 의례 등 여러 기능이 복합적으로 이루어지고 있다. 주거는 기본적으로 1기에 1칸의 구조를 보이고 있으며, 내부에서 남녀의 공간적 사용범위가 정해져 있다. 신석기시대의 취락은 환상이나 호상형태로 중앙에 광장이 있으며, 주거 밀집지역에 공공장소가 존재한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.1003-1007
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• 1997

This study is na introduction of ADS in which we have written out programs which can design three-dimensional machine parts and reduce the required time for design them comparing with other CADs. Among the machine parts, screws are commonly used in joining one part to another because of easy handling but welding and rivet are used to join permanently them even thought hard operation. Consequently, w have developed the screw for permanent fixing using stairs type screw threads, which is considered as the main machine parts in joining. For that, we designed permanent fastened screws according to the different rotation angle using VisualLISP and transferred it to ANSYS, structural solution program, to find out allowance load, maximum equivalent stress and where it occur.

• 한국정밀공학회지
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• 제30권4호
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• pp.427-433
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• 2013

Stair climbing is one of critical issues for field robots to widen applicable areas. This paper presents optimal design on kinematic parameters of a new robotic platform for stair climbing. The robotic platform climbs various stairs by body-flip locomotion with caterpillar type main platform. Kinematic parameters such as platform length, platform height, and caterpillar rotation speed are optimized to maximize stair-climbing stability. Three types of stairs are used to simulate typical user conditions. The optimal design process is conducted based on Taguchi methodology, and resulting parameters with optimized objective function are presented. In near future, a prototype is assembled for real environment testing.

• 한국IT서비스학회지
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• 제11권sup호
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• pp.113-121
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• 2012

In this study, a real-time fall detection system based on a smartphone equipped with three-axis accelerometer and magnetometer was proposed and evaluated. The proposed system provides a service that detects falls in real time, triggers alarm sound, and sends emergency SMS(Short Message Service) if the alarm is not deactivated within a predefined time. When both of the acceleration magnitude and angle displacement of the smartphone attached to waist belt are greater than predefined thresholds, it is detected as a fall. The proposed system was evaluated against activities of daily living(walking, jogging, sitting down, standing up, ascending stairs, and descending stairs) and unintended falls induced by a proprietary pneumatic-powered mattress. With the thresholds of acceleration magnitude 1.7g and angle displacement $80^{\circ}$, it showed 96.5% accuracy to detect the falls while all the activities of daily living were not detected as fall.