• Journal of Biosystems Engineering
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• 제39권1호
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• pp.1-10
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• 2014

Purpose: This research was conducted to evaluate feasibility of a crank-type walking cultivators for weeding in furrowed upland. Methods: A walking cultivator developed by RDA was selected and evaluated with its working speed (S), cultivation depth (CD) and weeding performance (WP). The evaluation was performed in upland field on July and August, 2012. Also kinematic analysis of the machine was performed to draw out design improvements. Results: S in flat, uphill and downhill were about 0.11 m $s^{-1}$, 0.11 m $s^{-1}$, and 0.13 m $s^{-1}$ respectively. It was found that S had a low relevance with user conditions. The CD was 35 ~ 40 mm which was satisfied with the RDA guide for weeding machine. A wide variation was observed in values of WP depending on the growth stages of weeds and field conditions. The cultivator showed low performance in eliminating the well-grown weeds. Kinematic simulation revealed that high forward speed caused a high ratio of un-weeded area. Conclusions: The weeding performance of the cultivator was satisfactory for weeds in early growth stage but it showed difficulties in handling on up-slope and in entering up-land. Specifically, the weight of the cultivator was judged as overweight for female workers. The crank-hoe type cultivator was judged as unsuitable for small walking type machine due to weight of the four-bar linkage system. Kinematic analysis revealed that the ratio of crank speed to the ground speed must be 850 rpm s $m^{-1}$ (255 rpm based on 0.3 m $s^{-1}$) or greater to avoid uncultivated area. Selection of forward speed is a decisive factor in designing the weeding cultivator.

• 한국산학기술학회논문지
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• 제11권10호
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• pp.3658-3665
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• 2010

최근 고령화 사회로의 진입 및 장애 인구의 증가로 인해, 인간의 복지를 위한 자동화 시스템에 대한 수요가 늘고 있다. 특히 재활 자동화와 관련한 로봇 시스템은 환자 본인 및 치료 보조자에 대한 수고를 덜어주면서도 기존의 전통적인 재활효과에 상응하는 성과를 얻을 수 있을 것으로 기대되고 있다. 본 연구는 하지 근력이 약화된 사용자들의 신체 자중을 보상해줌과 동시에 정상인과 같은 패턴의 보행 훈련을 수행할 수 있는 모바일형 보행 재활 시스템을 제안하고자 한다. 특히, 자중보상 시스템은 신체의 자세 변화 특징을 반영하여, 기구학적인 분석을 통해 구현하였으며 보행 가이드를 위한 제어 알고리즘과 더불어 메인 컨트롤 시스템이 내장된 모바일 플랫폼에 통합 적용되었다. 이러한 모바일 플랫폼은 사용자의 보행 속도의지를 반영하는 UCS(User Command System)와 플랫폼 자체에 내장된 자율주행 알고리즘의 병합되어 운용되도록 고안되었으며, 본 논문에서는 보행 훈련시의 BWS(Body Weight Support)의 효과에 대한 검증에 집중하고자 한다. 이를 위해 인체의 근전도 신호를 측정할 수 있는 EMG(Electromyography) 센서를 활용하여, BWS 및 모바일로봇을 활용한 자중 보상 시의 피험자의 하지 근력 패턴을 측정 및 분석하여, 정상 보행자와의 차이점을 비교함으로서 본 연구의 타당성을 검증하였다.

• 제어로봇시스템학회논문지
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• 제16권10호
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• pp.939-947
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• 2010

With the rising numbers of elderly and disabled people, the demand for welfare services using a robotic system and not involving human effort is likewise increasing. This study deals with a mobile-robot system combined with a BWS (Body Weight Support) system for gait rehabilitation. The BWS system is designed via the kinematic analysis of the robot's body-lifting characteristics and of the walking guide system that controls the total rehabilitation system integrated in the mobile robot. This mobile platform is operated by utilizing the AGV (Autonomous Guided Vehicle) driving algorithm. Especially, the method that integrates geometric path tracking and obstacle avoidance for a nonholonomic mobile robot is applied so that the system can be operated in an area where the elderly users are expected to be situated, such as in a public hospital or a rehabilitation center. The mobile robot follows the path by moving through the turning radius supplied by the pure-pursuit method which is one of the existing geometric path-tracking methods. The effectiveness of the proposed method is verified through the real experiments those are conducted for path tracking with static- and dynamic-obstacle avoidance. Finally, through the EMG (Electromyography) signal measurement of the subject, the performance of the proposed system in a real operation condition is evaluated.

• 재활복지공학회논문지
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• 제11권4호
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• pp.315-321
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• 2017

이 연구는 시각장애인을 위한 길안내 서비스 시스템의 설계와 구현에 관한 연구이다. 시각장애인을 고려한 사용자 인터페이스로써 음성인식을 통한 스마트폰을 입력도구로 사용하였고, 출력도구는 방향 및 음성안내를 하면서도 주변 환경음을 인식할 수 있는 골전도 헤드셋을 사용하였다. 개발된 시스템은 기존의 길안내용 스마트폰 앱과 달리 보행해야할 방향 정보를 착용한 헤드셋의 좌우 스테레오 음의 크기로 전달하며, 갈림길이나 휘어진 길에 대한 음성안내는 수 미터 전에 안내하여 시각장애인의 보행 속도에 적합하게 안내가 이루어지며, 역방향 보행이나 경로이탈을 즉시 경고하는 장점이 있다. 방향센서로 진행방향에 대한 동적 정밀도가 1.5도인 모션 트랙커를 사용하여 안정적이고 신뢰성 있는 방향 정보를 취득할 수 있었다. GPS의 위치오차를 극복하기 위하여 위치오차에 견고한 경로계획 알고리즘을 제안하였다. 구현된 시스템을 실험한 결과 실험 경로에서 평균 방향각 오차가 6.82도(표준 편차 5.98)로 비교적 안정하게 방향을 유도하여 목적지에 도달하였다.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2015년도 춘계학술발표대회
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• pp.327-328
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• 2015

최근 건강을 생각하는 사람이 증가하면서 걷는 사람들이 증가하고 있다. 걷기를 통한 건강관리에 대한 관심이 증대되면서 스마트 디바이스를 활용한 운동 관련 어플리케이션도 역시 증가하고 있다. 본인의 기록을 측정하기 어렵고 별도의 장비가 필요하던 과거와 달리 이제는 누구나 가지고 있는 스마트폰만으로도 자신의 운동을 효율적으로 자신의 운동을 관리할 수 있도록 하는 어플리케이션이 인기를 끌고 있다. 이러한 수요에 맞추어 스마트 상의 GPS센서를 이용한 걸음 가이드 시스템 '걸어보자'는 별도의 센서를 부착할 필요 없이 스마트폰에 기본적으로 포함되어 있는 GPS센서를 이용하여 사용자에게 추천루트를 제공한다.

• Steel and Composite Structures
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• 제46권4호
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• pp.577-589
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• 2023

In this study, on-site testing was carried out to investigate the vibration performance of a cold-formed thin-walled steel floor system. Ambient vibration, walking excitation (single and double persons), and impulsive excitation (heel-drop and jumping) were considered to capture the primary vibration parameters (natural frequencies, damping ratios, and mode shapes) and vertical acceleration response. Meanwhile, to discuss the influence of cement fiberboard on structural vibration, the primary vibration parameters were compared between the systems with and without the installation of cement fiberboard. Based on the experimental analysis, the cold-formed thin-walled steel floor possesses high frequency (> 10 Hz) and damping (> 2%); the installed cement fiberboard mainly increases the mass of floor system without effectively increasing the floor stiffness and may reduce the effects of primary vibration parameters on acceleration response; and the human-structure interaction should be considered when analyzing the vibration serviceability. The comparison of the experimental results with those in the AISC Design Guide indicates that the cold-formed thin-walled steel floor exhibits acceptable vibration serviceability. A crest factor 𝛽_rp (ratio of peak to root-mean-square accelerations) is proposed to determine the root-mean-square acceleration for convenience.

• Nuclear Engineering and Technology
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• 제46권3호
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• pp.439-446
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• 2014

An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.

• 한국실내디자인학회논문집
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• 제25호
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• pp.142-148
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• 2000

The purpose of this study is to provide a practical guide for the actual conditions and the preference of student housing in a regional university. The data are collected through questionnaire surveys from the students of a regional university. 265 samples are collected, and are analyzed by using SPSS-PC. The results are as follows: 1) The actual conditions of student housing Most residents of student housing(76.3%) come from the Capital region. Most of student housing are located at 30 minute distance from the school. Most of house style are Offistel as one room style. Most of housing size are within 10 minute distance from the school. Most of house style are Offistel as one room style. Most of housing size are within 10py, and two people reside in one unit. The average hours of staying at the student housing are over 10 hours. The most inconvenient factor is the lack of soundproofing in the current student housing. 2) The preference of student housing The most preferred location is in the walking distance from the school, and the apartment is the most preferred housing style. The most preferred installation of inside is internet connection. When choosing student housing, students prefer the distance from the school as the most important factor. Most female students reside with a roommate within 10 py of housing size, cook for themselves, and consider rent and maintenance fee as the decision factors in choosing housing. The most preferred style of house is apartment, and they prefer to install basic furniture and kitchen system inside of housing. As students go up to higher grade, they prefer the apartment, and prefer to cook for themselves. More fresh men reside with a roommate compared to other grades. They prefer Offistel with meals service at a walking distance from the school.

• 한국산림과학회지
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• 제101권2호
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• pp.309-316
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• 2012

숲길은 산림휴양서비스의 주요한 축으로 기존의 정상정복형 등산문화에서 벗어나 숲길이 가진 자연 및 역사문화자원을 이용한 다양한 활동에 대한 국민의 요구와 수준도 동시에 높아지고 있다. 따라서 각 숲길 특성에 따른 이용행태를 분석하여 이용유형에 적합한 방향으로 숲길의 관리 및 운영, 휴양서비스 제공이 필요하다. 본 연구는 접근성, 물리적 속성 등에 있어 차이를 보이는 북한산 둘레길, 울진 숲길, 지리산 둘레길을 대상으로 진행하였다. 연구결과 숲길 이용객의 인구통계학적 특성, 탐방동기, 이용행태 등에 있어 전반적인 특성을 도출하였고 숲길에 따른 차이를 확인하였다. 북한산 둘레길은 중 노년층의 이용이 많고 등산, 트레킹 및 건강프로그램을 선호하며 인근주민의 가벼운 산책코스로써 이용이 두드러진다. 울진 숲길은 일부러 시간을 내어 방문하는 유형이 많았고, 트레킹 외에도 다양한 체험활동에 대한 요구가 높은 것으로 나타났다. 지리산 둘레길은 젊은 층의 이용이 많고, 트레킹에 대한 선호와 보행편의성에 대한 요구가 높아 다른 숲길에 비해 걷는 것 자체를 목적으로 이용하는 경향을 보였다.

• The Journal of Korean Physical Therapy
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• 제17권1호
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• pp.108-122
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• 2005

The gait training strategy in very important things for central nervous system(CNS) injury patients. There are many method and strategy for regaining of the gait who had CNS injury. A human being has central pattern generator(CPG) is spinal CPG for locomotion. It is a neural network which make the cyclical patterns and rhythmical activities for walking. Sensory input from loading and hip position is essential for CPG stimulation that makes the central neural rhythm and pattern generating structure. From sensory input, the proprioceptive information facilitate proximal muscles that controlled in voluntarily from cortical level and visual and / or acoustical information facilitate distal muscles that controlled voluntarily from subcortical level. Gait training method can classify that is functional level and structural level. Functional level includ level surface gait, going up and down the stair. It is important to facilitate a guide tempo in order to activate the central pattern generators. During the functional test or functional activities, can point out the poor period in gait that have to be facilitate in structural level. There are many access methods with patient position and potentiality. The methods are using of rhythmic initiation, replication and combination of isotonic with standing position. Clinically using it on weight transfer onto the stance leg, loading response, loading response and pre-swing, terminal stance, up and downwards stairs.