• Proceedings of the Korea Information Processing Society Conference
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• 2016.04a
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• pp.25-27
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• 2016

본 논문은 카메라와 적외선 센서를 이용하여 수직 벽면을 이동하는 로봇에 최적화 된 장애물 인식방법을 제안한다. 장애물을 인식 하는 순서는 적외선 센서를 통해 앞에 장애물이 있는지 확인하고 카메라를 이용하여 앞의 장애물의 유형을 판단한다. 장애물의 유형은 크게 작은 장애물과 직선 장애물 그리고 곡선 장애물이 있다. 곡선 장애물과 작은 장애물의 경우에는 회피를 하고 직선 장애물인 경우 장애물을 넘어간다. 장애물과 로봇은 수평으로 맞추어야 안정적으로 장애물을 건널 수 있으므로 넘어가야 하는 장애물이라면 수평인지 판단하고 수평이 아니라면 회전을 통해서 수평을 맞춘다. 수평이 맞추어 지면 장애물을 넘어간다.

• Proceedings of the Korea Contents Association Conference
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• 2013.05a
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• pp.223-224
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• 2013

이 연구는 뇌졸중환자를 대상으로 낙상예방을 위하여 오타고운동과 요부안정화운동을 실시하고 신체기능 및 장애물 보행의 변화를 측정하였다. 뇌졸중환자 20명을 대상으로 신체기능은 근력, 균형능력을 측정하였고, 장애물 보행은 장애물 극복속도와 최대수직여유를 측정하여 운동 전과 운동 후, 각 운동군 간을 비교분석하였다. 근력은 30초 의자에서 앉았다 일어나기, 균형은 FRT와 TUG 검사, 그리고 장애물 보행은 장애물 극복속도와 최대수직여유로 측정하였다. 실험결과 운동 후 ?고운동군은 요부안정화운동군에 비해 FRT와 장애물 극복속도는 유의하게 증가되었으며, TUG는 유의하게 감소되었다. 결론적으로 오타고 운동이 뇌졸중 환자의 신체기능 및 장애물 보행에 긍정적인 영향을 미친다.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.2
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• pp.163-173
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• 2013

We present a new computer vision technique which can detect unexpected or static vertical objects in road driving environment. We first obtain temporal and spatial difference images in each frame of a stereo video sequence. Using the difference images, we then generate VO and HO maps by improving the conventional V and H disparity maps. From the VO and HO maps, candidate areas of vertical obstacles on the road are detected. Finally, the candidate areas are merged and refined to detect vertical obstacles.

• Korean Journal of Applied Biomechanics
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• v.19 no.3
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• pp.539-547
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• 2009

The purpose of this study was to investigate the changes of kinetic and kinematic parameters in obstacle gaits after 12 weeks of an aquatic exercise program. Eight female elders walked in four different heights of obstacles(0, 2.5, 5.1, & 15.2cm) on their self-selected speed. The ROM of hip was significantly increased after the aquatic exercise program. Swing and Stance duration were decreased. The step length was significantly increased and the step width was decreased. After the exercise program the clearance between the right foot and the top of obstacle(except 15.2cm) increased and the crossing speed was increased. The braking force, propulsive force, braking impulse, and propulsive impulse were significantly changed after the aquatic exercise program. The 12 weeks of the aquatic exercise program resulted in lower body strength and balance gains in female elders. The improvements were associated with changes in kinetic and kinematic parameters leading to an obstacle-crossing speed and a safer lower-limb control. The aquatic exercise program is suggested as an effective intervention to promote gait ability and prevent fall-related to the injuries.

• Journal of Navigation and Port Research
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• v.37 no.5
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• pp.463-469
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• 2013

This paper focuses on GPS positioning accuracy variations according to locations of obstacles which surround GPS station. We derived precise coordinates of a GPS station which has a good visibility. Its observation data was rewritten by assuming signal blocking due to obstacle in the elevation angle of $10^{\circ}$ to $70^{\circ}$. We processed daily and hourly data for 10 days. In the results using daily data, RMSE was at 10mm level. And RMSE increased to 100mm levels in case of hourly data. As the elevation angle of obstacle increased, the horizontal and vertical RMSE increased, while the height estimates decreased. These results showed the higher the elevation angle of the obstacle increased the loss of large amounts of data by blocking satellite signals direction. In terms of the direction, when the blocking thing was located in the east or west, the coordinate has larger error in the east-west direction. And if signal was blocked at the south direction, the difference between the east-west error and the south-north position error was reduced.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.9
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• pp.32-38
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• 2000

• Journal of the Korean Society for Precision Engineering
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• v.28 no.10
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• pp.1166-1173
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• 2011

There have been many researches about SUGV (Small Unmanned Ground Vehicle) mechanism regarding off-road mobility and obstacle negotiation. This paper introduces an analysis of geometry parameters to enhance the vertical obstacle negotiation ability for the SUGV. Moreover, this paper proposes an anti-shock structure analysis of wheels to protect the main body of the SUGV when it falls off a vertical obstacle. Major system geometry parameters will be determined under certain constraints. The constraints and optimization problem for maximizing the ability of vertical obstacle negotiation will be presented and discussed. Dynamic simulation results and experiments with manufactured platform will also be presented to validate the analysis. Several types of wheel materials and structures will be compared to determine the best anti-shock wheel design through FEM (Finite Element Method) simulations.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2006.05a
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• pp.108-113
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• 2006

야간 운전시 전조등의 밝기 변동에 대한 운전자의 인식 연구를 위하여 먼저 실내 실험실을 설계 및 구축하고 전조등의 순간적인 밝기 변동과 피험자의 뇌파 측정을 위한 시스템을 구축하였다. 실내 실험실의 설계를 위해 야간 운전시 전조등에 의한 운전자의 순응휘도를 먼저 결정한 후, 순응휘도를 바탕으로 실내 실험실의 바닥면, 수직벽, 측벽 등의 반사율을 계산하고, 실내 실험실의 수직벽 상에 출현할 장애물의 크기와 밝기를 계산하였다. 또한 피험자의 뇌파 측정을 위해서는 32개의 뇌파 측정 채널과 1개의 트리거 채널을 지니고 있는 WEEG-32를 사용하였고, 전조등의 순간적인 전압 변동을 위해서는 HP 6032-A를 사용하였다. 또한 HP 6032-A와 WEEG-32를 제어하기 위한 콘트롤러를 제작하였고 본 실험에 들어가기 전 예비실험을 행하여 실험 시간, 피험자 휴식 시간, 구체적 실험 순서, 전조등의 전압변화 패턴, 장애물 경로 등을 결정하였다.

• 한국체육학회지인문사회과학편
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• v.54 no.5
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• pp.829-840
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• 2015

The purpose of this study was to investigated into the kinematics and ground reaction force for gait on induced stereoacuity in normal subjects with normal sight. Eighteen subjects who passed the stereoacuity testing were participated in the experiment(age: 22.1±2.7 years, height: 176.8±4.4 cm, weight: 67.6±5.8 kg). The study method adopted 3D analysis with six cameras and ground reaction force with two force-plates. The results were as follows; In gait velocity, obstacle crossing gait was slower than flat gait. In angular displacement of hip joint, mostly obstacle crossing gait was more flexed than flat gait. In angular displacement of knee joint, obstacle crossing gait was more flexed than flat gait, and stereoacuity reduction gait in TO and FC2 were more flexed than normal vision gait. In angular displacement of ankle joint, obstacle crossing gait in FC2 was more flexed than flat gait. In trunk tilt, obstacle crossing gait in MSt, TO and MSw were more extended than flat gait. In GRF, there was no significant in Fx, obstacle crossing gait in right and left foot were bigger propulsion force than flat gait, obstacle crossing gait in right and left foot were bigger braking force than normal vision gait in Fy, and obstacle crossing gait in right and left foot were bigger than flat gait in peak F1 and peak F2 of Fz, and stereoacuity reduction gait in right foot was lower than normal vision gait in valley force of Fz.

• Proceedings of the Korea Contents Association Conference
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• 2013.05a
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• pp.381-382
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• 2013

본 연구의 목적은 젊은 성인과 노인의 장애물 보행 시 신체질량중심의 변위와 최대속도를 3차원적으로 비교 분석하여 노인의 낙상위험 및 균형능력을 평가할 수 있는 중요한 요소가 될 수 있는지를 검증하는데 있다. 본 연구의 대상은 건강한 젊은 성인 10명(남성 6명/여성 4명, $24.6{\pm}1.9$세)과 65세 이상 건강한 노인 10명(남성 1명/여성 9명)으로 선정하였다. 각 피험자 신장의 10% 높이의 장애물 보행을 실시하였으며 동작 분석 장비를 통해 신체질량중심의 변위와 최대속도를 3차원적으로 분석하였다. 전후방향에서는 젊은 성인 집단의 변위가 더 크고(p=.019) 최대속도가 더 빠르게 나타났으며(p<.001), 좌우방향에서는 노인 집단의 변위가 더 크고(p=.004), 더 빠르게 나타났다(p<.001). 수직방향에서의 변위는 유의한 차이가 없었고(p=.135), 최대 속도는 젊은 성인 집단이 더 빠르게 나타났다(p<.001). 신체질량중심의 좌우방향에서의 크고 빠른 움직임은 노인의 동적 균형능력 저하로 인해 넘어가는 발(swing limb)의 안정적인 지지면 딛기를 위한 보상적 조절로 여겨지며, 따라서 노인의 낙상위험 및 균형능력을 평가할 수 있는 중요한 요소가 될 수 있을 것으로 사료된다.