• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.784-789
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• 2009

We propose a novel method of procedurally generating climbing plants using L-systems. The goal of this research is to generate geometry for 3D-modelers, where procedurally generated content is used as a base for the final design. The algorithm is fast and efficiently simulates external tropisms such as gravitropism and heliotropism, as well pseudo-tropisms. The structure of the generated climbing plants is discretized into strings of particles expressed using L-systems. The tips of the plant extend the branches by adding particles in its path, forming internodes. A climbing heuristic has been developed that uses the environment as leverage when the plant is climbing, and effectively covers objects on which it grows. A fast method that sprouts leaves on the surface on which the plant is growing has also been developed, along with a heuristic that simulates the decrease in length, radius and leaf size.

• PNF and Movement
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• 제16권3호
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• pp.397-404
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• 2018

Purpose: The purpose of this study was to investigate the effect of climbing training combined with coordinative locomotor training on muscle thickness in normal adults and to provide basic data regarding its applicability to clinical practice. Methods: Coordinative locomotor and climbing training was conducted three times per week for six weeks. Each exercise session consisted of ten minutes of warm-up and 40 minutes of the main exercise. A post-test was conducted six weeks after the training began, and a follow-up test was done two weeks after the training ended. Results: There were significant differences in the participants' external and internal oblique abdominis muscles over time (p<0.05). There were also significant interactions in the external and internal oblique abdominis muscles over time and according to group (p<0.05). Conclusion: The findings indicate that coordinative locomotor training with climbing had positive effects in normal adults, including increased thickness of the external and internal oblique abdominis muscles. The findings hold value for patient rehabilitation and clinical applications and interventions using coordinative locomotor training in combination with climbing.

• 한국운동역학회지
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• 제19권3호
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• pp.435-448
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• 2009

본 연구는 노인의 계단과 경사로 오르기와 평지보행 동안 하지의 운동학적 변화를 분석하는 것이었다. 건강한 노인 14명(남:10, 녀:4)이 실험에 참여하였으며 측정도구는 삼차원동작분석기인 Vicon system(Vicon, Oxford Metrics, England)을 사용하였다. 보행주기 각 시점에서 하지 관절의 각도 변화를 보행 조건(평지, 계단, 경사로)에 따라 알아보기 위해 일요인 반복측정 분산분석(one-way repeated measure of ANOVA)을 사용하였다. 전후면상에서 골반은 평지 보행에서 보행 주기 동안 전방굴곡이 나타났으며 계단과 경사로 오르기에서 전방굴곡이 증가하였다. 고관절과 슬관절는 모두 평지보행과 비교해 계단 오르기에서 굴곡이 더 증가하였다. 족관절은 평지보행과 비교해 경사로 오르기에서 굴곡이 더 증가하였다. 좌우면상에서 보행 주기 동안 평지보행과 비교해 계단 오르기에서 골반이 크게 올라갔으며 고관절도 계단 오르기에서 내전과 외전의 변화가 크게 나타났다. 또한 슬관절도 계단 오르기에서 내반이 증가하였고 족관절 역시 계단 오르기에서 내번이 증가하였다. 수평면상에서 보행 주기 동안 골반은 평지 보행과 비교해 계단과 경사로 오르기에서는 내회전이 대체로 증가하였고 고관절은 계단과 경사로 오르기에서 내회전이 증가하였으나 통계적으로 유의한 차이는 없었다. 슬관절은 계단 오르기에서 대체적으로 내회전이 증가하였고 족관절은 계단 오르기에서 대체적으로 외회전이 증가하였다. 이러한 결과는 노인의 계단과 경사로 오르기는 평지 보행과 비교해 하지의 운동학적 보행 변수들을 크게 변화시키는 것을 알 수 있었다.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제5권5호
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• pp.243-250
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• 2016

최근 가상현실(VR, virtual reality)이나 증강현실(AR, augmented reality)이 주목받으면서 이에 관한 컴퓨터 그래픽스(computer graphics)연구들이 활발히 진행되고 있다. 특히, 인간의 동작을 가상의 공간에서 구현하는 방법에 관한 연구들이 활발히 진행되고 있다. 하지만 많은 연구가 인간의 일반적인 동작에 한정되어 있다. 본 연구에서는 역운동학(IK, inverse kinematics)을 이용한 스포츠클라이밍 자세생성과 동작제어를 통해 인간의 일반적인 동작 이외에 스포츠클라이밍과 같은 특수 목적의 다양한 동작들을 삼차원의 가상공간에서 가상 인물(virtual character)의 자세 및 동작을 생성하는 시스템을 제안한다. 역운동학(IK, inverse kinematics) 기법을 통한 자세 생성은 역운동학 함수(IK function)와 실제 데이터를 통한 기본자세 애니메이션을 제작, 이를 활용하여 사실성을 더하고 자연스러운 자세 및 동작을 생성한다. 본 논문에서는 스포츠 클라이밍의 기본동작을 이용하여 올바른 자세와 함께 실제와 유사한 동작을 생성하는 시스템을 설계하였다. 이를 통해 클라이머를 위한 학습 프로그램이나 클라이밍 게임 같은 다양한 형태의 스포츠 클라이밍 콘텐츠를 제작하는데 도움이 되고자 한다.

• 전기전자학회논문지
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• 제25권2호
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• pp.362-370
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• 2021

본 논문에서는 휠체어 사용자의 이동권 확보를 위한 계단 승강 로봇 개발에 있어 ToF센서 및 IMU의 데이터를 기반으로 자율 계단 승강 기법을 제시하였다. 자율 계단 계단 승강 기법은 랜딩기어 동작 시점을 위치로 구분하고 상태 머신을 활용하여 제어하였다. 본 연구에서 제시한 이론의 검증을 위해 표준 기준의 모형 계단을 제작하여 실험하였다. 진입각 확보 실험을 통해 랜딩기어의 동작 길이 평균 오차는 2.19%, Pitching 기준 진입각 평균 오차는 2.78%로 부드러운 진입을 확인하였고, 자율 계단 승강 기법의 단계 구분 및 상태 전이를 검증하였다. 제안된 기법의 실적용 시 교통약자들의 이동제약을 줄일 수 있을 것이고, 이동권 보장을 통한 자립심의 고취가 기대된다.

• The Journal of Korean Physical Therapy
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• 제26권1호
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• pp.27-32
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• 2014

Purpose: The purpose of the study was to comparison of trunk muscle activity during static standing position and standing position on therapeutic climbing wall of adult. Methods: Study subject is arbitrarily classified into 10 of experimental group and 10 control group among 20 of adult. Trunk activity measured as rectus abdominalis, external oblique, internal oblique, erector spinae. Control group maintains that center of gravity of trunk pass the front of shoulder, pelvis, knee and ankle on stable surface with putting legs apart more than shoulder width. Experimental group had static exercise on 4 by 3 meter, 90 degree of Therapeutic climbing wall. Starting position is that putting arms and legs apart more than shoulder width. In order to compare the effect of it between the groups, independent t-test was used. Results: According to the test result, significant difference between among rectus abdominalis, erector spinae the experimental groups. And external oblique, internal oblique muscle atvity is no significant difference experimental groups between among the control groups was observed. Conclusion: Trunk muscle activation is activated to standing position on the Therapeutic Climbing Wall more than static standing position.

• The Journal of Korean Physical Therapy
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• 제25권6호
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• pp.393-398
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• 2013

Purpose: The purpose of this study was to compare muscle activation patterns of lower extremities in stroke patients during stepper climbing, stair-up, and level-ground gait conditions by surface electromyography (EMG). Methods: Subjects included 19 hemiplegic patients comprehensive rehabilitation center for inpatients with stroke. Surface EMG was used to measure the subjects' medial gastrocnemius (GCM), tibialis anterior (TA), biceps femoris (BF), and rectus femoris (RF) activity as they took six steps during stepper climbing, stair-up, and level-ground gait conditions. Results: There was no significant difference in the BF or RF muscle activity for the stepper climbing, stair-up, and level-ground gait conditions. However, there were significant differences in the medial GCM and TA muscle activity between each condition on the patients' hemiplegic side(p<0.05). There was significant difference in the medial GCM, TA, RF, and BF muscle activity between each condition on the patients' non-hemiplegic side (p<0.05). Conclusion: As a result, the overall muscle activity during the level-ground gait was higher than the stair-up condition, and the muscle activity during the stair-up condition was higher than the muscle activity during the stepper climbing condition. As one of the many methods used for gait training, we suggest that the stepper exercise could be applied at an earlier stage in the gait training process.

• 한국의류학회지
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• 제37권7호
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• pp.972-983
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• 2013

This study investigates the effects of fashion innovativeness and utilization on the price perception of formal wear and climbing wear as well as gender differences on price perception and the relationship of the variables. Price perception measurements were based on reference price and reservation price; subsequently, a premium price ratio was calculated based on the measured prices. A survey that involved male and female adult consumers was conducted in Daegu in August 2011. A total of 321 responses were analyzed using descriptive statistics, factor analysis, reliability analysis, correlations and independent sample t-test. Two factors of fashion innovativeness were derived and named as unique-oriented innovativeness and change-oriented innovativeness. The utilization of formal wear and climbing wear was higher in the male group versus the female group. Reference price and reservation price were identified similar to the actual consumer purchasing prices reported in previous studies. Male consumers showed a tendency in price perception in accordance with the utilization. The change-oriented innovativeness of the female group led to a positive relationship with the perceived price of climbing jackets.

• 한국자동차공학회논문집
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• 제23권5호
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• pp.478-485
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• 2015

Availability of the climbing angle information is crucial for the intelligent vehicle system. However, the climbing angle information can't be measured with the sensor mounted on the vehicle. In this paper, climbing angle estimation system is proposed. First, longitudinal acceleration obtained from gyro-sensor is compared with the actual longitudinal acceleration of the vehicle. If the vehicle is in yawing motion, actual longitudinal acceleration can't be approximated from time derivative of wheel speed, because lateral velocity and yaw rate affect actual longitudinal acceleration. Wheel speed and yaw rate can be obtained from the sensors mounted on the vehicle, but lateral velocity can't be measured from the sensor. Therefore, lateral velocity is estimated using unknown input observer with nonlinear tire model. Simulation results show that the compensated results using lateral velocity and yaw rate show better performance than uncompensated results.

• 로봇학회논문지
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• 제6권2호
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.