• Journal of the Korean Society for Precision Engineering
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• v.29 no.2
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• pp.178-184
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• 2012

This paper presents a transformable track mechanism for wall climbing robots. The proposed mechanism allows a wall climbing robot to go over obstacles by transforming the track shape, and also increases contact area between track and wall surface for safe attachment. The track mechanism is realized using a timing belt track with one driving actuator. The inner frame of the track consists of serially connected 5R-joints and 1P-joint, and all joints of the inner frame are passively operated by springs, so the mechanism does not require any actuators and complex control algorithms to change its shape. Static analysis is carried out to determine design parameters which enable $90^{\circ}$ wall-to-wall transition and driving over projected obstacles on wall surfaces. A Prototype is manufactured using the transformable track on which polymer magnets are installed for adhesion force. The size of the prototype is $628mm{\times}200mm{\times}150mm$ ($Length{\times}Width{\times}Height$) and weight is 4kgf. Experiments are performed to verify its climbing capability focusing on $90^{\circ}$ wall to wall transition and driving over projected obstacle.

• The Journal of the Korea Contents Association
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• v.16 no.8
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• pp.202-208
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• 2016

The scope of activities of the visually impaired is increasing. But they are not easy to visit the destination safely because the building was complicated and larger than ever. There is a guide system for visually impaired such as GPS and Audio alerts, Braille guide block, Acoustic signaller, etc. But they are not suitable for indoor because most of them are the outdoor guide system. Therefore, in this paper, I propose a system that provides guidance information to the visually impaired using Voice Technology, TTS (Text to Speech) and Haptic Technology, Beacon based on the wireless sensor networks. It informed the visually impaired of guidance information about destination such as distance, height, and obstacle to the destination using the generalized smart phone. The user could be received guide info about searches for the optimal route to the destination using the TTS technology and Haptic technology in test result of the proposed system.

• Journal of Bio-Environment Control
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• v.16 no.3
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• pp.217-221
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• 2007

To provide the basic data essential for developing varieties of broad-leaved tree, the study investigated the utmost growth requirement for the growth characteristic and biomass production in accordance with planting density of Styrax obassia. The planting density of seedling can be a significant factor in contributing growth of seedling for tree growing in general. While growth of tree according to $1m^2$ planting density of Styrax obassia showed an excellent growth in tree height and the root collar diameter from $49no./m^2$, those low planting density showed decreased tendency with tree height growth while increasing the root collar diameter growth. As similar to the growth characteristic, the biomass production showed significant and statistic difference in $49no./m^2$, showing high volume of biomass production which is $3.12{\pm}0.80g$ compare to other processing section and high figure with T/R ratio which is 1.59. The special trait of photosynthetic also showed relatively high photosynthetic rate in $49no./m^2\;and\;64no./m^2$ of Styrax obassia and as the density increase, photosynthetic efficiency decreased. The plant showed stable and physiological planting pattern, displaying the best photosynthetic rate, which was the final metabolism through reserving proper space in the growth and development environment condition. This obstacle of required space essential for growth substantially deteriorated planting and ultimately, it demonstrated lower tendency of photosynthetic rate, which is the highest level of metabolism.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.3B
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• pp.261-270
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• 2008

Even though there is a great deal of progress in a numerical method of high caliber like SPH, it is very rarely deployed in a water resources community. Despite the great stride in computing environment, depth averaged approach like a nonlinear shallow equation is still efficient tool for flood routing in large watershed, but it can give some misleading information like the inundation height of flood. In this rationale, we numerically simulate the flow into the dry channel, dry channel with an obstacle triggered by the collapse of a two dimensional water column using SPH (Smoothed Particle Hydrodynamics) in order to boost the application of numerical method of high caliber like SPH in a water resources community. As a most severe test of the robustness of SPH, we also carry out the simulation of the flow through a clearance into the wet channel driven by the rapid removal of a water gate. As a hydrodynamic model, we used the Navier-Stokes equation, a numerical integration of which was carried out using SPH. To verify the validity of newly proposed numerical model, we compare the numerically simulated flow with the others in the literature mainly from VOF and MAC, and hydraulic experiments by Martin and Moyce (1952), Koshizuka et al. (1995) and Janosi et al. (2004). It was shown that agreements between the numerical results in this study and hydraulic experiments are remarkable.

• Korean Journal of Construction Engineering and Management
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• v.22 no.6
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• pp.96-106
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• 2021

The PC structure based on the OSC (Off-Site Construction) is mentioned as a representative method of innovation in the construction industry that converts the existing construction environment from site-centered to factory production-transportation-site assembly. However, recent research on PC method has focused on improving the functions of subsidiary materials and improving the production system to increase productivity and institutional / policy R&D that can be universally applied to the life-cycle stage of ordering / design /construction is insufficient. In particular, the absence of standardized cost calculation standards makes it difficult to calculate and verify of objectified appropriate construction cost. So which is an obstacle to the activation of the PC method. In this study, the standards for construction costs of domestic and foreign PC method were surveyed and similar Construction Standard Production Rates were analyzed to confirm the product structure suitable for PC method. Subsequently, the construction procedures and input resources for each PC subsidiary materials were identified through on-site surveys to derive component for subsidiary materials, and the factors of change in the product according to the construction characteristics(height, weight of subsidiary material) were verified. As a result the standard product calculation system suitable for the site installation of the PC method for apartment was presented.

• Korean Journal of Remote Sensing
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• v.38 no.6_1
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• pp.1025-1034
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• 2022

In this paper, we propose a post-processing method through interpolation of hole regions that occur when extracting point clouds. When image matching is performed on stereo image data, holes occur due to occlusion and building façade area. This area may become an obstacle to the creation of additional products based on the point cloud in the future, so an effective processing technique is required. First, an initial point cloud is extracted based on the disparity map generated by applying stereo image matching. We transform the point cloud into a grid. Then a hole area is extracted due to occlusion and building façade area. By repeating the process of creating Triangulated Irregular Network (TIN) triangle in the hall area and processing the inner value of the triangle as the minimum height value of the area, it is possible to perform interpolation without awkwardness between the building and the ground surface around the building. A new point cloud is created by adding the location information corresponding to the interpolated area from the grid data as a point. To minimize the addition of unnecessary points during the interpolation process, the interpolated data to an area outside the initial point cloud area was not processed. The RGB brightness value applied to the interpolated point cloud was processed by setting the image with the closest pixel distance to the shooting center among the stereo images used for matching. It was confirmed that the shielded area generated after generating the point cloud of the target area was effectively processed through the proposed technique.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.10
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• pp.415-424
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• 2019

In this paper, a minimum rotation radius was designed and fabricated to overcome the threshold so that elderly or disabled people who have difficulty moving can move and transfer safely and conveniently in a narrow room. In the indoor environment, where the sedentary culture develops, this study aimed to provide convenience for passengers with fracture diseases, geriatric diseases, and other knee and waist diseases. First, links, seats, armrests, covers, motors, batteries, chargers, controllers, etc. were attached to the frame so that they could be moved and lifted indoors. The product design and structure were designed considering the user's environment and physical characteristics, and IoT functions were added. A driving experiment was performed to confirm the operating performance of the manufactured indoor moving and lifting wheelchair. The performance tests, such as continuous running time, turning radius, maximum actuator load, maximum lift height, sound pressure level, minimum sensing distance of the driving aid sensor, interworking of server and app programs, device compatibility, and duty cycle error rate, were performed. As a result of the test, the built-in wheelchair could achieve the performance test target of each item and operate successfully.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.11
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• pp.851-860
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• 2020

With an increase in the aging population and a rising social interest in health and welfare, studies to improve healthcare in the elderly are being actively conducted. This study attempted to improve the current design and manufacture of elevating electric wheelchairs to enhance user safety and convenience. Seat design based on the user's body shape, convenience while boarding or alighting, caster turning radius and, safety and stability features that prevent shaking when the user gets up or sits down were improved. A driving experiment was conducted to evaluate the operation of the indoor electric wheelchair designed and manufactured with these additional functionalities. During the test, the performance parameters evaluated were continuous driving time, turning radius, maximum lifting and lowering load, maximum lifting height, noise level, minimum distance sensing by the driving auxiliary sensor, ability to interact with server and app programs, and the duty cycle maximum error rate. The test confirmed that this improved electric wheelchair successfully met target parameters. In a future study, we will evaluate this improved electric wheelchair from a user's perspective for its usability parameters, such as satisfaction, convenience and stability.

• Korean Journal of Organic Agriculture
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• v.26 no.2
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• pp.217-232
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• 2018

Drought is a major obstacle to high agricultural productivity, worldwide. In drought, it is usually presented by the simultaneous action of high temperature and drying. Also there are negative effects of plant growth under drying conditions. In this study, the effect of Bacillus velezensis YP2 on plant growth-promotion and soil drying stress tolerance of kale plants, Brassica oleracea var. alboglabra Bailey, were investigated under two different conditions; greenhouse and field environments. Root colonization ability of B. velezensis YP2 was also analysed by using plating culture method. As a result of the greenhouse test, the YP2 strain significantly promoted the growth of kale seedlings in increasement of 26.7% of plant height and 142.2% of shoot fresh weight compared to control. B. velezensis YP2 have the mitigation effect of drying injury of kale by decreasing of 39.4% compared to control. In the field test, B. velezensis YP2 strain was also found to be effective for plant growth-promotion and mitigation of drying stress injury on kale plants. Especially, relative water contents (RWC; %) were higher in B. velezensis YP2 treated kales than in control at 7, 10, 14 day after non-watering. The root colonization ability of YP2 strain was continued at least for 21 days after soil drenching treatment of B. velezensis YP2. Our result suggested that enhancement of plant growth and drying injury reduction of kale plants were involved in kale root colonization by B. velezensis YP2, which might be contributed to increasing water availability of plants. Consequentially, the use of B. velezensis YP2 might be a beneficial influence for improving productivity of kale plants under drying stress conditions.