• 제어로봇시스템학회논문지
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• 제8권2호
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• pp.142-150
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• 2002

This paper presents a systematic method of the zigzag gait planning for quadruped walking robots. When a robot walks with a zigzag gait, its body is allowed to move from side to side, while the body movement is restricted along a moving direction in conventional continuous gaits. The zigzag movement of the body is effective to improve the gait stability margin. To plan a zigzag gait in a systematic way, the relationship between the center of gravity(COG) and the stability margin is firstly investigated. Then, new geometrical method is introduced to plan a sequence of the body movement which guarantees a maximum stability margin as well as monotonicity along a moving direction. Finally, an optimal swing-leg sequence is chosen for a given arbitrary configuration of the robot. To verify the proposed method, computer simulations have been performed for both cases of a periodic gait and a non-periodic gait.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권8호
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• pp.585-593
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• 2004

Fault-tolerant gait planning in legged locomotion is to design gaits with which legged robots can maintain static stability and motion continuity against a failure in a leg. For planning a robust and deadlock-free fault-tolerant gait, kinematic constraints caused by a failed leg should be closely examined with respect to remaining mobility of the leg. In this paper, based on the authors's previous results, deadlock avoidance scheme for fault-tolerant gait planning is proposed for a hexapod robot walking over even terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. It is shown that for guaranteeing the existence of the previously proposed fault-tolerant tripod gait of a hexapod robot, the configuration of the failed leg must be within a range of kinematic constraints. Then, for coping with failure situations where the existence condition is not satisfied, the previous fault-tolerant tripod gait is improved by including the adjustment of the foot trajectory. The foot trajectory adjustment procedure is analytically derived to show that it can help the fault-tolerant gait avoid deadlock resulting from the kinematic constraint and does not make any harmful effect on gait mobility. The post-failure walking problem of a hexapod robot with the normal tripod gait is addressed as a case study to show the effectiveness of the proposed scheme.

• 전기학회논문지
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• 제68권3호
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• pp.471-479
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• 2019

This research proposes a indoor magnetic map matching algorithm that improves the position accuracy by employing multiple magnetic sensors and probabilistic candidate weighting function. Since the magnetic field is easily distorted by the surrounding environment, the distorted magnetic field can be used for position mapping, and multiple sensor configuration is useful to improve mapping accuracy. Nevertheless, the position error is likely to increase because the external magnetic disturbances have repeated pattern in indoor environment and several points have similar magnetic field distortion characteristics. Those errors cause large position error, which reduces the accuracy of the position detection. In order to solve this problem, we propose a method to reduce the error using multiple sensors and likelihood boundaries that uses human walking characteristics. Also, to reduce the maximum position error, we propose an algorithm that weights according to their importance. We performed indoor walking tests to evaluate the performance of the algorithm and analyzed the position detection error rate and maximum distance error. From the results we can confirm that the accuracy of position detection is greatly improved.

• 전기전자학회논문지
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• 제16권3호
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• pp.235-243
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• 2012

In this study, we developed two legged multi-joint robot by using wireless servo motor that was applied by wireless sensor network technology, which is widely used recently, and performed an experiment of walking method of two legged multi-joint robot. We constructed the star network with servo motors which were used at each joint of two-legged robot. And we designed the robot for operation by transmission of joint control signal from main control system or by transmission of the status of each joint to the main control system, so it operates with continuously checking the status of joints at same time. We developed the humanoid robot by using wireless digital servo motor which is different from existing servo motor control system, and controlled it by transmitting the information of angles and speeds of robot joints to the motor(node) as a feedback through main control system after connecting power and setting up the IDs to each joint. We solved noisy problem generated from wire and wire length to connection point of the control device by construction of the wireless network instead of using existing control method of wiring, and also solved problem of poor real time response to gait motion by controlling the position with continuous transmission of control signals to each joint. And we found that the effective control of robot is able by performing the simulation on walking motion in advance with the developed control algorithm which was downloaded into installed memory. Also we performed the stable walking with two-legged robot by attaching pressure sensor to robot sole. And we examined the robot gait operated by application of calculated algorithm on robot movement to each joint. In this study, we studied the method of controlling robot gait motion by using wireless servo motors and measured the torque applied to each joint, and found that the developed wireless servo motor by ZigBee sensor network offers easier control of two legged robot gait and better circuit configuration of it than the existing wired control system could do.

• KIEAE Journal
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• 제15권2호
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• pp.19-26
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• 2015

Purpose: Maximizing human comfort in design of medical environments depends immensely on specialized architects particularly critical care design; the study proposes Evidence-Based Design as an apparent analog to Evidence-Based Medicine. Healthcare facility designs are substantially based on the findings of study in an effort to design environments that augment care by improving patient safety and being therapeutic. On SPSS (Statistical Package for Social Science) t-test is applied to simulate two independent variables of PDR (Pre Design-Research) and POE (Post- Occupancy Evaluation). PDR is conducted on relatively new hospital Hallym University Dongtan Sacred Heart Hospital to analyse visibility from researchers' point of view, here the ICU is arranged in I-Shape. POE is applied on Dongguk University Ilsan Hospital to simulate walking on LogWare where two NS are designed based on L- Shape and Seoul St. Mary's Hospital, The Catholic University of Korea where five NS are functional for ICU Intensive Care Unit, Surgical Intensive Care Unit (SICU), Medical Intensive Care Unit (MICU), Critical Care Unit (CCU), Korean Oriental Medical Care Unit which are mostly arranged in U-Shape, and walking pattern is recognized to be in a zigzag path. Method: T-Test is applied on two dependent communication variables: walkability and visibility, with confidence interval of 95%. This study systematically analyses the Nurse Station (NS) typo-morphology, and simulates nurse horizontal circulation, by computing round route visits to patient's bed, then estimating minimum round route on LogWare stop sequence software. The visual connectivity is measured on depth map graphs. Hence the aim is to reduce staff stress and fatigue for better patients care by minimizing staff horizontal travel time and to facilitate nurse walk path and support space distribution by increasing effectiveness in delivering care. Result: Applying visibility graph and isovist field on space syntax on I- Shape, L- Shape and U- Shape ICU (SICU, MICU and CCU) configuration, I-shape facilitated 20% more patients in linear view as they stir to rise from their beds from nurse station compared to U-shape. In conclusion, it was proved that U-Shape supply minimum walking and maximum visibility; and L shape provides just visibility as the nurse is at pivot. I shape provides panoramic view from the Nurse Station but very rigorous walking.

• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
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• 제21권3호
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• pp.25-35
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• 2015

Purpose: Signs that are installed at unnoticeable places or that disconnect before the destination can bring errors of location information delivery. Therefore, this study aims to find out the spatial relation between structure of space and signs in the perspective of visual exposure possibility, operating arrangement and assesment by applying spatial structure theory. Methods: Effectiveness of organization of guidance signs was evaluated after the four way-finding factors(Plan Configuration, Sign System, Perceptual Access, Architectural Difference) that G.D.Weisman suggested were interpreted by spatial structure theory(J-Graph analysis, Space Syntax, Visual Graph Analysis) under the premise that it is closely related to the structure of space. Results: 1) Because the south corridor that connects each department of outpatient division is located in the hierarchy center of the space, and walking density is expected to be high, guidance signs need to be organized at the place with high integration value. 2) The depth to the destination space can be estimated through J-Graph analysis. The depth means a switch of direction, and the guidance signs are needed according to the number. 3) According to visibility graph analysis, visual exposure can be different in the same hierarchy unit space according to the shape of the flat surface. Based on these data, location adjustment of signs is possible, and the improvement effect can be estimated quantitatively. Implications: Spatial structure theory can be utilized to design and evaluate sign systems, and it helps to clearly understand the improvement effect. It is desirable to specify design and estimation of sign systems in the order of J-Graph analysis${\rightarrow}$Space Syntax Theory${\rightarrow}$visibility graph analysis.

• 한국실내디자인학회논문집
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• 제24권5호
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• pp.144-152
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• 2015

In modern city, art museum is regarded as significant institutions because it includes educational roles beyond the means of facilities for historical exhibitions. Based on these flow, various research of museum's space with view from the operational point to the spatial analysis point has been approached. Moreover, it is required to address human behavior in art museum space on the ground that lots of audience move simultaneously. In the field of interior architecture, it is also necessary to analyze how design elements affect the human behavior directly and use the method of controling a circulation. In this research, based on the role and importance of the basic components of the interior space, re-interprets the exhibition space based on the relevant theory, to comprehensively examine the influence the shape of the space is on the substantially walking behavior. Therefore, first is to determine whether the spatial type corresponding to the position of the connectors in the exhibition space. Second is to conduct the investigation observation for gathering the actual viewing exhibition circulation. Finally, it analyzed whether the observed actual circulation and planned circulation matched. As the result, the position of the connectors is that causes the difference of the spatial configuration, which affects the viewing circulation was found. The significance of the research is to present the form to plans of the interior space as a method of reducing congestion perception of viewing circulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2217-2220
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• 2005

This paper introduces a practical implementation of virtual crowd simulation software. Usual commercial crowd simulation softwares are complex and have program-like script interfaces, which makes an animator hard to learn and use them. Based on the observations that most crowd scenes include walking, running and fighting movements, we have implemented a crowd simulation system that automatically generates movements of virtual characters given user's minimal direction of initial configuration. The system was implemented as a plug-in of Maya which is one of the most commonly used 3D software for movies. Because generated movements are based on optically captured motion clips, the results are sufficiently natural.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 1996년도 Proceedings International Workshop on New Video Media Technology
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• pp.13-17
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• 1996

This paper presents animation techniques and issues involved in virtual environments where the participants interact with each other through a network. The state of the participant should be recognized at each local site, and broadcast to the other sites. Because information exchange is minimal, animation techniques are applied to convert the incoming low DOF parameters into high DOF joint angles that completely determine the configuration of the agents at each frame. As a case study, a software system VRLOCO is introduced, which has been developed by the author over the last five years. From a simple stream of body center positions, VRLOCO generates realistic curved path human locomotion in real-time. Based on the heading direction and speed, the locomotion automatically switches among five different primitives: walking, running, lateral stepping, backward stepping, and turnaround. The techniques presented here proved robust and faithful: the algorithm is not sensitive to the noise in the data, and the resulting animation conforms well with the original data.

• 한국화재소방학회논문지
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• 제3권2호
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• pp.11-19
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• 1989

In this study, the independent variables are the floor plan configulation. The dependent variables are the occupant's egress behavior, especially spatial movement pattern, and life - safety performance of building. Fire events were simulated on single story of office building. Simulation run for allowable secaping thime(180 seconds) arbitrarily selected, and involved 48 occupants. The major findings Pre as follows. 1) Computer simulation model suggested in this study can be used as the Preoccupancy evaluation method of the life-safety performance for architectural design based on prediction of occupants' egress behavior in the levels of validity and sensitivity, 2) Sucess or failure in occupants' escape is determined by decreasing walking speed caused by jamming at exits or over crowded corridor, and increasing route length caused by running about in confusion at each subdivision and corridor. 3) In floor plan configuration which safe areas located at the extreme ends of the corridor, cellular floor planning have to be avoided preventing jamming and running about in confusion at overcrowded corridor.