• Journal of the Korea Society of Computer and Information
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• v.11 no.1 s.39
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• pp.129-138
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• 2006

Various techniques have been applied to solve the maximal covering problem. Tabu search is also one of them. But, existing researches were lacking of the synthetic analysis and the effort for performance improvement about neighborhood search techniques such as hill-climbing search and simulated annealing including tabu search. In this paper, I introduce the way to improve performance of neighborhood search techniques through various experiments and analyses. Basically, all neighborhood search algorithms use the k-exchange neighborhood generation method. And I analyzed how the performance of each algorithm changes according to various parameter settings. Experimental results have shown that simple hill-climbing search and simulated annealing can produce better results than any other techniques. And I confirmed that simple hill-climbing search can produce similar results as simulated annealing unlike general case.

• Journal of Biomedical Engineering Research
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• v.17 no.1
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• pp.1-10
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• 1996

In this paper, describe the automatic climbing wheelchair system use an articulated crawler mobile robot. This wheelchair system(call system) is composed of sensor detecting part and wireless communication part with PC. The sensor parts are consisted of sloping sensor and ultrasonic sensor part. The sloping sensor measures the sloping angle of system, and the ultrasonic sensor measures the distance of system's front wheel center from stair. PC will generate the operation data to climb up the stair using the measured data and make primitives for the system. At firsts This system transfer from sensor data to the PC. PC calculate the operation data to climb up the stair from the internal algorithm. We simulated the system in various stair angle slope($25^{\circ}$, $30^{\circ}$, $45^{\circ}$), and tested it on the real staircase with width 37cm, highlt 18cm, Angle $26^{\circ}$ . There were $0.350^{\circ}$ - $1.060^{\circ}$ Angle errors while climbing because adapted sensor has a precision $0.35^{\circ}$ in resolution. Finally, We implemented the sensor detecting part and the wireless communication park and practiced our system in 4cm/sec speed.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.915-920
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• 2013

Payload capacity and transition ability are essential for climbing robots to apply the robots to various applications such as inspection and exploration. This paper presents a new climbing robotic platform with multi-link structure of track-wheel modules to enhance payload capacity and transition ability, and its tracking controller design and experimental results. The compliances between track-wheel modules achieve stable internal and external transitions while the large adhesion area of the track-wheel module enhances the payload capacity of the robot. Kinematic model-based tracking controller is designed and implemented for autonomous internal transition, and the gains of the controller are optimized by experimental design. Experiments on the automatic internal transitions are performed and the results guarantee autonomous internal transition with little tracking error.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2011.05a
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• pp.167-169
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• 2011

Construction Automation as a way to solve the problems of lack of skilled labor by decrease in construction population productivity and quality decrease. We are on the way to develop a construction automation system adequate for domestic circumstances in Korea; it is called RCA(Robotic-crane based Construction Automation) system. Climbing hydraulic robot system is a part of RCA system and makes Construction Factory(CF) climb next floor. The controller can control movement needs to be developed for CF safety. Synchronous control the actual field was applied to the controller logic and synchronous control of the process through which the safety has been verified. The purpose of this study that control of climbing hydraulic robot system behavior on real-time, and to improve safety for overall construction automation system through synchronous motion controller.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.740-743
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• 2005

Most works of the large vertical ceiling structures have been performed by human manually. These works require much more operation costs, labors and times, etc. Beside most people avoid this works because of it's characteristic such as danger, dirty and difficulty. So necessity of automation for these works has been rising. This automation needs a wall climbing mobile vehicle because of the movement of platform large workspace. In this study, we aim at develop the wheel which can be used for vertical wall-climbing mobile robot using electromagnet wheel. The wheel proposed can be available for several working processes on structures which consist magnetic substance.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.3
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• pp.329-334
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• 2008

It is well-known that a kind of wheel drive mechanism is usefully employed in various service robots. One of the essential requirements for such robots is regarded as the capability of climbing that enables them to run on an inclined road smoothly. So, this paper considers the capability of climbing in a wheel drive robotic mechanism and proposes a necessary discriminating condition to determine the specification of a driving actuator which will be employed. Consequently, it is expected that the proposed discriminating condition can be applied to wheel drive robotic mechanisms in the design aspect.

• Journal of Korean Society of Transportation
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• v.17 no.1
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• pp.19-28
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• 1999

This study deals with developing Critical GaP Model and Merge Probability Model which describe traffic patterns in the microscopic view, for the Purpose of suggesting a proper design criteria within the climbing lane section. Minimum tolerance speeds at the end of the climbing lane are calculated 60km/hr for 2-lane freeway, and 75km/hr for 4-lane freeway. In case of 2-lane freeway, the result is same as existing design criteria. and a new value is 15km/hr higher than existing design criteria for 4-lane freeway. In addition, auxiliary length at the end of the climbing lane is needed about 200m for 4-lane freeway to adjust high minimum tolerance speed. Therefore we propose to increase minimum tolerance speed for 4-lane freeway.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.815-817
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• 2022

This paper is about the development of an automatic stair climbing trolley for carrying loads without manpower. The design of tri-wheeled structure and center of mass enable the trolley to move on flat ground and also to ascend stairs by self-balancing. The overall design enables the trolley to avoid collision to walls when the trolley rotates on domestic landings. When the camera recognizes the stair, the sensor measures distance from the trolley to the stair. Then the trolley can move to align itself in the middle of the stair and it starts climbing. It can ascend to a specific floor based on the floor number entered by the user. As a result, the automatic stair climbing trolley is expected to help humans by protecting from accidents of dropping loads and saving their power. It is also expected to use for various purposes such as delivering packages, moving and carrying heavy loads in buildings without elevator.

• The Journal of Korean Physical Therapy
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• v.28 no.2
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• pp.88-94
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• 2016

Purpose: The purpose of this study was to compare therapeutic climbing exercise and general isometric exercise in patients with shoulder impingement syndrome. Methods: Among 20 adults, study subjects were arbitrarily classified into an experimental group of 10 and a control group of 10. The control group performed general isometric exercise (ISE) and the experimental group performed therapeutic climbing exercise (TC) (3 sets, 3 times per week for 8 weeks). To evaluate the effects of exercise, subjects were evaluated using a Disabilities of the arm, shoulder and hand score (DASH), a goniometer for range of motion, and shoulder activity measured serratus anterior, upper trapezius, and lower trapezius. Independent and paired t-test were used for comparison of the effect between groups. Results: DASH scores showed a significant decrease in both groups after 8 weeks of treatment (p<0.001) and significant difference was observed between the TC groups (p<0.01). Flexion and abduction were significantly increased after 8 weeks of treatment in the ISE group (p<0.001) and flexion, abduction, external and internal rotation were significantly increased after 8 weeks of treatment in the TC group (p<0.001). Serratus anterior and lower trapezius activity were significantly increased after 8 weeks of treatment (p<0.001) and upper trapezius activity was not significantly increased after 8 weeks of treatment in the ISE group (p>0.05). Serratus anterior, lower trapezius, and upper trapezius activity were significantly increased after 8 weeks of treatment in the TC group (p<0.001). Conclusion: Scapular stabilizing exercise using a therapeutic climbing exercise increases range of motion and decreases DASH, and increases activity of shoulder muscles in patients with impingement syndrome.

• 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.