In this paper, we proposed and tested an indoor obstacle recognition and avoidance algorithm using vision and ultrasonic sensors for effective operation of drone with low-power. In this paper, the indoor flight of a drone is mainly composed of two algorithms. First, for the indoor flight of the drone, the vanishing point and the center point of the image were extracted through Hough transform of the input image of the vision sensor. The drone moves along the extracted vanishing point. Second, we set an area of interest so that the drone can avoid obstacles. The area of interest is a space where the drone can fly after recognizing an obstacle at a distance from the ultrasonic sensor. When an obstacle is recognized in the drone's area of ​​interest, the drone performs an obstacle avoidance action. To verify the algorithm proposed in this paper, a simple obstacle was installed in an indoor environment and the drone was flown. From the experimental results, the proposed algorithm confirmed the indoor flight and obstacle avoidance behavior of the drone according to the vanishing point.

Various underwater studies using underwater sonar sensors are actively in progress. However, unlike the ground, the underwater has a lot of noise. So it is difficult to accurately recognize the underwater environment. The final purpose of this study is to improve the efficiency of the underwater environment recognition using the underwater sonar sensor by developing a filtering algorithm that removes noise and expresses the object from the underwater sonar image captured by the underwater sonar sensor. To develop a filtering algorithm, convolutional calculations were used with three types of filters. This paper is about the case study that conducted to set the parameters of ‘Gabor Filter’ suitable for underwater sonar image during the design process of filtering algorithm. As a result, it was possible to find the most suitable ‘Gabor Filter’ parameters for underwater sonar images. And it showed high accuracy with a binary map of obstacles created by hand using the naked eye. Through this study, it can be utilized not only as a binary map of real-time obstacles, but also as an algorithm for generating object masks in underwater sonar images for deep learning.

The numerical analysis of two-dimensional transient flow around the obstacle with rotated square cross sections was carried out. The obtained velocity distributions for each time step and each rotation angle were imaged to provide data for CNN(convolutional neural network). Both classification and regression neural networks were used for prediction of rotation angle. As results The classification method incorrectly predicted the rotation angle in only 2 of the 470 images. The regression method predicted the rotation angle errors within except 2 out of 470 images. From these facts, it could be concluded that both methods can be sufficiently applicable to the flow analysis.

Background: Obstacle training affects lower limb muscle activity, balance, reducing the risk of falls, and making gait more stable. Objects: This study aimed to investigate the effects of aquatic and ground obstacle training on balance and muscle activity in patients with chronic stroke. Methods: The study subjects included 30 patients with stroke, who were divided into aquatic (n1= 15) and ground (n2=15) groups. Groups underwent obstacle training three times per week, 30 min per session, for six weeks that went as follows: walking over sites with the paralyzed leg, stepping onto and down from a box step, and walking over obstacles with the non-paralyzed leg. Results: The experimental results were obtained by comparing muscle activity. Activity of the rectus femoris, biceps femoris, tibialis anterior, and gastrocnemius were significantly increased in the aquatic group (p<.05). Activity of the biceps femoris and tibialis anterior were significantly increased in the ground group (p<.05); however, the rectus femoris and gastrocnemius were not significantly different. In the comparison of maximal distance regarding the limits of stability, it was significantly increased on the non-affected side, affected side, and anterior and posterior distance in the aquatic group (p<.05). It was significantly increased in the non-affected side and anterior and posterior distance the ground group (p<.05); however, maximal distance on the affected side distance was not significantly different. Conclusion: Gait training with aquatic and ground obstacles is effective for improving balance and gait ability of patients with stroke. However, it was more effective for the aquatic group than for the ground group.

Previous studies have investigated stepping over obstacles in treadmill walking training (TWT-OS) and treadmill walking training (TWT) alone for walking capacity not considering real physical activity. As such, we investigated the effects of TWT-OS on physical activity and changes in different levels of physical activity based on community ambulation in stroke patients. Thirty subjects were randomly assigned to either the experimental group or the control group, with 15 and 15 subjects, respectively. However, one subject from the control group was excluded because of inadequate treatment sessions. All subjects underwent routine physical therapy in the form of treadmill walking. The subjects in the experimental group underwent simultaneous training in obstacle-stepping while walking on the treadmill for 30 min/day, five times/week, for four weeks. Subjects were given a three-axis accelerometer to wear at the hip on a belt for one-week pre- and post-training physical activity. Step counts for seven days, average daily step counts, and the average of minutes spent in sedentary, light, and above moderate activity were chosen as outcome measures of physical activity. No significant differences between the groups were found in terms of step counts for seven days, average daily activity, or daily activity spent at sedentary levels after four-week interventions. However, the average daily activity spent at light levels (-42.60 min vs. -6.71 min) was significantly lower in the experimental group than in the controls. Conversely, average daily activity spent at above moderate levels was higher (19.86 min vs. 11.07 min) (p<.05) after adjusting for each baseline value. Significant pre- and post-training differences were found in all variables of the experimental group (p<.05). Thus, TWT-OS could improve physical levels above moderate activity as a community-oriented task more than simple repetitive waking on a treadmill, and it could provide an opportunity for patients ambulatory after stroke to participate in the community again.

There are many researches about UGV mechanism regarding uneven terrains such as mud, sand, gravel, and vertical obstacle. This paper introduces a mobile mechanism to overcome the vertical obstacle for the UGV. Moreover, this paper proposes an asymmetric mechanism of wheels to overcome obstacle. Major system geometry parameters such as will be determined under certain constraints. Several mobile mechanisms will be compared with the proposed system.

This study aimed to evaluate factors related to the ability of ambulatory patients with cerebral palsy (CP) to walk over vertical and horizontal obstacles. Twenty patients with spastic CP who were able to walk independently for at least 10 m with or without walking devices were recruited for the study. Participants were required to walk over small obstacles (1, 4, and 8 cm in height or width; total of 6 conditions). A 'fail' was recorded when either the lower limbs or the walking device contacted the obstacle. Linear regression analyses were used to determine the effects of age, sex, walking devices, eyeglasses, subtype (hemiplegia or diplegia), ankle foot orthoses, functional level, and score of body mass index on the ability of obstacle crossing. Fifteen participants (75%) failed to adequately clear the foot or walking device over obstacles in at least 1 condition. The chance of failure in crossing vertical obstacle was affected by the use of ankle foot orthoses, eyeglasses, gender, and CP subtype (p<.05). The failure rate crossing horizontal obstacle was affected by CP subtype. These findings suggest that rehabilitation procedures should (1) consider the clinical characteristics of patients in order to prepare them to be more independent while performing daily activities, and (2) incorporate environmental conditions that patients encounter at home and in the community.

해안 지역은 해수의 운동에너지의 대부분은 해안에서 소산되며 이 과정에서 해안의 토사 등이 유실된다. 수면에 돌출된 방파제에 비해 수중구조물은 해수의 유통을 가능하게 하고 해안선을 따라 해수순환을 가능케 한다. 이 연구에서는 해안 침식을 방지 기능을 갖는 수중구조물을 하부틈새를 갖는 수중장애물로 형상화 하고 후방의 흐름특성을 규명하였다. 실험은 Re =1.2×104 조건에서 2프레임 입자영상유속계를 이용하여 속도장을 계측하여 고찰하였다. 측정된 시간평균 속도분포를 분석한 결과 유선의 곡률 효과가 현저히 나타났으며 전단층 주위 유체의 유입 등의 영향으로 박리 전단층 내에서 커다란 와구조가 연속적으로 발생하였다. 또한 하부틈새의 크기가 증가할수록 재순환 영역의 중심이 후류로 이동하고 재순환영역의 강도도 약해지는 결과를 보였다.

The purpose of this study was to investigate the changes of the center of pressure (COP) trajectory in healthy elderly subjects while crossing an obstacle before and after participation in Tai Chi training. Forty healthy elderly subjects participated either in a 12-week intervention of Tai Chi training or in a health education program. The participants were divided into two groups (the experimental group and the control group). Subsequently, the participants were pre- and post-tested on crossing over an obstacle from a quiet stance. Participants in the experimental group received Tai Chi training that emphasized the smooth integration of trunk rotation, a shift in weight bearing from bilateral to unilateral support and coordination and a gradual narrowing of the lower-extremity stance three times weekly. The participants in the control group attended a health education program one hour weekly and heard lectures about general information to promote health. Performance was assessed by recording the changes in the displacement of the COP in the anteroposterior (A-P) and mediolateral (M-L) directions using a force platform. Participants in the Tai Chi group significantly increased the A-P and M-L displacement of the COP after Tai Chi training (p<.05). No significant differences in the A-P and the M-L displacement of the COP between pre-testing and post-testing in the control group were found. This study has shown that participation in Tai Chi exercise increased the magnitude of the A-P and M-L displacement of the COP, thereby improving the ability of healthy elderly participation to generate momentum to initiate gait. These findings support the use of Tai Chi training as an effective fall-prevention program for the elderly.

The aim of the present study was to investigate age-related differences in stepping behavior in response to sensory perturbations of postural balance. The participants for this study were 2 healthy elderly adults (mean age=76.0) and 2 younger adults (mean age=25.5). Subjects were asked to step over a 10 cm high obstacle at self-paced speed with the right limb to land on the primary target (normal step length) that is 10 cm in diameter. However, if, during movement, the light was illuminated, then the subject had to step on the secondary target (long step length). It was planned that the onset of the light would be prior to peak Fx of swing limb, between swing peak Fx and swing toe-off, and after swing toe-off. In the younger adults these secondary visual cues were provided at mean times of 240 ms (standard deviation (SD)=11), 402 ms (SD=13), and 476 ms (SD=88) following the movement onset. Corresponding mean times for the healthy elderly were 150 ms (SD=67), 352 ms (SD=39), and 562 ms (SD=115). Results showed great changes in both group and visual cue condition in Fx ground reaction forces and temporal events following the swing toe-off. Swing limb acceleration force (Fx) and stance peak Fx1 was much greater in the young adults compared to the older adults. Both young and older adults increased stance peak Fx2 in the visual cue condition compared to normal stepping. There was no difference in stance peak Fx2 between the visual cue conditions in both groups. Similarly, the time to stance peak Fx2 was much longer for the visual cue condition than for the normal stepping. It was not different between the visual cue conditions in the young adults, but in the elderly mid and late cue was much greater than early cue. In addition, time to stance peak Fx2 and swing and stance time were much longer in the older adults compared to the young adults for the visual cue conditions. These results suggest that unlike young adults, elderly adults did not flexibly modify their responses to unexpected changes in step length while stepping over obstacles.

The purpose of this study is to know the status of prevention on health obstacle in industries with confined space. Total 190 respondents, 95 safety or health managers and 95 confined space workers from 95 industries with confined space are surveyed by hygienists from April 2003, to July 2003. The contents of survey include health-work program in confined space, instrument of oxygen sampling, equipment of ventilation, safety and health education, watching manager, head count, awakening of risk, air condition and emergency training. The results are as follows: 1. It is found 38% of respondents established health-work program in confined space. The percentage of respondents with instrument of oxygen sampling and equipment of ventilation, operation of safety and health education, posting of watching man and operation of head count are 42%, 35%, 75%, 46% and 56%, respectively. 2. The percentage of awakening of risk, confirm of air condition and operation of emergency training are 36%, 25% and 15%, respectively.

3차원 실내공간의 상부에서 일정유속이 유입하여 양측면 하부쪽으로 유출될 경우, 책상형의 가열 장애물 영향에 의한 유동장의 변화와 온도분포를 수치계산 한 결과 다음과 같은 결론을 얻었다. (1)표준 k-ε 2 방정식 모델로 난류유동장을 해석한 결과 장애물을 기준으로 상하부에는 독립적인 큰 재순환 영역이 존재함을 알 수 있었다. (2) 유입류의 속도 변화에 따른 전제적인 유동패턴은 큰 변화없이 상사적인 분포를 하는 것을 알 수 있었다. (3) 유입속도가 감소함에 따라서, 공간에 대한 발열체의 온도영향이 커진다. (4) Re수가 작은 범위 (10 상(4)-10 상(5)에서는 열전달이 급격히 상승하여, Re수가 10 상(5)이상이 도면 열전달이 거의 일정하다.

목적: 이 연구에서는 장애물 높이에 따른 만성 뇌졸중 환자의 장애물 보행 특성과 보상전략을 파악하였다. 방법: 이를 위해 두 가지 장애물 높이 조건(5cm와 15cm)에 따라 장애물 보행의 운동학적 특성을 정상인과 비교하였다. 구체적으로 장애물 보행 전 이륙 거리, 장애물 통과 시 장애물 통과 높이와 장애물 통과 후 착지 거리를 측정하 였다. 결과: 분석결과, 만성 뇌졸중 환자들은 정상인보다 보행 전 이륙 거리와 장애물 통과 후 착지 거리가 상대 적으로 짧은 것으로 나타났다. 또한, 뇌졸중 환자들은 정상인보다 장애물을 통과할 때 통과 높이가 높은 것으로 밝혀졌다. 이러한 보행 움직임 패턴은 두 가지 장애물 조건에서 모두 유사하게 나타났다. 결론: 이러한 결과는 뇌 졸중 환자들이 편측 마비로 인한 움직임 제약에 기인하는 것으로 판단된다. 또한, 신체적 장애로 인해 뇌졸중 환 자들은 장애물 보행 시 낙상을 예방하고, 안정적으로 장애물 보행을 위한 운동보상전략에서 정상인과 차이를 보 인 것으로 생각된다. 결론적으로 이 연구는 만성 뇌졸중 환자들의 운동보상 전략을 장애물 보행을 통해서 규명했 다는 점에서 현장에 유용한 시사점을 제공할 것으로 기대된다.

As the development of autonomous vehicles becomes realistic, many automobile manufacturers and components producers aim to develop ‘completely autonomous driving’. ADAS (Advanced Driver Assistance Systems) which has been applied in automobile recently, supports the driver in controlling lane maintenance, speed and direction in a single lane based on limited road environment. Although technologies of obstacles avoidance on the obstacle environment have been developed, they concentrates on simple obstacle avoidances, not considering the control of the actual vehicle in the real situation which makes drivers feel unsafe from the sudden change of the wheel and the speed of the vehicle. In order to develop the ‘completely autonomous driving’ automobile which perceives the surrounding environment by itself and operates, ability of the vehicle should be enhanced in a way human driver does. In this sense, this paper intends to establish a strategy with which autonomous vehicles behave human-friendly based on vehicle dynamics through the reinforcement learning that is based on Q-learning, a type of machine learning. The obstacle avoidance reinforcement learning proceeded in 5 simulations. The reward rule has been set in the experiment so that the car can learn by itself with recurring events, allowing the experiment to have the similar environment to the one when humans drive. Driving Simulator has been used to verify results of the reinforcement learning. The ultimate goal of this study is to enable autonomous vehicles avoid obstacles in a human-friendly way when obstacles appear in their sight, using controlling methods that have previously been learned in various conditions through the reinforcement learning.

The Expanded Guide Circle (EGC) method has been originally proposed as the guidance navigation method for improving the efficiency of the remote operation using the sensory information. The previous algorithm is, however, concerned only for the omni-directional mobile robot, so it needs to suggest a suitable one for a mobile robot with non-holonomic constraints. The ego-kinematic transform is a method to map points of R2 into the ego-kinematic space which implicitly represents non-holonomic constraints for admissible paths. Thus, robots with non-holonomic constraints in the ego-kinematic space can be considered as “free-flying object”. In this paper, we propose an effective obstacle avoidance method for mobile robots with non-holonomic constraints by applying EGC method in the ego-kinematic space using the ego-kinematic transformation. This proposed method shows that it works better for non-holonomic mobile robots such as differential-drive robot than the original one. The simulation results show its effectiveness of performance.

본 연구는 Fuzzy-AHP를 이용하여 한ㆍ중 카페리 피견인 트레일러 상호주행 시 장애요인의 가중치 분석을 연구의 목적으로 하였다. 이를 위해 본 연구에서는 문헌연구를 통해 1차적으로 요인을 선정한 후, 현 카페리업체에 종사 중인 화물 전문가집단과의 Indepth-Interview를 수행하여 요인을 최종 선정하였다. 선정된 상위 장애 요인은 불안정적 서비스 제공, 제한적 정책 지원, 추가 비용 발 생이며, 이중 불안정적 서비스 제공이 가장 큰 장애요인으로 분석되었다. 선정된 측정변수 11가지 항목은 화물 장치장 공급 부족, 트레일러 보험 및 관리 문제, 특수장비 부족, 전문화된 인력부족, 투입 서비스 항로의 제한, 마케팅 홍보 전략의 부족, 수속 비용 증가 등이며, 이중 불균형 화물 집화에 따른 장비 회송 비용 증가가 가장 큰 장애 요인으로 분석되었으며, 서비스 항로의 제한, 특수장비 부족, 수속의 지연 및 추가 절차 발생이 그 뒤를 이었다.

겨울철 한반도 인공위성 영상을 보면, 백두산을 지나는 공기의 흐름이 동해 해상에서 시·공간적으로 다양한 형태의 구름을 발달시킴을 볼 수 있다. 구름 형태의 다양성은 백두산의 표고(2.7km)와 대기의 안정도에 기인한다. 만약, 백두산 화산 분화가 발생할 경우 백두산의 산악효과에 의해 화산재의 시공간 분포도 구름처럼 다양한 형태를 보일 것이다. 본 연구에서는 백두산 풍하측에 발달하는 산악파가 화산재의 시공간적 분포에 미치는 영향을 고분해능 수치모델을 사용하여 연구하였다. 즉, 수치모델을 사용하여 산 높이가 화산재의 풍하측 확산에 미치는 영향을 시뮬레이션 하여 그 특징을 분석하였다. 수치 시뮬레이션의 초기 조건으로서 백두산 주변의 대기흐름은 Froude 수로서 정의하였다. 여기서, Froude 수 (Fr ≡ U/NH)는 유입풍속(U), 산 높이(H), 그리고 부력 진동수(N)의 함수이다. 연구의 결과에 의하면, 백두산 풍하측에서 발생하는 산악파에 의한 공기 소용돌이 세기가 화산재의 장거리 전송을 결정하며, 그 소용돌이 세기는 Froude 수에 의해 결정된다. 즉, Fr < 0.2 일 때 Karman vortex가 형성되어 화산재의 풍하측 확산은 저해한다. 그러나, Fr가 1에 가까울수록 화산재는 풍하측으로 멀리 확산될 수 있다.

본 연구에서는 균형 및 자세유지와 보행에 중추적인 역할을 하는 것으로 알려진 소뇌에 손상을 입은 소뇌성 운동실조증 환자(n=9)들과 정상 대조군(n=9)을 대상으로 장애물 보행 동안에 나타나는 운동학적 특성을 규명하였다. 실험과제는 낮은 장애물(5cm)과 높은 장애물(15cm) 조건으로 설정하여 장애물을 넘는동안 발의 높이, 장애물을 넘기 전 발의 이륙거리, 장애물을 넘은 후 착지 거리, 장애물을 넘는 동안 발의 외전량, 보행 속도 등의 운동학적 변인을 측정하였다. 연구결과, 소뇌환자 집단은 정상인들에 비해 장애물을 넘는 동안에 발의 높이가 높은 것으로 나타났고, 장애물을 넘기 전후의 발의 위치를 장애물 가까이 위치시키면서 발의 궤도를 "┌┐" 모양의 수직 형태로 넘는 것으로 나타났다. 그리고 발을 의도적으로 높이 들기 위하여 정상인들에 비해 발의 외전량을 증가시켰으며, 보행의 속도 역시 정상인들에 비해 느린 것으로 나타났다. 이러한 결과는 소뇌손상으로 인한 자세제어와 균형 유지에 대한 장애를 보완하기 위한 보행 전략으로써 장애물 보행에 있어서 소뇌가 중요한 역할을 담당하고 있음을 보여준다.