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곤충형 다리 구조를 갖는 4족 로봇의 효율적인 계단 보행 방법
변재오,최윤호,Byun, Jae-Oh,Choi, Yoon-Ho 한국전자통신학회 2015 한국전자통신학회 논문지 Vol.10 No.3
본 논문에서는 곤충형 다리 구조를 갖는 4족 로봇의 정적 계단 보행 시 계단과의 충돌 제약이 없는 효율적인 걸음새 궤적 생성 방법을 제안한다. 우선 4족 로봇의 순기구학 및 역기구학 모델을 각기 대수학적 방법과 기하학적 방법으로 유도한다. 제안한 방법에서는 보행 시작 위치에서 수직 상승 후 사인 파형의 계단 보행 궤적을 생성하고, 계단과의 충돌을 피하기 위한 보행 궤적의 계수를 설정한다. 또한 안정적인 계단 보행을 위한 걸음새 순서를 결정한다. 마지막으로, 컴퓨터 시뮬레이션을 통해 제안한 계단 보행 방법의 효용성 및 실제 적용 가능성을 검증한다. In this paper, we propose an efficient gait trajectory generation method for the static stair climbing of a quadruped robot with mechanism of insectile legs, which has no collision with staris. First, we derive the kinematic and inverse models of a quadruped robot using the algebraic and geometrical methods, respectively. In the proposed method, we generate the stair locomotion trajectory of a sine wave after lifting a leg from the start position, and then determine the coefficient of the generated trajectory to avoid the collision with stairs. In addition, we make the gait sequence for the stable stair locomotion. Finally, we verify the effectiveness and applicability of the proposed stair locomotion method through computer simulations.
변재오,최윤호,Byun, Jae-Oh,Choi, Yoon-Ho 한국전자통신학회 2015 한국전자통신학회 논문지 Vol.10 No.9
본 논문에서는 곤충형 다리 구조를 갖는 4족 로봇의 효율적인 계단 보행을 위해 유전 알고리즘(Genetic Algorithm: GA)에 기반한 계단 보행 방법을 제안한다. 제안한 방법에서는 우선 계단 보행을 위한 요소와 도달 영역을 정의한다. 또한 GA 수행을 위한 유전자와 적합도 함수를 설정하고, GA를 이용하여 최소 이동 거리와 최적 에너지 안정도 여유(Energy Stability Margin: ESM)을 갖는 4족 로봇의 착지 지점을 탐색하여 걸음새 궤적을 생성한다. 마지막으로, 컴퓨터 시뮬레이션을 통해 본 논문에서 제안한 계단 보행 방법의 효용성 및 우수성을 검증한다. In this paper, we propose an efficient stair locomotion method for a quadruped robot with mechanism of insectile legs using genetic algorithm(GA). In the proposed method, we first define the factors and the reachable region for the stair locomotion. In addition, we set the gene and the fitness function for GA and generate the gait trajectory by searching the landing position of a quadruped robot, which has the minimun distance of movement and the optimal energy stability margin(ESM). Finally, we verify the effectiveness and superiority of the proposed stair locomotion method through the computer simulations.
변재종(Jae Jong Byun),이창규(Chang Kyu Lee) 한국사회체육학회 2001 한국사회체육학회지 Vol.16 No.-
This study was designed to investigate the effect of exercise participation on hemodynamic variables of the older adults in nursing home. The subjects for this study were seventy two(male: 25, female: 47) healthy elderly people who were the members of seniors` tower in song-do hospital, didn`t have any problems in participating in this study exercise program. The subjects were divided into four groups: Group I participated in exercise program daily(N=19), GroupII participated in exercise program 2 or 3 times a week(N=19), Groups participated in exercise program once a week(N=19) and GroupIV never participated in exercise program(N=15). Three groups have been trained for 6 months. The exercise program for three groups was made up of warm-up, work-out, and cool-down. Warm-up and cool-down was performed every ten minutes and aerobic training was performed for 20-40 minute respectively using the treadmill and cycle ergometer at the intensity of 60%VO_2max. Resistance training was performed 10times repeatedly (12-15RM) by 2sets using the leg press, leg extension, leg curl, back extension, abdominal flexion, and torso. All the measured data were represented by mean and standard deviation using version 6.12 SAS package. The first statistical techniques for data analysis were three way ANOVA with repeated measure to analyze the difference among groups, sexes, and time(pre & post exercise). And then I performed paired t-test for examing the difference among groups about the variables which showed the difference. The second statistical techniques for data analysis were one way ANOVA to determine the difference among groups. The third statistical techniques for data analysis were Scheffe post-hoc method to determine the difference among groups. The 5% level of significance was used as the critical level for acceptance of hypotheses for the study. The following results were obtained from this study. The VO_2max and maximal heart rates of Group II and Group I were significantly increased than the other two groups after participating in the exercise program. The exercise time of Group I was significantly increased than the other three groups after participating in the exercise program.
변재호,조은진,Byun, J.H.,Cho, E.J. 한국전자통신연구원 2022 전자통신동향분석 Vol.37 No.4
The coronavirus disease 2019 (COVID-19) pandemic has significantly changed the Lifeline Program, a telecommunications rate discount program for low-income Americans. As the reliance on online activities such as remote work, distance education, and online shopping grows because of the spread of COVID-19, there is a concern that the digital divide will widen among low-income households that struggle to access internet infrastructure due to the burden of access rates. Accordingly, the US Congress passed a bill to help lower the internet bill for low-income households using the government budget to close the digital divide. The Lifeline Program, which is a part of the universal service obligation, has been in charge of the telecommunications rate discount for low-income households. However, according to the new law, the internet rate discount program based on the government budget was implemented beginning in 2021. As the internet rate discount based on the government budget begins, the US telecommunication rate discount system is transitioning from a system in which telecommunication industry support was borne by operators to one in which public support from the government budget will play a significant role. In this paper, we will look at recent changes in the US telecommunications rate discount program and their implications.