• Fire Science and Engineering
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• v.25 no.1
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• pp.72-77
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• 2011

The effort of transferring some parts of urban functions to the underground space is growing trend among modem cities because of the limit of horizontal land use, the rise of land value, the diversification of human desire, etc. Thus, the basement of building and the subway station have deepened. It calls our attention to safety about evacuation from the underground space to the ground. Until now, the study about crowding walk in stairs has been progressed, focusing on the crowding walk that is going down the stairs, and there is no study about crowding walk that is going up the stairs. This study measured walking pace by crowd density that is going up the stairs in the subway station stairs making one-way movement of crowd. The actual survey showed that the mathematical relation 'V=0.638-0.0949p' determines going up walking velocity at a gradient of $23^{\circ}$, and the mathematical relation will be 'V=0.597-0.1067p' at a gradient of $30^{\circ}$, when it is converted, based on the average walking velocity of crowd by the slope of the stairs which is recommended by Architectural Institute of Japan.

• Journal of Korean Society of Transportation
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• v.18 no.5
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• pp.17-29
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• 2000

본 연구는 지하횡단보도 이용시 계단에서 나타나는 보행자 특성에 관한 연구로써, 교차로에서 횡단보도와 지하보도에서 보행자의 편의성을 정량화한 것이다. 지하보도 계단에서의 보행자특성에 관한 연구, 즉 속도, 밀도와 보행자교통량에 관한 연구는 비디오촬영을 통하여 수집한 자료를 분석하였다. 지하보도나 횡단보도 횡단시 이동 거리, 소요시간, 소요에너지는 보행자특성 분석에서 나온 결과와 직접 시설을 조사한 자료를 이용하여 비교하였다. 주요 연구결과는 다음과 같다. 첫째, 지하보도 계단에서 보행자 속도는 상향이동시의 평균속도는 37.7m/분(또는 0.67m/초)이고, 하향이동시의 평균속도는 46.7m/분(또는 0.77m/초)으로 나타났다. 둘째, 평균 이동거리는 단순횡단의 경우 지하보도는 119m이고, 횡단보도는 78m이다. 대각횡단의 경우 지하 보도는 161m이고, 횡단보도는 111m이다. 평균 소요시간은 단순횡단의 경우 지하보도는 125.6초이고, 횡단보도는 111.3초로 나타났다. 대각횡단의 경우 지하보도는 162.3초이고, 횡단보도는 178.8초로 나타났다. 평균 소요에너지는 단순횡단의 경우 지하보도는 20.2kcal이고, 횡단보도는 4.7kcal이다. 대각횡단의 경우 지하보도는 23.5kcal이고, 횡단보도는 6.6kcal이다. 단순횡단시 지하보도가 횡단보도보다 이동거리는 평균 1.5배 더 길고, 시간은 평균 1.2배 더 소요되고, 에너지는 평균 4.5배가 더 소요된다. 대각횡단시 이동거리는 평균 1.5배 더 길고, 소요시간은 비슷하고, 에너지는 평균 3.5배 더 소요되었다. 본 연구는 기존의 교차로나 가로구간에 지하보도만 설치되어 있는 지점에 횡단보도의 설치여부에 관한 정책결정을 하는데 도움이 될 수 있을 것이다.

• Journal of Navigation and Port Research
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• v.37 no.3
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• pp.239-244
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• 2013

To increase the safety of onboard evacuation of guests who is unfamiliar with onboard living conditions, this study measured and compared the onboard walking speeds of 81 participants on a passenger ship, I t were found that the walking speeds at corridor on navigation were slower than those at berth by 27.2%, and the speeds of walking on the corner on navigation were slower than those at berth by 23.2%. This means that the ship motion on navigation directly influenced walking speeds. The walking speeds of upward-stairs and downward-stairs were measured to be 0.71m/s and 0.75m/s, respectively. From the crowd counter-flow experiments, because of the narrow space between participants, the walking speeds were decreased as person after person. And it was clear that the group's walking speeds were determined by the walking speeds of leading person(s) of the group. The walking speeds obtained this study were different from those of IMO guideline(MSC/Circ 1033).

• Fire Science and Engineering
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• v.29 no.3
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• pp.13-20
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• 2015

As building height is increased, more careful decisions about the required safe egress time is needed for evacuation. This study analyzed the influence of three training sessions on the vertical speed of evacuation in the high rise building. Evacuation experiments were done in a high-rise office building in Seoul, and we analyzed the vertical evacuation speed as a function of density using a camera. Controlled and uncontrolled total evacuation were compared using the Pathfinder simulation. The process of repeated training, changed the specific stair utilization rate from 6.3% to 39.5%. The vertical evacuation speed as a function of density was analyzed using the equation s = 1.004 ? 0.288D, which is very similar to the equation used in a different study. The total evacuation time of the special controlled total evacuation was reduced by about 25% compared to the simultaneous evacuation.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.1
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• pp.65-72
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• 2016

In this study, a fully active transfemoral prothesis with a knee joint is designed considering stair walking conditions. Since the torque at the knee joint required for stair walking condition is relative high compared with the one in normal walking condition, the proposed design has high torque generating mechanism. Moreover, the transfemoral prothesis is designed in compact size to reduce its weight, which is related to comfortable fit and fatigue of patients. Flat type BLDC motor is used for simple and compact structure and various components are used to generate required torque with target working angle and speed. The weight reduction of structure is carried out using optimization method after the initial design process is complete. The optimization is conducted under the load conditions of stair walking. The optimized design is validated via finite element analysis and experiments. As a result, the weight is reduced using topology and shape optimization but maintaining the safety of structure. Also the space efficiency is improved due to its compact size.

• Journal of the KSME
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• v.34 no.10
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• pp.787-795
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• 1994

이상과 같이 소개한 KIST 휴먼 로봇의 4족 보행시스템을 개발하는 데에 있어서 최대 목표는 보행제어의 지능화를 통해서 외관상 유사한 히타치사의 극한작업 로봇과 차별화시키는 것이다. 이를 위해서는 성능이 급격히 향상되어가고 있는 최신의 컴퓨터와 센서들을 적극 활용하면서 국내외 관련 전문가들이 축적하고 있는 노우 하우들을 최대한 활용하는 것이 필요하고, 기술적 으로는 걸음새의 지능제어, 반사제어, 소비동력의 최소화 등을 집중적으로 해결하는 것이 요구 된다. 휴먼 로봇 보행기구의 연구 성과는 궁극적으로 계단 등과 같은 단순 장애물은 물론 얼마나 악조건의 험로 위 자율 보행이 가능하고, 평제에서는 얼마나 빠른 최대 보행속도를 발휘할 수 있으며, 로봇에 탑재된 축전지만으로 얼마나 먼거리를 보행할 수 있는 지에 의해 그 질적 수 준이 판가름 나게 될 것이다. 이러한 점에서 이 과제의 추진은 국내의 로봇 연구 분야에 있어서 전혀 새로운 매우 거대한 도전이라고 할 수 있다.

• Proceedings of the Korea Institute of Fire Science and Engineering Conference
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• 2010.04a
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• pp.261-266
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• 2010

본 연구에서는 초고층 건축물에서 피난을 할 때 피난자에게 작용하는 신체 조건과 수직적 이동방향에 따른 피난시간을 분석하였다. 초고층 건축물에서의 피난은 특성상 많은 계단을 통해 이동해야 하므로 피난자는 심리적 행동보다 주로 신체적 능력에 의존하는데, 이 때 피난자의 피로도는 계단수가 올라갈수록 급격히 상승하게 된다. 즉, 총 피난시간은 단순히 피난자의 평지 보행속도에 비례하여 증감할 뿐만 아니라 체력 등의 다른 신체적 영향 또한 받게 된다. 따라서 본 연구에서는 피난자의 신체조건을 고려한 피난예상시간을 산정하기 위해 필요한 조건들을 연구하고자 실물 실험에서의 상 하향의 보행방향과 참가자들의 신체조건에 따른 피난시간을 통계적으로 분석하였다.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.1
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• pp.47-57
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• 2016

In this paper, we measured human body signals in order to verify a active harness system that we developed for gait and balance training. The experimental procedure was validated by tests with 20 healthy male subjects. They conducted motions of Activities of Daily Living(ADL)(Normal Walking, Stand-to-Sit, Sit-to-Stand, Stair Walking Up, and Stair Walking Down) according to body weight support rates (0%, 30%, 50% of subjects' body weight). The effectiveness of the active harness system is verified by using the results of foot pressure distribution. In normal walking, the decrease of fore-foot pressure, lateral soleus muscle and biceps femoris muscle were remarkable. The result of stand-to-sit results motion indicated that the rear-foot pressure and tibialis anterior muscle activities exceptionally decreased according to body weight support. The stair walking down show the marked drop of fore-foot pressure and rectus femoris muscle activities. The sit-to-stand and stair walking up activities were inadequate about the effect of body weight support because the velocity of body weight support system was slower than male's activity.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2021.11a
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• pp.204-205
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• 2021

In the event of a fire in a high-rise building, rapid evacuation through the stairwell is a very important factor in rapid evacuation. However, in the event of an actual fire, most of the occupants evacuate at the same time, resulting in a stay in the stairwell, reducing the evacuation speed. In Korea, conditions for buildings are created to evacuate quickly and safely while introducing performance-oriented designs to solve these problems, but there is no research data related to the evacuation speed due to joining in the event of vertical evacuation. Therefore, in this study, by analyzing the experiment conducted at W University in Japan, the density-speed relationship when staying in the staircase room was derived, and the regression equation was derived based on the results.

• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.182-188
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• 2023

Due to the acceleration of an aging society, the need for lower limb exoskeletons to assist gait is increasing. And for use in daily life, it is essential to have technology that can accurately estimate gait phase even in the walking environment and walking speed of the wearer that changes frequently. In this paper, we implement an LSTM-based gait phase estimation learning model by collecting gait data according to changes in gait speed in outdoor level ground and stair environments. In addition, the results of the gait phase estimation error for each walking environment were compared after learning for both max hip extension (MHE) and max hip flexion (MHF), which are ground truth criteria in gait phase divided in previous studies. As a result, the average error rate of all walking environments using MHF reference data and MHE reference data was 2.97% and 4.36%, respectively, and the result of using MHF reference data was 1.39% lower than the result of using MHE reference data.