• Fire Science and Engineering
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• v.25 no.1
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• pp.1-6
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• 2011

An evacuation simulation was carried out to confirm evacuation efficiency for stair width and problems in calculation of occupant load for high-rise buildings. The evacuation time and number of evacuated persons from a 39 story condominium-mercantile building were calculated by using Simulex for stair widths of 1.2 m, 1.5 m, and 1.8 m. The total occupant load based on the Korean code was higher than the number of actual residents by 2.3 times, and that based on the NFPA 101 Life Safety Code by 2.6 times, respectively. For the occupant load based on the Korean code, smaller stair width resulted in lower evacuation efficiencies due to bottlenecks in egress. For the actual residents and NFPA code-based occupant load, a high evacuation efficiency and negligible effects of the stair width on evacuation efficiency were confirmed. It was shown that there was a bottleneck even at the stair width of 1.8 m for the Korean code-based occupants, while the stair width of 1.2 m provided safe egress to the actual residents or NFPA code-based occupants. This recommended further studies on possibility of lowering the level of the Korean code in calculation of the occupant load.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.1
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• pp.73-81
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• 2003

An autonomous stair robot recognizing the stair, and climbing up and down the stair by utilizing a robot vision, photo sensors, and appropriate climbing algorithm is introduced. Four arms associated with four wheels make the robot climb up and down more safely and faster than a simple track typed robot. The robot can adjust wheel base according to the stair width, hence it can adopt to a variable width stair with different algorithms in climbing up and down. The command and image data acquired from the robot are transferred to the main computer through RF wireless modules, and the data are delivered to a remote computer via a network communication through a proper data compression, thus, the real time image monitoring is implemented effectively.

• Korean Journal of Applied Biomechanics
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• v.18 no.4
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• pp.161-169
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• 2008

The purpose of this study was to investigate kinetic variables of the lower extremity during walking on three different stair widths in healthy adults. Ten healthy college-aged adults($23.5{\pm}3.5$) recruited for this study. Each stairs with the same height and length(l8cm and 90cm) under the Korean Constructional Law but three different widths(26cm, 31cm and 36cm) were conducted for this study. One force plate(9286AA, Kistler Co.) was put on third stairs. One-way ANOVA was performed to find the stair width effects during stair walking and the following findings ware obtained. There was significantly decreased in ankle resultant joint moment at Pull-Up phase(p<.05) and, significantly increased in knee extension moment during mid-stance phase as stair width increase(p<.05), but there was no significance in ankle resultant joint moment was found at Forward Continuance Phase in Ascending Stair Walking and There was significantly increased in ankle resultant joint moment as stair width increase during mid-stance phase(p<.05) and no significance in knee and hip resultant moments among the stair width in descending stair walking.

• Journal of the Korean Institute of Educational Facilities
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• v.17 no.1
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• pp.13-20
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• 2010

The aims of this study are to verify the relationships of evacuee speed and affections to the evacuation time according to the width of corridor and stairs in university education facilities. To achieve these purposes, the present conditions of university education facilities were analyzed, and the evacuation experiments were executed in relation to the width of corridor and stairs. The results of this study are as follows ; (1) The deviations of numbers of residents per stair is very high, and the number and width of stairs, corridors are only depend on the minimum guidelines of building code, not considering the residents' evacuation. (2) The width of corridor and stairs are affects on the evacuation speed and time. The rate of decreasing speed is large in stairs, and also the possibility of danger is increasing depend on the speed and density.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.10
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• pp.1269-1279
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• 1995

A mobile robot in a nuclear power plant is usually needed to equip the ability of going up and down stairs for a some kind of inspection. For this purpose, it is necessary for the mobile robot to figure out the size of stairs laid on a navigation path to gurantee robot's moving freely. In this paper, to measure the size of stairs existing in front of a mobile robot we designed the stair size recognition unit which can measure the stair's height and width using an ultrasonic sensor and/or a CCD camera. Also to obtain higher reliability of ultrasonic sensing data we proposed the horizontal sensing method. On the assupmtions that the mobile robot generates a trajectory while ascending stairs, we simulated it on a IBM compatible computer. The result showed that the suggested method satisfied our purpose. In a stair size estimation, the detected stair's height error was about .+-.3mm, and width was about .+-.5mm.

• Korean Journal of Applied Biomechanics
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• v.27 no.3
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• pp.181-187
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• 2017

Objective: The aim of the study was to compare & analyze on the variations of ground reaction force during ascending and descending of bus stair. Method: Simulated wooden stair of bus (raiser: 37.66 cm, width: 109 cm, tread: 29 cm) and GRF system (AMTI-OR-7/ AMTI., USA) was set up within experimental room. Adult female (n=8) performed ascending & descending of simulated bus stair, and variables analyzed consisted of TT (transfer-time), PVF (peak vertical force), LR (loading rate), DR (decay rate), CV (coefficient of variation) and AI (asymmetry index). Sample data from GRF cut off at 1,000 Hz. Results: TT showed shortest variation at phase 1 during descending, but longest variation at phase 1 during ascending of stair. PVF19 (Fz2, 100%) showed large pattern during descending than that of ascending, but rather showed small pattern during ascending of stair in case of PVF2 (Fz4). LR showed larger pattern during descending than that of ascending, but rather during ascending of stair in case of DR. Variation of CV (%) did not show difference between LR and DR, but showed higher possible occurrence of variation during descending of stair. Also AI (%) showed higher index during ascending than that of descending of stair. Conclusion: Because introduction of lowered bus stair has various realistic problems, if lined up at designated bus stopage exactly, rather can solve problems of inconvenience, reduce impulsive force and secure a stability of COG during ascending & descending of stair.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.5
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• pp.2374-2381
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• 2012

The aims of this study are to verify the effecting factors in evacuation behavior under the corridor and stair width variation in evacuation experiments at university education facilities. To achieve these purposes, the present conditions of university education facilities were analyzed, and the evacuation experiment settings were established under different width of corridor and stairs. After the experiments, we asked the effecting variables to the evacuation behaviors under the variation of corridor, stair width and density of evacuee. The results of this study are as follows ; First, we found 3 main factors which affecting the evacuation behaviors ; environmental factors on building conditions, psychological factors on evacuee's characteristics and personal factors on evacuee's physical conditions. Second, the environmental factors such as the location of stairs for evacuation, recognition of wayfinding in fire condition are mainly affects the evacuation behaviors, but evacuee behaviors have little relations with fire extinguishing facilities and personality.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.89-99
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• 2017

This paper describes the development of a thigh wearable robot for power assistance during stair climbing. In the wearable robot developed in this study, high-power BLDC motors and high-capacity harmonic reduction gears are used to effectively assist the thigh muscle during stair climbing. In particular, normal ground and stair are distinguished accurately by using wireless smart shoes, and the stair climbing assistance is performed by activating the actuators at an appropriate time. Impedance of the hip joint was effectively reduced by performing friction compensation of the gears, and a wearing adjustment mechanism was designed to fit the robot to the thigh by conveniently modifying the width and tilting angle of the robot using set collars. Consequently, the performance of the developed thigh wearable robot was verified through stair climbing experiments with EMG measurement.

• 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.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2021.11a
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• pp.92-93
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• 2021

In the case of medical facilities, the evacuation time is delayed due to the decrease in the number of people in the hallway and exits due to the increase in the width of evacuation by using mobile beds, wheelchairs, crutches, etc. Accordingly, it is considered to secure evacuation capacity to reduce evacuation time according to corridor width and exit width. Accordingly, we would like to compare the standards related to the evacuation capacity of medical facilities in Korea and NFPA, derive differences, and use evacuation simulations to compare evacuation times according to changes in corridor width and exit width. In Korea, it is calculated based on the floor area by use, but in the case of NFPA 101, the number of evacuation routes, stair width, corridor exit width, and two-way door width was stipulated depending on the number of people. Using evacuation simulation, efficient evacuation capacity is calculated according to the reduction of evacuation time by changing the width of the hallway, changing the width of the exit, the width of the corridor, and the width of the exit. The evacuation simulation is intended to be used to secure evacuation safety of domestic medical facilities by calculating the effective evacuation time reduction by changing the width of the hallway and exit.