• 교육녹색환경연구
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• 제8권2호
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• pp.12-21
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• 2009

The purpose of this study is to suggest a scheme to provide children safer and more comfortable walking circumstances by survey current walking circumstances of school zone ways. First, to avoid pedestrian roads being interrupted and to expand waiting space near school zone ways, several measures are needed including fixing roads, using schools' unemployed spaces and building additional gateway. Second, pedestrian crossings in front of school gate should be located at least 23.16m away from the left side of the gate. Third, on narrow path which cross main streets, the interval of pedestrian signal should be extended as against of the moment. And traffic calming facilities should be built on accurate position. Fourth, to secure pedestrians' safety and field of view, trees lining streets and any obstacles located within 10m from bus stop sign should be removed. Finally, education system about school zone ways should be improved to help children get used to more complicated roads' conditions.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권3호
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• pp.131-140
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• 2005

Fault-tolerant gait generation of a hexapod robot with crab walking is proposed. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. Due to the reduced workspace of a failed leg, fault-tolerant crab walking has a limitation in the range of heading direction. In this paper, an accessible range of the crab angle is derived for a given configuration of the failed leg and, based on the principles of fault-tolerant gait planning, periodic crab gaits are proposed in which a hexapod robot realizes crab walking after a locked joint failure, having a reasonable stride length and stability margin. The proposed crab walking is then applied to path planning on uneven terrain with positive obstacles. i.e., protruded obstacles which legged robots cannot cross over but have to take a roundabout route to avoid. The robot trajectory should be generated such that the crab angle does not exceed the restricted range caused by a locked joint failure.

• 한국정보과학회논문지:소프트웨어및응용
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• 제37권8호
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• pp.641-646
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• 2010

스테레오 카메라를 갖춘 인간형 로봇이 자율적으로 주변 상황을 인지하면서 목적지까지의 경로를 실시간으로 생성 및 수정하는 간단한 알고리즘을 제시한다. 특징점들을 시각적 이미지에서 추출함으로써 주위의 장애물들을 인지한다. 인간형 로봇의 뒤뚱거리는 보행 움직임을 모델링함으로써 로봇의 중심부 기준에서의 실제 경로를 유추하여 계획된 경로와 비교함으로써 시각적 피드백 제어를 구현하고 성공적인 네비게이션을 수행한다. 실제 인간형 로봇의 네비게이션 실험을 통해 제안된 알고리즘의 가능성을 입증한다.

• 제어로봇시스템학회논문지
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• 제16권10호
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• pp.939-947
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• 2010

With the rising numbers of elderly and disabled people, the demand for welfare services using a robotic system and not involving human effort is likewise increasing. This study deals with a mobile-robot system combined with a BWS (Body Weight Support) system for gait rehabilitation. The BWS system is designed via the kinematic analysis of the robot's body-lifting characteristics and of the walking guide system that controls the total rehabilitation system integrated in the mobile robot. This mobile platform is operated by utilizing the AGV (Autonomous Guided Vehicle) driving algorithm. Especially, the method that integrates geometric path tracking and obstacle avoidance for a nonholonomic mobile robot is applied so that the system can be operated in an area where the elderly users are expected to be situated, such as in a public hospital or a rehabilitation center. The mobile robot follows the path by moving through the turning radius supplied by the pure-pursuit method which is one of the existing geometric path-tracking methods. The effectiveness of the proposed method is verified through the real experiments those are conducted for path tracking with static- and dynamic-obstacle avoidance. Finally, through the EMG (Electromyography) signal measurement of the subject, the performance of the proposed system in a real operation condition is evaluated.

• 한국안전학회지
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• 제32권3호
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• pp.74-82
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• 2017

This study was conducted to test the impacts of distractions caused by smartphones on pedestrians whilst walking alongside or across vehicular traffic in a high-density urban zone in South Korea. Through this study, we propose objective evidence for a link between the risk of traffic accidents and distractions from smartphones for pedestrians because of less likely notice activities surrounding road along their walking. This means that smartphones usage may cause inattentional blindness even during a simple activity that should require few cognitive resources. We conducted an experiment comparing pedestrian behavioral patterns of walking with smartphone distractions (such as listening to music with earphones or sending text messages) and normal walking without any distractions. In the experiment, participants walked along a pedestrian path prescribed by researchers and were observed at 8 points which were as follows: two observation points through which participants were instructed to listen to music whilst walking, two points where participants were instructed to send text messages, and four points through which participants were instructed not to use a smartphone at all. According to pedestrian behavior analysis, there is a trend for attention to be distributed amongst whatever other activities pedestrians are doing whilst walking. Therefore, this study proposes that pedestrians walking with such distractions are at a higher risk of traffic accidents compared to those who walk without such distractions. Thus, we advise for the South Korean government to consider ways to traffic policy that will enhance traffic safety for pedestrians.

• 사상체질의학회지
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• 제24권3호
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• pp.69-79
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• 2012

Objectives This study was performed to research the biological change after walking program in forest according to Sasang constitution. Methods Twenty four applicants are involved in this study. They were classified into three groups(Soyangin, Taeeumin, Soeumin) by QSCC II and divided into two groups(roadway, forest path) by place. And then they participated in walking program on March 31 in 2012. We performed before and after measurements, including active oxygen, biochemical test(BC), and stress hormones. Results Cortisol decreased in the entire group after walking program, which means the effect of relaxation. Glucose reduced in Soyangin group while increased in Taeeumin and Soeumin group after the program. There was no correlation in the test results between Sasang constitution and walking place. Conclusions Walking program has shown most efficacy in relaxation. However a single positive result within this study should be carefully interpreted. In the future, well-designed studies for Sasang constitutional walking program are needed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.83-86
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• 1996

We propose a mathematical model which describes the walking behavior of a person and to analyze the effect of the personality on the dynamics of the crowd. The fundamental assumption is that the human behavior is not a random process but a deterministic process with several basic mechanisms and each fundamental mechanism is common and only the parameter is different from person to person. The proposed model is based on the servomechanism which drives a person along the planned path from point to point. This model has been applied to simulate the walks of people in a crowd and the simulated results have a good coincidence with actual measurement.

• 한국정밀공학회지
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• 제28권1호
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• pp.56-62
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• 2011

Terrain recognition ability is crucial to the performance of legged robots in an outdoor environment. For instance, a robot will not easily walk and it will tumble or deviate from its path if there is no information on whether the walking surface is flat, rugged, tough, and slippery. In this study, the ground surface recognition ability of robots is discussed, and to enable walking robots to recognize the surface state and changes, a central moment method was used. The values of the sensor signals (load cell) of robots while walking were detected in the supported section and were analyzed according to signal variance, skewness, and kurtosis. Based on the results of such analysis, the surface state was detected and classified.

• 한국주거학회논문집
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• 제22권2호
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• pp.83-90
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• 2011

This research analyzes the residents' satisfaction for the pedestrian space of multi-family housing based on quality index. For this purpose, nine apartment complexes which were built after 2000, are selected and examined by user characteristics of composition factors of pedestrian space. This research also compares residents' satisfaction by evaluation factors of walking environment. The resident survey reveals that the composit type of apartment gives the highest satisfaction to residents followed by a courtyard type, and a straight type the last. In particular, residents show high satisfaction to pedestrian-only space in the case of the composit type of apartment building. The most important factor of walking environment on residential satisfaction is the separation of car and pedestrian path of main entrance. Above all, suitability of construction laws and regulations should be reviewed for safer and more amenable walking environment.

• 한국항만경제학회지
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• 제37권3호
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• pp.93-104
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• 2021

육지와 섬을 잇는 역할을 하는 여객선은 섬에 거주하는 섬 주민과 섬을 방문하는 관광객이 많이 이용하고 있다. 그래서 편리하게 이용할 수 있도록 도심과 접근성이 좋은 곳에 위치하고 있다. 그러나 고령화 된 섬 주민과 일반 관광객이 이용하기 편리한지 여객선터미널에 대한 시설특성과 보행환경에 대한 연구는 이루어지지 않았다. 이 연구에서는 여객선터미널이라는 공간을 중심으로 여객선터미널의 접근성, 여객선터미널 이용을 위한 시설특성, 여객선터미널에서 여객선 승하선과 여객선 안에서의 보행환경으로 보행구간을 설정하였다. 보행구간별 보행환경을 측정하기 위해 측정툴을 개발하고 여수연안여객선터미널을 대상으로 이용객의 중요도와 만족도를 IPA기법을 이용하여 분석하였다. 그 결과 여객선터미널 접근 과정에서는 '걸어서 대중교통 이용의 편리성', '여객선터미널의 위치와 방향을 안내해 주는 이정표 이용 편리성'이 집중영역으로 조사되었다. 반면에 여객선터미널 내부의 시설특성과 보행환경은 이용객들의 만족도가 높게 나타났다. 여객선터미널에서 여객선까지 보행환경에 있어서는 '보행로의 표면 보행환경', '짐을 가진 상태에서 보행 편리성', '부두 경사구간 보행 편리성', '여객선 램프 구간의 보행 편리성'이 만족도가 낮게 나타났다. 여객선 안에서의 시설특성과 보행환경에 있어서는 '계단 바닥 상태에 따른 보행 편리성'이 만족도가 낮게 나타났다. 이 연구는 여수연안여객선터미널의 시설 및 보행환경 개선을 위한 기초자료로 활용할 수 있으며 다른 지역의 연안여객선터미널과 비교연구를 위한 자료로 이용될 것으로 기대된다.