• International conference on construction engineering and project management
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• 2022.06a
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• pp.1085-1092
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• 2022

Travel distance is a parameter mainly used in the objective function of Construction Site Layout Planning (CSLP) automation models. To obtain travel distance, common approaches, such as linear distance, shortest-distance algorithm, visibility graph, and access road path, concentrate only on identifying the shortest path. However, humans do not necessarily follow one shortest path but can choose a safer and more comfortable path according to their situation within a reasonable range. Thus, paths generated by these approaches may be different from the actual paths of the workers, which may cause a decrease in the reliability of the optimized construction site layout. To solve this problem, this paper adopts reinforcement learning (RL) inspired by various concepts of cognitive science and behavioral psychology to generate a realistic path that mimics the decision-making and behavioral processes of wayfinding of workers on the construction site. To do so, in this paper, the collection of human wayfinding tendencies and the characteristics of the walking environment of construction sites are investigated and the importance of taking these into account in simulating the actual path of workers is emphasized. Furthermore, a simulation developed by mapping the identified tendencies to the reward design shows that the RL agent behaves like a real construction worker. Based on the research findings, some opportunities and challenges were proposed. This study contributes to simulating the potential path of workers based on deep RL, which can be utilized to calculate the travel distance of CSLP automation models, contributing to providing more reliable solutions.

• The Journal of Korean Physical Therapy
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• v.24 no.2
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• pp.73-81
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• 2012

Purpose: The aim of the present study was to measure the standing balance symmetry of stroke patients using a force-plate with computer system, and to investigate the correlation between the standing balance symmetry and that of the walking function in stroke patients. Methods: 48 patients with stroke (34 men, 14 women, $56.8{\pm}11.72$ years old) participated in this study. Static standing balance was evaluated by the weight distribution on the affected and the nonaffected lower limbs, sway path, sway velocity, and sway frequency, which reflected the characteristic of body sway in quiet standing. Dynamic standing balance was evaluated by anteroposterior and mediolateral sway angle, which revealed the limit of stability during voluntary weight displacement. Symmetry index of static standing balance, (SI-SSB) calculated by the ratio of the affected weight distribution for the nonaffected weight distribution, and symmetric index of dynamic standing balance (SI-SDB) by the ratio of the affected sway angle for the nonaffected sway angle. Functional balance assessed by a Berg balance scale (BBS), and the functional walking by 10m walking velocity, as well as the modified motor assessment scale (mMAS). Results: Static balance scales and SI-SSB was the only correlation with BBS (p<0.05). Dynamic balance scales and SI-DSB, not only was correlated with BBS, but also with 10m walking velocity and mMAS (p<0.01). Additionally, there was a significant difference between SI-SSB and that of SI-DSB (p<0.01). Conclusion: The balance and the walking function relate to real life in the stroke showed strong relationships with the dynamic standing balance symmetry in the frontal plane and the ability of anterior voluntary weight displacement in sagittal plane.

• Korean Journal of Applied Biomechanics
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• v.25 no.4
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• pp.475-482
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• 2015

Objective : The purpose of this study was to investigate mean plantar foot pressure, maximum plantar pressure and ground reaction force, and center migration path of pressure according to the type of trekking shoes for the development of shoes. Method : Subjects of the study averaged $22.10{\pm}2.05years$ of age. Their average height was $169.27{\pm}7.62cm$ and their average weight was $64.34{\pm}10.22kg$. The method of this study was administered measuring 50 steps, at once, 3 times at a speed of 4 km/h and using the data of 30 steps. Pedar-X system measured the mean foot pressure, maximum foot pressure, mean maximum force, and center migration path of pressure by subjects' position while walking. Statistical analysis was performed by SPSS 23.0 using a paired t-test. Results : Results of the study showed Nestfit trekking shoes lower foot pressure of both feet in mean foot pressure and maximum foot pressure. Nestfit trekking shoes showed high ground reaction force (p<.001) in the midfoot, and low mean ground reaction force in the rearfoot. The center migration path of pressure showed the Nestfit trekking shoes were more stable than flat insole trekking shoes. Conclusion : It can be concluded that wearing Nestfit trekking shoes spreads pressure efficiently and induces walking stability because Nestfit trekking shoes spread the pressure of the forefoot and rearfoot to the midfoot and the center migration path of pressure shows regularly.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.5
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• pp.574-584
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• 2017

In this paper, the optimizing path finding control method is studied for a Legged-robot. It's named TITAN-VIII. It has a lot of advantages over the wheeled robot in the ability to walk freely on an irregular ground. However, the moving speed on the ground of the Legged-robot is slower than the Wheeled-robot's. Consequently, the purpose of the method is presented in this paper to minimize its time when it walks to a goal. It find the path, our approach is based on an algorithm which is called Dijkstra's algorithm. In the rest of paper, the various posture of the robot is discussed to keep the robot always in the statically stable. Based on above works, the math formulas are presented to determine the joint angles of the robot. After that an algorithm is designed to find and keep robot on the desired trajectory. Experimental results of the proposed method are demonstrated in the last of paper.

• Journal of the Korean Society of Physical Medicine
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• v.10 no.4
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• pp.49-57
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• 2015

PURPOSE: This study aimed to investigate the effect of emphasized initial contact gait training on balance and gait ability in hemiplegia patients. METHODS: Twenty-four hemiplegic patients were randomly allocated to an experimental group or control group. All participants received 30-min neurodevelopmental treatment. Furthermore, the experimental group received initial contact-emphasized auditory feedback gait training, whereas the control group received gait training without auditory feedback. The intervention was performed 3 times per week, 20 min per each time, for a total of 6 weeks. Balance was assessed using the center of pressure path length, center of pressure velocity, and limitation of stability path length, whereas gait ability was assessed using the 10-m walking test and functional gait assessment. RESULTS: In both groups, center of pressure path length and center of pressure velocity significantly decreased after training. Compared to the control group, the experimental group showed a 10% significant improvement (p<.05). In the limitation of stability path length of both sides, the experimental group showed a significant increase compared to that before intervention. Compared to the control group, the experimental group showed a 7% significant improvement in results of the 10-m walking test and functional gait assessment (p<.05). CONCLUSION: Emphasized Initial contact gait training is considered an effective treatment for improving gait ability and balance ability in stroke patients.

• Structural Engineering and Mechanics
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• v.65 no.3
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• pp.349-357
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• 2018

An extensive research was undertaken to study the vibration serviceability of a long-span and light-weight floor subjected to human loading experimentally and numerically. Specifically, heel-drop test was first conducted to capture the floor's natural frequencies and damping ratios, followed by jumping and running tests to obtain the acceleration responses. In addition, numerical simulations considering walking excitation were performed to further evaluate the vibration performance of a multi-panel floor under different loading cases and walking rates. The floor is found to have a high frequency (11.67 Hz) and a low damping ratio (2.32%). The comparison of the test results with the published data from the 1997 AISC Design Guide 11 indicates that the floor exhibits satisfactory vibration perceptibility overall. The study results show that the peak acceleration is affected by the walking path, walking rate, and adjacent structure. A simpler loading case may be considered in design in place of a more complex one.

• Journal of Sericultural and Entomological Science
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• v.30 no.1
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• pp.8-19
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• 1988

The objective of the present study was to investigate the behavioral responses of sillkworm (Bombyx mori) larvae to: the dominant effect of walking distace: and the relationships between walking distance and the various economic characters on yellow sheets. The means of walking distances of progeny from F2 and F1 F1 and F2 generations, which was a hybrid between the long and the short walking distances, were shorter than those of parents. This may indicate that the genes for the short walking distances were partially dominant over those for the longwalking. Estimated broad sense heritability of larval walking distance was different for each larval instar, which fell into the range of 52∼84%. Genetic correlation was apparent between walking distances of all larval stages and some economic characters. The number of cocoons per liter and the period from incubation to emergence have shown the positive genetic correlation with walking distances. The cocoon yield, the sing cocoon weight, and the cocoon shell weight have shown to be in the negative correlation with walking distances. No correlation was observed between walking distances of the mature larvae and any economic characters. The analysis by the path coefficient showed negative direct effect of walking distances on the cocoon yield, and positive indirect effect on the single cocoon weight and the cocoon shell weight.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.42 no.4
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• pp.581-590
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• 2022

It is important to create a decent pedestrian space in order to realize a public space that can ultimately improve the quality of life based on guaranteeing people's right to move while also enhancing urban activity. The goal of this study is to develop a pedestrian path evaluation system in order to lay the foundation for data construction leading to the creation of such elegant walking space. First, a basic system was established in keeping with factors and the space, and this system was used as the basic framework of the study. The trends identified in the literature can be divided into eight categories, denoted here as: Walking safety policy, Walking focused plan, Recognition transition, Transportaion system, Activity-linked walking, Facility utilization walking, Nature and history linked walking and Content convergence walking. The macro- and micro-indices and factors mentioned in related studies were synthesized and classified, and the basis for universality and differentiation was established by integrating them. Next, according to the basic composition of the walking system, Walking potential and slope safety in the Safety category, Basic walking connectivity and Traffic linkage in the Efficiency category, Walking arrangement and Rest convenience in the Health category, and Resource connectivity and Activity abundance in the Comfortability category macro evaluation system of the eight categories were established and a corresponding measurement method was developed.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.4
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• pp.448-453
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• 2012

There are many researches to develop robots that improve its mobility to adapt in various uneven environments. In the paper, a hybrid wheeled and legged mobile robot is designed and a obstacle avoidance algorithm is proposed based on low power walking using LRF(Laser Range Finder). In order to stabilize the robot's motion and reduce energy consumption, we implement a low-power walking algorithm through comparison of the current value of each motors and correction of posture balance. A low-power obstacle avoidance algorithm is proposed by using LRF sensor. We improve walking stability by distributing power consumption and reduce energy consumption by selecting a shortest navigation path of the robot. The proposed methods are verified through walking and navigation experiments with the developed hybrid robot.

• The Journal of Korean Physical Therapy
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• v.24 no.2
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• pp.143-150
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• 2012

Purpose: This study was intended to discover the effect of the turning training on figure of 8 tract on stroke patients' static and dynamic balance, as well as walking. Methods: A total of 42 stroke patients participated in this study. The training group was trained on the figure of 8 tract, while the control group was trained on the straight path for 30 minutes per day, for 4 weeks. Berg balance scale was used to measure the balance of the patients, before and after the training, and Good balance system was used to measure the sway speed and the distance of COG while standing. To measure the ability of walking, TUG and FSST were also used. Results: There were significant increases in the average score of Berg balance scale, in both groups after the training, and also significant difference between both groups were observed. The training group showed significant differences in the static balance ability, as well as anteroposterior and mediolateral sway speed. Further, there were significant increases in the dynamic balance ability, COP total distance, and TUG in both groups. The results showed more differences in comparing the control group with that of the training group. In FSST, there was no change in the control group, but there was a significant increase in the training group. Conclusion: Turning training on figure of 8 tract in stroke patients significantly increased the static and dynamic balance and walking ability. Based on the results, it can be seen that the training on the figure of 8 tract can influence the ability of balance and walking, which can lead to appropriate reactions to the change of environment and various tasks. Thus, it is assumed that turning training on figure of 8 tract as a means of improving the condition of stroke patients can be a meaningful program.