• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.1
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• pp.161-166
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• 2011

This paper addresses the vision based autonomous walking control system. To handle the obstacles which exist beyond the field of view(FOV), we used the 3d panoramic depth image. Moreover, to decide the avoidance direction and walking motion of a humanoid robot for the obstacle avoidance by itself, we proposed the vision based path planning using 3d panoramic depth image. In the vision based path planning, the path and walking motion are decided under environment condition such as the size of obstacle and available avoidance space. The vision based path planning is applied to a humanoid robot, URIA. The results from these evaluations show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a practical humanoid robot.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.83.3-83
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• 2001

A method to adaptively control leg-ends trajectories of a five-legged walking robot, Cepheus-2, has been developed in terms of a kind of a table look-up method. Cepheus-2 is a five-legged robot with a pentagonal body with two joints of each leg. The robot control system has a hierarchical autonomic-integrated architecture with a main computer (PC), a manager and servo modules. Being given the goals of walking by the main computer, the manager module assigns a type of leg-end trajectories of which data are described with the work space coordinates for the legs. Every servo module generates the joint angle data. In steady walking of the robot on flat floor without obstacle, two joints have to generate the assigned trajectory and five legs ...

• ETRI Journal
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• v.40 no.4
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• pp.471-482
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• 2018

This paper proposes the necessity of a walking period in footstep planning and details situations in which it should be considered. An optimization-based fast footstep planner that takes the walking period into consideration is also presented. This footstep planner comprises three stages. A binary search is first used to determine the walking period. The front stride, side stride, and walking direction are then determined using the modified rapidly-exploring random tree algorithm. Finally, particle swarm optimization (PSO) is performed to ensure feasibility without departing significantly from the results determined in the two stages. The parameters determined in the previous two stages are optimized together through the PSO. Fast footstep planning is essential for coping with dynamic obstacle environments; however, optimization techniques may require a large computation time. The two stages play an important role in limiting the search space in the PSO. This framework enables fast footstep planning without compromising on the benefits of a continuous optimization approach.

• Journal of the Earthquake Engineering Society of Korea
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• v.5 no.5
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• pp.35-45
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• 2001

Recently, the floor systems those require large open space may have low inherent damping due to the decline of the use of curtain walls. Furthermore, the use of the high strength materials has resulted in more flexible and longer spanning in floor systems. The long span structures such as shopping malls, offices and large assembly rooms may lead to significant dynamic response due to human activities. Excessive vibrations make the occupants uncomfortable and deteriorate the serviceability of buildings. It is now proved that footfall loading is the major source of floor vibrations. The common method of application of walking loads for the vibration analysis of structures subjected to walking loads is to inflict measured walking loads and periodic function at a node. But this method could not account for the moving effect of walking. In this study, natural frequency and damping ratio of example structure are evaluated by heel drop tests. And the application of equivalent walking loads is used for on efficient vibration analysis of the plate structures subjected to walking loads.

• Journal of Korean Medicine Rehabilitation
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• v.30 no.1
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• pp.125-135
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• 2020

To report the effect of an Korean medical treatment, including Space spinal conduction exercise and manipulation treatment for a patient suffering with spondylolisthesis. Three patients were treated by oriental medical treatment including acupuncture, oriental medicine, Space spinal conduction exercise and manipulation treatment and the results were assessed with a numerical rating scale (NRS), walking condition, and back pain, sciatica. After treatment, the NRS changed from 8~9 to 1~2 and walking condition get better. The patient's back pain and sciatica have improved. In this study, oriental medical treatment, including Space spinal conduction exercise and manipulation treatment was an effective treatment for patients with spondylolisthesis. However, additional studies are needed, as are more and observations of these patients.

• Journal of Korea Port Economic Association
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• v.37 no.3
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• pp.93-104
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• 2021

A coastal ferries, which serve as a mode between mainland and offshore islands, are frequently used by islanders and travelers visiting islands. Therefore, it is located in a place with good accessibility to the downtown so that users can use it conveniently. However, research on the built environment and walking environment of coastal ferry terminals has not been conducted to ensure that elderly islanders and general travelers can use comfortably the coastal ferry terminal. In this study, with a focus on the coastal ferry terminal space, the walking section was set as 1)the accessibility of the coastal ferry terminal, 2)the built environment for using the coastal ferry terminal, and 3)walking environment in the ferry boarding and disembarkation at the coastal ferry terminal, and 4, 5)walking environment in the ferry. An evaluation tool was developed to measure the walking environment for each walking section, and the importance and satisfaction of users were analyzed using the IPA for the Yeosu Coastal Ferry Terminal. As a result, in the process of approaching the ferry terminal, 'convenience of using public transportation by foot' and 'convenience of using signposts guiding the location and direction of the ferry terminal' were investigated as concentrated areas. On the other hand, the built environment inside the ferry terminal and the walking environment showed that the satisfaction of the users was high. Regarding the walking environment from the ferry terminal to the ferry, the 'surface walking environment of the walking path', 'convenience of walking with luggage', 'convenience of walking in the slope section', and 'convenience of walking in the ferry ramp section' showed low satisfaction. This study can be used as basic data for improving the facilities and walking environment of Yeosu Coastal Ferry Terminal and is expected to be used as data for comparative research with other coastal ferry terminals.

• KIEAE Journal
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• v.15 no.2
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• pp.19-26
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• 2015

Purpose: Maximizing human comfort in design of medical environments depends immensely on specialized architects particularly critical care design; the study proposes Evidence-Based Design as an apparent analog to Evidence-Based Medicine. Healthcare facility designs are substantially based on the findings of study in an effort to design environments that augment care by improving patient safety and being therapeutic. On SPSS (Statistical Package for Social Science) t-test is applied to simulate two independent variables of PDR (Pre Design-Research) and POE (Post- Occupancy Evaluation). PDR is conducted on relatively new hospital Hallym University Dongtan Sacred Heart Hospital to analyse visibility from researchers' point of view, here the ICU is arranged in I-Shape. POE is applied on Dongguk University Ilsan Hospital to simulate walking on LogWare where two NS are designed based on L- Shape and Seoul St. Mary's Hospital, The Catholic University of Korea where five NS are functional for ICU Intensive Care Unit, Surgical Intensive Care Unit (SICU), Medical Intensive Care Unit (MICU), Critical Care Unit (CCU), Korean Oriental Medical Care Unit which are mostly arranged in U-Shape, and walking pattern is recognized to be in a zigzag path. Method: T-Test is applied on two dependent communication variables: walkability and visibility, with confidence interval of 95%. This study systematically analyses the Nurse Station (NS) typo-morphology, and simulates nurse horizontal circulation, by computing round route visits to patient's bed, then estimating minimum round route on LogWare stop sequence software. The visual connectivity is measured on depth map graphs. Hence the aim is to reduce staff stress and fatigue for better patients care by minimizing staff horizontal travel time and to facilitate nurse walk path and support space distribution by increasing effectiveness in delivering care. Result: Applying visibility graph and isovist field on space syntax on I- Shape, L- Shape and U- Shape ICU (SICU, MICU and CCU) configuration, I-shape facilitated 20% more patients in linear view as they stir to rise from their beds from nurse station compared to U-shape. In conclusion, it was proved that U-Shape supply minimum walking and maximum visibility; and L shape provides just visibility as the nurse is at pivot. I shape provides panoramic view from the Nurse Station but very rigorous walking.

• The Journal of the Korea Contents Association
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• v.18 no.6
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• pp.333-341
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• 2018

Recently, there has been a growing interest in user-centered smart city services. This study examines the spatial information type to derive a smart city service scenario through space - based communication and aims to establish a direction for user - centered experience factor scenario. The results of this study are meaningful for presenting basic data to suggest a space scenario where citizens can experience smart city as walking map and experience route applicable to future smart city test bed. In particular, we simulated the walking scenarios in the smart city test bed through Walking Map, which is tested the service direction based on user requirements. Through this study, we confirmed that smart city service through existing infrastructure can be used multipurpose. The spatial information and the experience factor linkage model and the walking map through the persona model presented in this study can be utilized as a preliminary scenario applicable to the future smart city test bed.

• The Journal of Korea Robotics Society
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• v.4 no.1
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• pp.17-24
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• 2009

This work deals with an intuitive method for a planar biped to walk, which is named Relative Trajectory Control (RTC) method. A key feature of the proposed RTC method is that feet of the robot are controlled to track a given trajectory, which is specially designed relative to the base body of the robot. The trajectory of feet is presumed from analysis of the walking motion of a human being. A simple method to maintain a stable posture while the robot is walking is also introduced in RTC method. In this work, the biped is modeled as a free-floating robot, of which dynamic model is obtained in the Cartesian space. Using the obtained dynamic model, the robot is controlled by a model-based feedback control scheme. The author shows a preliminary experimental result to verify that the biped robot with RTC method can walk on the even or uneven surfaces.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2001.10a
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• pp.459-466
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• 2001

The floor vibration aspect for building structures which are in need of large open space are influenced by the interrelation between natural frequency and working loads. Structures with a long span and low natural frequency have a higher possibility of experiencing excessive vibration induced by dynamic excitation such as human activities. These excessive vibrations make the residents uncomfortable and the serviceability deterioration. Need formulation of loads data through actual measurement to apply walking loads that is form of dynamic load in structure analysis. The loads induced by human activities were classified into two types. First type is in place loads. the other type is moving loads. A series of laboratories experiments had been conducted to study the dynamic loads induced by human activities. The earlier works were mainly concerned to parameters study of dynamic loads. In this Paper, the walking loads have been directly measured by using the measuring plate in which two load cells were placed, the parameters, the load-time history of walking loads, and the dynamic load factors have been analyzed. Moreover, the shape of the harmonic loads which were gotten by decomposition the walking loads have been analyzed , and the walking loads modeling have been carried out by composition these harmonic loads derived by functional relation.