• KSCE Journal of Civil and Environmental Engineering Research
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• v.32 no.3D
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• pp.189-196
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• 2012

South Korea has achieved economic development rapidly during last 50 years. However, such fast economic development with industrialization caused skyrocketing increase of automobiles. The increase of automobile has created various problems in the cities. Problems like traffic congestion and accident, environmental pollution, noise, and vibration have done human beings, who are the principal agents harm. They have made citizens understand how important Green transportation, especially pedestrian movement, is. Recently, installation of pedestrian facilities has been expanded. If walking facilities are incorrectly designed, they can create inconvenience, danger and the state of emergency due to the lack of safety and pleasant feelings. However, since the importance of the facility designs has been neglected due to the lack of understanding, it is hard to improve the facilities. Therefore, we need various studies of walking simulation in order to research the designs for pedestrians' safety and convenience. The objective of this study is to analyze the pedestrians' behavior and movement in a transfer subway station. The improvement of walking environment was made after chasing and analyzing the pedestrians' movement which is investigated in the actual field using SimWalk simulation program.

• Korean Journal of Applied Biomechanics
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• v.18 no.4
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• pp.49-57
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• 2008

The purpose of this study was to determine the effects of 12-week elastic resistance exercise for the elderly on the magnitude of frequency and variability of ground reaction force signals. To this aim, total 12 elderly women aged in their 70 were participated in this study and asked to do a 12-week elastic resistance exercise program. FFT(fast Fourier Transform) was used to analyze the frequency domain analysis of the ground reaction forces's signals and an accumulative PSD (power spectrum density) normalized by support phase of walking was calculated to reconstruct the certain signals. To estimate the gait stability between the before and after exercise, values of variability were determined in a coefficient of variance. The magnitude of frequency and variability analysis for media-lateral signal revealed significantly less after exercise (p<.05). In contrast, variability of this signal's frequency that have used to evaluate the local stability during walking exhibited significantly greater after exercise(p<.05). In summary, magnitude frequency and variability of media-lateral ground reaction force's signal were significantly changed after a 12-week elastic resistance exercise.

• Journal of the Korean Applied Science and Technology
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• v.35 no.1
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• pp.205-213
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• 2018

The purpose of this study was to investigate the effect of somatosensory input on the gait ability and equilibrium sensory of elderly women. The subjects who participated in this study were 31 elderly women with a mean age of 75 years or older who no using a walking stick and had no abnormality in otolaryngology. The control group consisted of 30 elderly women who did not exercise regularly more than twice a week. Dependent variables consisted of 2.44m timed up and go test, 10m usual gait, 10m fast gait and 6minute gait. The equilibrium sensory test was performed using EquiTest (NeuroCom, USA). The results of the study on gait ability were not statistically significant for 2.44m timed up and go test, and 10m usual gait. However, 10m fast gait (P<.001) and 6min gait (P<.05) showed significant differences. According to the results of the study on equilibrium sensory ability, there was no significant difference between Condition 1 and Condition 5 however Condition 2 (P<.01), Condition 3 (P<.01), Condition 4(P<.01) and Condition 6 (P<.05) showed statistically significant differences. In conclusion, walking stick have beneficial effects on walking and equilibrium sensation, and elderly women need to actively use walking stick when going out and walking.

• Journal of Korean Academy of Nursing
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• v.26 no.2
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• pp.372-386
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• 1996

Recently, the ratio of elderly in the population are fast growing due to socio-economical development and the better medical service. Proportionally, the health problems in elderly are increasing, too. Medical professionals must try so that the elderly have the better life through health promotion and disease prevention as well as disease treatment. This study evaluated the effect of walking exercise program on the cardiorespiratory function and the flexibility in the elderly women. The design of research was one group pretest-posttest design. The subjects were eleven elderly women over sixty years old to live in K-city, Kyonggi-do. The type of exercise was walking, which was the most popular exercise in questionnaire. The exercise intensity was 40％∼60％ of the target heart-rate by Karvonen's method and maintained by the heart-rate monitor. The exercise period was five weeks and the exercise frequency was three times per week. The exercise duration was forty minutes at first and gradually increased up to an hour. In order to evaluate the effect of walking exercise, we measured VO/sub₂ max, resting heart -rate, systolic/diastolic blood pressure, FVC, FEV/sub₁, the flexibility before and after the five week's exercise program. The data are analyzed by the paired t-test and Wilcoxon signed rank test using SAS package. The results are as follows : 1) The hypothesis that cardiorespiratory function will be improved was partly supported. In VO/sub₂ max（p＝0.0001）, resting heart-rate（p＝0.0030）, systolic/diastolic blood-pressure（p＝0.0387／ p＝0.0024）, there was significant difference. FVC and FEV/sub₁ were increased after the exercise, but there were no significant difference. 2) The hypothesis that the flexibility will be improved was supported. There was significant difference in the flexibility（p＝0.0140）. As the further study, it is necessary to reevaluate the effect with more refined design. We also need to try meta-analysis about the results of previous studies obtained in the experimental setting and compare our result obtained in the field setting with them.

• Journal of the Society of Disaster Information
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• v.18 no.3
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• pp.495-506
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• 2022

Purpose: When a serious disaster occurred in East Japan on March 11, 2011, some evacuees in shock failed to avoid danger to the best of their ability. Why did they hesitate and waste their time? And why didn't they choose correct escaping routes? This study attempts to classify human behavior through psychological point of view and cognitive science and to interpret behavioral patterns based on animal behaviors from the field of biology. Method: This study first conceptually categorized walking behavior into intellectualization, automaticity and instinct based on the existing literature and matched these with empirical data. Result: The actual walking patterns observed failed to be compatible with these categories and consequently, this study suggests the following five categories: normal, busy, fast & straight, freezing and tizzy. This new classification of walking behavior is based on speed, variation of speed and change of direction. Conclusion: The method used in this study and the results can be applied to simulations of walking behavior and analysis of behavior in emergency situations.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.505-511
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• 2011

In this paper, we have developed an automatic velocity control system of a small-sized commercial treadmill (belt length of 1.2 m and width of 0.5 m) which is widely used at home and health centers. The control objective is to automatically adjust the treadmill velocity so that the subject's position is maintained within the track when the subject walks at a variable velocity. The subject's position with respect to a reference point is measured by a low-cost sonar sensor located on the back of the subject. Based on an encoder sensor measurement at the treadmill motor, a state feedback control algorithm with Kalman filter was implemented to determine the velocity of the treadmill. In order to reduce the unnatural inertia force felt by the subject, a predefined acceleration limit was applied, which generated smooth velocity trajectories. The experimental results demonstrate the effectiveness of the proposed method in providing successful velocity changes in response to variable velocity walking without causing significant inertia force to the subject. In the pilot study with three subjects, users could change their walking velocity easily and naturally with small deviations during slow, medium, and fast walking. The proposed automatic velocity control algorithm can potentially be applied to any locomotion interface in an economical way without having to use sophisticated and expensive sensors and larger treadmills.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.233-240
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• 2006

This paper presents the robust control method using a self recurrent wavelet neural network (SRWNN) via adaptive backstepping design technique for stable walking of biped robots with unknown model uncertainties. The SRWNN, which has the properties such as fast convergence and simple structure, is used as the uncertainty observer of the biped robots. The adaptation laws for weights of the SRWNN and reconstruction error compensator are induced from the Lyapunov stability theorem, which are used for on-line controlling biped robots. Computer simulations of a five-link biped robot with unknown model uncertainties verify the validity of the proposed control system.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.8
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• pp.1188-1200
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• 1990

In this paper, the 3-D positioning problem for a quadruped walking robot is investigated. In order to determine the robot's exterior position and orentation in a worls coordinate system, a stereo 3-D positioning algorithm is proposed. The proposed algorithm uses a Guide-Mark Pattern (GMP) specialy designed for fast and reliable extraction of 3-D robot position information from the uncontrolled working environment. Some experimental results along with error analysis and several means of reducing the effects of vision processing error in the proposed algorithm are disscussed.

• Proceeding of EDISON Challenge
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• 2017.03a
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• pp.528-532
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• 2017

The Theo Jansen mechanism using 1 degree of freedom is special system of walking robot. The trajectory made by the point of ground position is similar to other walking robot using many degrees of freedom. Because of diversity of design parameter of the Jansen mechanism, it makes a lot of trajectory and takes possibilities of optimization. However this research doesn't focus on the optimization of trajectory, but it focused on comprehensive design of the robot using well-known trajectory and line tracer logic to go fast and accurate along the line. The logic to follow a line has many kinds of possibility of algorithm. To eliminate uncertainty about recognizing a line, I divide the case of line following situation and make optimized logic.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.48 no.2
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• pp.127-137
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• 2011

We have developed a wearable device that can convert sensor data into real-time step counts and activity levels. Sensor data on gait were acquired using a triaxial accelerometer. A test was performed according to a test protocol for different walking speeds, e.g., slow walking, walking, fast walking, slow running, running, and fast running. Each test was carried out for 36 min on a treadmill with the participant wearing a portable gas analyzer (K4B2), an Actical device, and the device developed in this study. The signal vector magnitude (SVM) was used to process the X, Y, and Z values output by the triaxial accelerometer into one representative value. In addition, for accurate step-count detection, we used three algorithms: an heuristic algorithm (HA), the adaptive threshold algorithm (ATA), and the adaptive locking period algorithm (ALPA). A regression equation estimating the energy expenditure (EE) was derived by using data from the accelerometer and information on the participants. The recognition rate of our algorithm was 97.34%, and the performance of the activity conversion algorithm was better than that of the Actical device by 1.61%.