• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.912-918
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• 2016

This paper presents various strategies for humanoid vehicle driving and egress tasks. For driving, a tele-operating system that controls a robot based on a human operator's commands is built. In addition, an autonomous assistant module is developed for the operator. Normal position control can result in severe damage to robots when they egress from vehicles. To prevent this problem, another approach that mixes various joint control techniques is adopted in this study. Additionally, a footplate is newly designed and attached to the vehicle floor for the ground landing phase of the egress task. The attached plate enables the robot to step down onto the ground in a safe manner. For stable locomotion, a balance controller is designed for the humanoid. For the design of the controller, the robot is modeled using an inverted pendulum that consists of a spring and a damper. Then, a state feedback controller (with pole placement and a state observer) is built based on the simplified model. Many approaches that are presented in this paper were successfully applied to a full-sized humanoid, DRC-HUBO+, in the DARPA Robotics Challenge Finals, which were held in the United States in 2015.

• Fire Science and Engineering
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• v.22 no.3
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• pp.287-292
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• 2008

In this study, the evacuation training were performed in a high school building in Cheong-Ju and compared with the simulation program (Simulex). Also numerical analysis of room fire in school building was conducted by fire model (FDS, CFAST) and evaluated the available safe egress time for the safety assessment. As a result, the 8% of total egress persons were failed to escape at evacuation training and 40% of total egress persons were failed to escape at Simutex simulation. Simutex program was not reflected the real escape conditions, such as evacuation route, refuge place, etc.

• Proceedings of the KSR Conference
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• 2011.05a
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• pp.870-873
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• 2011

The circumstance as platform and tunnel is very important in evacuation from passenger train car on fire. The comparison of egress modeling by SIMULEX, PATHFINDER, STEPS was conducted in order to analyze for the influence of platform to egress from subway car. Model subway car is seoul metro subway car. Model platform was designed by code 'Complementary design guide for connecting and convenience facilities, and urban subway station'.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.595-600
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• 2011

This study analyzed passenger's access modes that connect to regional railway station and developed a model of access mode choice based on transit smart card data of Seoul station as a case study. The study boundary includes sixteen bus stops around the station. The results show that most passengers access to station have less than two transfers. Of total 15000, eighty percent of passengers use metro and the rest of people take a bus. Interestingly, it is found that almost same proportions of passengers use metro and bus for egress the station. Consequently, metro is found to be most likely used mode compared to bus for both access and egress trips.

• Proceedings of the KSR Conference
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• 2010.06a
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• pp.2232-2241
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• 2010

A case study of fire risk analysis was conducted for train coach which has no gangway doors between coaches. The analysis boundary was limited to the time of outgoing from the coaches for it was train fire risk analysis. ASET(available safe egress time) and RSET(required safe egress time) methodology was used for calculating the dead. 4 liters of gasoline and cable fire at the electric cabinet and the standard fire of EN 45545 were selected for the fire sources. The fire were considered to be occurred at 3 different locations in the car. The train had 3 cases of driving scenarios. The result of all event was summarized for remained tunnel and station egress step.

• Proceedings of the KSR Conference
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• 2007.11a
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• pp.123-128
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• 2007

To predict the fire and smoke hazards of rail car with a evacuation model is essential for achieving life safety of all passengers in the event of fire. Currently, more than 30 different evacuation models are available and expected increasing demand in high population density areas as a metro train station. This paper includes brief history of evacuation models and review some key factors of design egress scenario, these are pre-movement time, egress route, location of fire, overturned carriage, and configuration of rail car. Applying the egress model for rail passenger car, users need to confirm the model's ability of physiological, psychological responses effecting to pre-movement time of individual or crowd unit, representation of complexity of carriage layout, and evaluation of effects of smoke.

• Journal of the Korean Society of Safety
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• v.24 no.3
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• pp.88-95
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• 2009

Most of subway stations are located underground and the number of passengers is far more than that of designed value, therefore the risk of accident is growing bigger and serious damage is expected in case of disaster. In Korea the period of evacuation study is short and numerical and experimental data of evacuation phenomena in subway station is rare. Many egress evaluation depend on foreign commercial S/Ws which are not yet proven its availability in special case such as subway station. In this paper outflow coefficients which are essential in egress evaluation are calculated at train door, stairway and turnstile at 3 most crowed subway stations. This numerical data can be used in prediction of egress evaluation and the result of other prediction methods can be verified with these experimental data.

• Korean Journal of Computational Design and Engineering
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• v.15 no.5
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• pp.333-342
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• 2010

This paper describes a novel quantitative discomfort evaluation method based on motion data and its application to discomfort analysis of ingress/egress motions for cars. To develop the discomfort evaluation model, we introduced the discomfort regression curve and the range of motion for each degree-of-freedom of the joints of a whole human body. The maximum discomfort value for the joints at a specific time is selected to represent the discomfort value of the whole body at the time. The results of the experiments and questionnaires support the claim that our discomfort measure matches experimental subjective discomfort levels.

• Fire Science and Engineering
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• v.14 no.4
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• pp.17-22
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• 2000

For life safety design of shopping mall, we selected a shopping mall, and calculated the evacuation time of means of egress. It is calculated by two kind of evacuation method. One is the computer simulation model, EXODUS. The other is Japan's method. Study way is a model structure study, selecting real shopping mall and setting scenario, calculating the evacuating time. result of study, evaluation time is very high. Therefore we confirmed that the building of means of egress is not fit to evacuation more the capacity of setting population.

• Fire Science and Engineering
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• v.3 no.2
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• pp.11-19
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• 1989

In this study, the independent variables are the floor plan configulation. The dependent variables are the occupant's egress behavior, especially spatial movement pattern, and life - safety performance of building. Fire events were simulated on single story of office building. Simulation run for allowable secaping thime(180 seconds) arbitrarily selected, and involved 48 occupants. The major findings Pre as follows. 1) Computer simulation model suggested in this study can be used as the Preoccupancy evaluation method of the life-safety performance for architectural design based on prediction of occupants' egress behavior in the levels of validity and sensitivity, 2) Sucess or failure in occupants' escape is determined by decreasing walking speed caused by jamming at exits or over crowded corridor, and increasing route length caused by running about in confusion at each subdivision and corridor. 3) In floor plan configuration which safe areas located at the extreme ends of the corridor, cellular floor planning have to be avoided preventing jamming and running about in confusion at overcrowded corridor.