• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.10
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• pp.5274-5280
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• 2013

The aim of this study is to analyze the general satisfaction of the commercial areas near Cheonan central bus terminal and the rail-station and to extract various environmental factors of the city center which give effect to the user satisfaction of commercial area. As the result of the analyses, the environmental factors of the city center make a difference between the commercial areas of Cheonan central bus terminal and of the station in the aspects of user satisfaction. The user satisfaction of the commercial areas is appeared highest in 'comfort of walking environments' and 'convenience of commerce business transaction' which were environmental factors of the city center. For reactivation of the commercial area near Cheonan rail-station are needed improvement of walking environments and relocation of facilities as complex mall and bank etc.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.24-30
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• 2016

The accuracy of small and low-cost CCD cameras is insufficient to provide data for precisely tracking unmanned aerial vehicles (UAVs). This study shows how a quad rotor UAV can hover on a human targeted tracking object by using data from a CCD camera rather than imprecise GPS data. To realize this, quadcopter UAVs need to recognize their position and posture in known environments as well as unknown environments. Moreover, it is necessary for their localization to occur naturally. It is desirable for UAVs to estimate their position by solving uncertainty for quadcopter UAV hovering, as this is one of the most important problems. In this paper, we describe a method for determining the altitude of a quadcopter UAV using image information of a moving object like a walking human. This method combines the observed position from GPS sensors and the estimated position from images captured by a fixed camera to localize a UAV. Using the a priori known path of a quadcopter UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations that represent the relation between image frame coordinates for a moving object and the estimated quadcopter UAV's altitude. Since the equations are based on the geometric constraint equation, measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the quadcopter UAV. The Kalman filter scheme is applied for this method. Its performance is verified by a computer simulation and experiments.

• Physical Therapy Rehabilitation Science
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• v.10 no.3
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• pp.356-366
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• 2021

Objective: This study aimed to compare gait ability through gait evaluations in indoor and outdoor environments according to the general characteristics and walking ability of stroke patients. Design: Crossed-sectional study. Methods: The subjects of this study were 57 hospitalized stroke patients.The study subjects were asked to select an indoor environment and an outdoor environment in random order, and the Timed Up and Go Test (TUG), 10-Meter Walk Test (10MWT), Figure-Eight Walk Test (F8WT) and the Functional Gait Assessment (FGA) were used to assess each environment. Results: The TUG, 10MWT, F8WT time and number of steps, and FGA showed a significant decrease in gait ability in the outdoor environment compared to the indoor environment (p<0.05). Although the TUG, 10MWT, and the time required for the F8WT were statistically higher in the outdoor compared to the indoor environment at points 2, 3, and 4, but not 5 of the functional ambulatory category (FAC), significant increases in the number of steps of the F8WT were found in the outdoor compared to the indoor environment for only points 2 and 3 of the FAC (p<0.05). In the FAC 3 and 4, there was a statistically significant decrease in the outdoor compared to the indoor environment only in the FGA (p<0.05). Conclusions: Therefore, it has been shown that the gait ability of stroke patients is reduced in the outdoor environment compared to the gait ability in the indoor environment.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.17 no.1
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• pp.31-37
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• 2024

In this study, we propose a machine vision-based pedestrian signal detection algorithm that operates efficiently even in computing resource-constrained environments. This algorithm demonstrates high efficiency within limited resources and is designed to minimize the impact of ambient lighting by sequentially applying HSV color space-based image processing, binarization, morphological operations, labeling, and other steps to address issues such as light glare. Particularly, this algorithm is structured in a relatively simple form to ensure smooth operation within embedded system environments, considering the limitations of computing resources. Consequently, it possesses a structure that operates reliably even in environments with low computing resources. Moreover, the proposed pedestrian signal system not only includes pedestrian signal detection capabilities but also incorporates IoT functionality, allowing wireless integration with a web server. This integration enables users to conveniently monitor and control the status of the signal system through the web server. Additionally, successful implementation has been achieved for effectively controlling 50W LED pedestrian signals. This proposed system aims to provide a rapid and efficient pedestrian signal detection and control system within resource-constrained environments, contemplating its potential applicability in real-world road scenarios. Anticipated contributions include fostering the establishment of safer and more intelligent traffic systems.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.05a
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• pp.877-881
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• 2008

In this paper, we propose a real-time people tracking system with multiple CCD cameras for security inside the building. The camera is mounted from the ceiling of the laboratory so that the image data of the passing people are fully overlapped. The implemented system recognizes people movement along various directions. To track people even when their images are partially overlapped, the proposed system estimates and tracks a bounding box enclosing each person in the tracking region. The approximated convex hull of each individual in the tracking area is obtained to provide more accurate tracking information. To achieve this goal, we propose a method for 3D walking human tracking based on the IMPRESARIO framework incorporating cascaded classifiers into hypothesis evaluation. The efficiency of adaptive selection of cascaded classifiers have been also presented. We have shown the improvement of reliability for likelihood calculation by using cascaded classifiers. Experimental results show that the proposed method can smoothly and effectively detect and track walking humans through environments such as dense forests.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.87-90
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• 2001

This paper presents a design of new type biped robot and dynamic walking simulation for this system. The robot is distinguished from other one by which has a parallel mechanism type trunk and lead-screw type actuators to drive the joints of the trunk, knee and ankle. The basic consideration on the design is that it is able to accommodate itself to human's daily environments without any other modification of around and also to operate its upper limbs more smoothly with a spine functional trunk. It is designed according to a human with about 130 cm height and about 30 kg weight. And it also is able to dynamically walk on an even ground. It has constructed with total 14 DOFs which have two legs, a hip, and a trunk. The joints of each leg and trunk are adopted with a parallel structure which has good kinematic characteristics and take light weight. To test of the capacity of joint actuators and to analysis of the dynamic properties of the biped robot, optimized trunk trajectory is determined by means of an approximated FFT method based on ZMP criteria, and dynamic simulation is performed using DADS with a 1.1 time/step velocity on the even ground during four steps.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.4
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• pp.360-365
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• 2013

The paper introduces dynamic generation technique of foot trajectories using CPG(Central Pattern Generator). In this approach, the generated foot trajectories can be changeable according to variable outputs of CPG in various environments, because they are given as mapping functions of the output signals of the CPG oscillators. It enables to provide an adaptable foot trajectory for environmental change. To demonstrate the effectiveness of the proposed approach, experiments on humanoid robot Nao is executed in the Webot simulation. The performance and motion features of CPG based approach is analyzed.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.132-137
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• 2011

The walking mobility with stability of 4 legged robots is the distinguished skills for many application areas. Planning gaits of efficient walking for quadruped robots is an important and challenging task. Especially, autonomous generation of locomotion is required to manage various robot models and environments. In this paper, we propose an adaptive locomotion control of 4 legged robot for irregular terrain using HyperNEAT. Generated locomotion is executed and analysed using ODE based Webots simulation for the 4 legged robot which is built by Bioloid.

• Journal of Preventive Medicine and Public Health
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• v.46 no.sup1
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• pp.50-54
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• 2013

Out-of-home mobility is necessary for accessing commodities, making use of neighborhood facilities, and participation in meaningful social, cultural, and physical activities. Mobility also promotes healthy aging as it relates to the basic human need of physical movement. Mobility is typically assessed either with standardized performance-based tests or with self-reports of perceived difficulty in carrying out specific mobility tasks. Mobility declines with increasing age, and the most complex and demanding tasks are affected first. Sometimes people cope with declining functional capacity by making changes in their way or frequency of doing these tasks, thus avoiding facing manifest difficulties. From the physiological point of view, walking is an integrated result of the functioning of the musculoskeletal, cardio-respiratory, sensory and neural systems. Studies have shown that interventions aiming to increase muscle strength will also improve mobility. Physical activity counseling, an educational intervention aiming to increase physical activity, may also prevent mobility decline among older people. Sensory deficits, such as poor vision and hearing may increase the risk of mobility decline. Consequently, rehabilitation of sensory functions may prevent falls and decline in mobility. To promote mobility, it is not enough to target only individuals because environmental barriers to mobility may also accelerate mobility decline among older people. Communities need to promote the accessibility of physical environments while also trying to minimize negative or stereotypic attitudes toward the physical activity of older people.

• Journal of Korean Society of Transportation
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• v.26 no.1
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• pp.181-190
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• 2008

This study intended to provide the inherent characteristics of weak pedestrian including walking speed and perception-reaction time and to propose pedestrian signal timing models considering those characteristics. To collect the relevant data, field studies were conducted in virtual crosswalk environments. Walking speed were found to be 0.63 m/s and 0.57 m/s for children and the elderly, respectively. However, the elderly had higher perception-reaction time than children. By considering these characteristics, two pedestrian signal timing models were developed. Sensitivity analysis results showed that the models can produce reasonable ranges of pedestrian signal time. The data in this paper can be used for future references, and the mobility of weak pedestrian may be improved by applying the models suggested in this paper.