• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.26 no.10
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• pp.89-94
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• 2012

This research is to apply the control of neuron networks for the real-time walking control of Multi-articulated robot. Multi-articulated robot is expressed with a complicated mathematical model on account of the mechanic, electric non-linearity which each articulation of mechanism has, and includes an unstable factor in time of walking control. If such a complex expression is included in control operation, it leads to the disadvantage that operation time is lengthened. Thus, if the rapid change of the load or the disturbance is given, it is difficult to fulfill the control of desired performance. This paper proposes a new mode to implement a neural network controller by installing a real object for controlling and an algorithm for this, which can replace the existing method of implementing a neural network controller by utilizing activation function at the output node. The proposed control algorithm generated control signs corresponding to the non-linearity of Multi-articulated robot, which could generate desired motion in real time.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.12
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• pp.418-424
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• 2019

The present study investigated the effects of the moment arm length on balance and walking when carrying a backpack. In total, 30 normal adults without orthopedic and neurological injuries were assessed. For each subject, balance and gait were measured under three conditions: 1) the no backpack condition, 2) the general backpack condition, and 3) the decreased length of moment arm backpack condition. There were significant differences in the center of the pressure area and velocity between the three conditions, whereas there was no significant difference in the center of the pressure area and velocity according to the moment arm length. There were significant differences in double limb support time and walking velocity under the three conditions, and there was a significant difference only in double limb support time according to the moment arm length. The results of the present study showed that a change in the length of the moment arm can be helpful for walking when carrying a backpack.

• Journal of Korean Society of Transportation
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• v.23 no.3 s.81
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• pp.149-159
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• 2005

The paper presented not only the difference of the marginal walking time by passenger. but also the derivation of the bus service determination model by passenger attributes. The marginal walking distance to bus stop is a basic parameter to estimate bus service coverage area in certain area. And the marginal walking distance could be transformed from the marginal walking time, which is the focus of this paper. The result of analysis revealed that the age and income of passenger are strongly related to the marginal walking time. In planning or regulating the spacing of bus routes or bus stops in certain area, the model suggested in this paper help for the planner to choose optimal alternative.

• Journal of Digital Contents Society
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• v.12 no.3
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• pp.279-289
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• 2011

The latest hardware and software techniques are combined to give safe walking guidance and convenient service of realtime walking assistance system for visually impaired person. This system consists of obstacle detection and perception, place recognition, and sign recognition for pedestrian can safely walking to arrive at their destination. In this paper, we exploit the sign object detection system in subway station for sign recognition that one of the important factors of walking assistance system. This paper suggest the adaptive feature map that can be robustly extract the sign object region from complexed environment with light and noise. And recognize a sign using fast zernike moment features which is invariant under translation, rotation and scale of object during walking. We considered three types of signs as arrow, restroom, and exit number and perform the training and recognizing steps through adaboost classifier. The experimental results prove that our method can be suitable and stable for real-time system through yields on the average 87.16% stable detection rate and 20 frame/sec of operation time for three types of signs in 5000 images of sign database.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.593-594
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• 2009

• Journal of the Korean Institute of Landscape Architecture
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• v.24 no.3
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• pp.42-56
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• 1996

The citizens seek to maximize convenience, pleasantness and safety when they use urban facilities. However, existing practices of urban neighborhood parks have applied not qualitative standards such as adequacy, efficiency, accessibility, equity, or socioeconomic issues but very limited quantitative standards such as area per person. Therefore it is not rare that citizens have lost their accessibility to near-by neighborhood parks. And park regulations based on the distance of lien are supposed to be uniformally accomplished regardless of the consideration about users or geographical special situations. Futhermore, it has been found that some urban neighborhood parks don't reach to the standards given by the regulations. This study tries to accomplished several purposes. The first purpose is to extract the boundary of real user-accessible zones derived from the city survey. Comparing with boundary of real user-accessible zones, the second one is to propose the most efficient measurement indices among many accessibility measurement index. Based upon the above arguments, the last one is to review the propriety of the access distances(e.g., semidiameter) of an urban neighborhood park in a law. The measurement indices of accessibility examined in this study are walking distance, walking time and walking difficulty. The comparison of visual discrimination, the comparison of area and the comparison of differences of maximum distance showed similar results. Each index can also be compared in the size of area and differences of maximum distance. Walking difficulty with the turning showed the best measurement values among the measurement indices. This indicates that walking difficulty with crossing and/or turning may be another important indices in measuring accessibility, while other existing studues have mainly dealt with walking time and distance as accessibility indices. The results of this study also supported that the existing regulations related to park allocation(e.g., access diameter) are close to the findings of this study.

• Journal of the Korean Geographical Society
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• v.48 no.5
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• pp.728-749
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• 2013

When it comes to museumification, it has often been approached in terms of false history, placelessness or simulacra. However, this research aims at exploring the relation between the bodily-spatial performance of walking in the city and the museumification of urban space. For this, first it reviews theoretical discussions of walking as a bodily-spatial performance. Then, in the case of Daegu's Modern Street Tour and particularly focusing on the tour map, it looks at how the bodily performance of walking constructs the urban space of the tour as a museumified space. Finally, seeing the participants' blogs and other websites as another performative space, it examines how the bodily performance of walking reproduces the discourse and space of the tour in virtual space as well as in actual space. The study suggests the elusive assemblage of heterogeneous and multiple time-spaces immanent in urban space, which is different from the absolute and linear order of time-space in museum space.

• Journal of the Society of Naval Architects of Korea
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• v.50 no.5
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• pp.307-313
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• 2013

This paper presents a simulation for passenger ship evacuation considering determination of evacuating direction based on walking direction potential function. In order to determine walking direction of a passenger, his/her position in two dimensional plane was adopted as a design variable, and fixed boundaries such as walls and obstacles were adopted as constraints. To solve this optimum problem, a walking direction potential function was adopted as an objective function. This potential function was configured as a kind of penalty function and it contained two components. One is a potential function concerned with the distance to the destination, and other is a potential function based on the effect of walls and obstacles. To determine evacuating direction, this problem was solved by minimizing the walking direction potential function every unit time during the simulation. The crowd behavior of the passenger consisted of the flock behavior, a form of collective behavior of a large number of interacting passengers with a common group. With the proposed algorithm, the test problems in International Maritime Organization, Maritime Safety Committee/Circulation 1238(IMO MSC/Circ.1238) were implemented and the direction of passengers and total evacuation time was analyzed.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.223-231
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• 2014

Humanoid robot is the most suitable robot platform for effective human interaction and various intelligent services. The present work addresses development of real time wireless control application of humanoid robot's forward and backward walks, and turning in walking. For convenience of human users, the application is developed on Android OS (Operating System) working on his or her smartphone. To this end, theoretic background on various-directional biped walking is proposed based on joint trajectories for forward walking, which have been shaped with a global optimization method. In this paper, backward walking is scheduled by interchange of angles and angular velocities and additional change of signs in angular velocities at all the via-points connecting cubic polynomial trajectories. Turning direction in walking is also implemented by activating the transversal hip joint initially located in the support leg in two stages. After validation of the proposed walking schemes with Matlab simulator, a smartphone application for the omnidirectional walking has been developed to control a humanoid robot platform named DARwIn-OP interconnected via Wi-Fi. Experiment result of the present wireless control of a humanoid robot with smartphone is successful, and the application will be released in application market near future.

• Journal of Korean Physical Therapy Science
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• v.16 no.2
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• pp.1-9
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• 2009

Background: The ability for backward walking is considered to be necessary for the neuromuscular control and maintenance of balance in daily ambulatory activity. This study aimed to determine the effect of backward walking training on the walking speed and balance control in patients with hemiplegia. Methods: Fourteen patients with hemiplegia were randomly allocated to an experimental and control groups of seven patients each. For the experimental group, we performed both conventional training and backward walking training, and conventional training only for the control group. The conventional training programs for the 2 groups were conducted for 30 min, twice a day, 5 times a week for 4 weeks, and backward walking training for the experimental group was conducted for 30 min, 3 times a week. The outcomes were assessed using the functional reach test (FRT), timed up-and-go (TUG) Test, and the 10 meter walk time test (10mWT). Result: A comparison of the FRT, TUG test, and 10mWT scores obtained before and after the 4-week treatment revealed statistically significant differences (p<.05) for the experimental group; however, there was no such difference in the case of the control group (p>.05). On assessment after the 4-week treatment, statistically significant differences were noted in the TUG test and 10mWT scores of the experimental group (p<.05). Conclusion: Our findings suggest that backward walking training is an effective clinical strategy for improving the walking speed and functional mobility of patients with hemiplegia.