• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.7
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• pp.2205-2212
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• 1996

In order to move the body of a walking robot translationally, and step over the obstacles, the walking robot must have at least 3 degrees of freedom for each leg. Therefore each leg of the general walking robots can be composed of 3-link system with 3 revolute joints. In this paper, the colsed form of inverse kinimatic solutions is shown for this general 3R linkage. Moreover, in order to have efficient walking volume in rough terrain, the workspace of each log is obtained considering the twist angles and the offsets in D-H parameters. When we design a walking robot, the information of the walking volume is needed for planning desired trajectories of the feet effectively. Appropriate knowledge of the walking volume can also be used to maximize linear or angular velocity of minimize power of stress. However, since it is impossible to obrain the information of walking volume in 3-D space directly from the kinematic equations, the walking volume can be searched through the edge detection algorithm using the triangle tracer with closed from inverse kinematic solutions. In this study, we present the closed form inverse kinematic solutions for 3R linkage model, and the walking volume of 6 legged walking robot which is modeled after the darking bettle, Eleodes obscura sulcipennis, through the method of edge detection for an arbitrary 2 dimensional shape using triangle tracer.

• Journal of the Architectural Institute of Korea Planning & Design
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• v.34 no.6
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• pp.3-14
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• 2018

The aim of this study is to propose a method for calculating the weight of walking energy in ERAM model by calculating it for the analysis of vertical and horizontal spaces in a building. Conventional theories on the space analysis in the field of architectural planning predict the pedestrian volume of network spaces in urban street or in two-dimensional plane within a building, however, for vertical and horizontal spaces in a building, estimates of the pedestrian volume by those theories are limited. Because in the spatial syntax and ERAM model have been applied weights such as the spatial depth, adjacent angles, and physical distances available only to the two-dimensional same layer or plane. Therefore, the following basic assumptions and analysis conditions in this study were established for deriving a predictor of pedestrian volume in vertical and horizontal spaces of a building. The basic premise of space analysis is not to address the relationship between the pedestrian volume and the spatial structure itself but to the properties of spatial structure connection that human beings experience. The analysis conditions in three-dimensional spaces are as follows : 1) Measurement units should be standardized on the same scale, and 2) The connection characteristics between spaces should influence the accessibility of human beings. In this regard, a factor of walking energy has the attributes to analyze the connection of vertical and horizontal spaces and satisfies the analysis conditions presented in this study. This study has two implications. First, this study has shown how to quantitatively calculate the walking energy after a factor of walking energy was derived to predict the pedestrian volume in vertical and horizontal spaces. Second, the method of calculating the walking energy can be applied to the weights of the ERAM model, which provided the theoretical basis for future studies to predict the pedestrian volume of vertical and horizontal spaces in a building.

• Journal of the Korean Society of Physical Medicine
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• v.6 no.4
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• pp.437-445
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• 2011

Purpose : The purpose of this study was to analysis on diaphragm thickness and lung function of stroke patients by walking ability. Methods : We recruited thirty-five adults after stroke(20 male, 15 female) for our study. The subjects were divided into two groups; independent walking group(11 male, 9 female) and non-independent walking group(9 male, 6 female). Assessment of diaphragm thickness was performed using ultrasound in B-mode with a 7.5 MHz linea probe. During the experiment, the subject was seated in the chair. All subjects performed maximal expiratory flow maneuvers using a spirometer in order to determine the forced expiratory volume in 1 second ($FEV_1$), forced vital capacity(FVC), peak expiratory flow(PEF) and $FEV_1$/FVC. Chest expansion was measured with a tape-measure placed circumferentially around the chest wall at the xiphoid process. The collected data analyzed by independent t-test. Results : The diaphragm thickness were significant differences between the independent walking and nonindependent walking group. Values of forced vital capacity, forced expiratory volume at one second, peak expiratory flow in pulmonary function tests were significant differences between the independent walking and non-independent walking group. However, chest expansion were not significant differences in both of the group. Conclusion : This study showed that walking ability of stroke patients have influenced on diaphragm thickness and pulmonary function.

• Journal of the Architectural Institute of Korea Planning & Design
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• v.34 no.11
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• pp.23-32
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• 2018

The purpose of this study is to establish a walking energy weighted ERAM model that can predict the pedestrian volume by the connection structure of the vertical and horizontal spaces within a three-dimensional building. The process of building a walking-energy weighted ERAM model is as follows. First, the spatial graph was used to reproduce three-dimensional buildings with vertical and horizontal spatial connection structures. Second, the walking energy was measured on the spatial graph. Third, ERAM model was used to apply weights with spatial connection properties in random walking environment, and the walking energy weights were applied to the ERAM model to calculate the walk energy weighted ERAM values and visualize the distribution of pedestrian flow. To verify the validation of the established model, existing and proposed spatial analysis models were compared to real space. The results of this study are as follows : The model proposed in this study showed as much elaborated estimation of pedestrian traffic flow in real space as in traditional spatial analysis models, and also it showed much higher level of forecasting pedestrian traffic flow in real space than existing models.

• PNF and Movement
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• v.12 no.3
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• pp.143-150
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• 2014

Purpose: The corticospinal tract (CST) is known to be an important pyramidal tract for walking and motor function. However, very little is known about the functional role of the CST in the recovery of motor function. In the current study, we investigated the relation between the CST and motor function in chronic hemiparetic stroke patients. Methods: Fifty-four patients and 20 normal subjects were recruited. The Functional Ambulation Category (FAC) was used in measurement of the walking ability. We classified patients into three groups according to the ability to walk independently: group A, patients who could not walk independently (FAC: 0-2); group B, patients who could walk independently (FAC: 3); and group C, patd walk functionally (stairs and uneven surfaces, FAC 4-5). The Motricity Index (MI) was used to measure the motor function of the affected upper and lower extremities (maximum score: 100). The fractional anisotropy (FA) value, apparent diffusion coefficient (ADC) value, and fiber volume of the CST were used for the diffusion tensor imaging (DTI) parameters. Results: In terms of the CST of the unaffected hemisphere, the FA value of group A was significantly lower than that of normal controls (p <0.05). The fiber volume of group C was significantly higher than that of normal controls (p <0.05). In contrast, the ADC values of all patient groups and the control group did not show any difference (p >0.05). In terms of lower MI and total MI, significant differences were observed between all patient groups (p <0.05). In addition, significant differences in terms of the upper MI scores were observed between groups A and C and between groups B and C (p <0.05); however, no significant difference was observed between groups A and B (p>0.05). Conclusion: The increased fiber volume of the CST in the unaffected hemisphere appears to be related to functional walking ability in chronic stroke patients. This result would be useful for elucidation of the neural recovery mechanism of walking and the investigation of new modalities for the recovery of walking following a stroke with CST injury.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.9
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• pp.56-65
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• 2019

This study empirically analyzes the effect of weather on pedestrian volume in an urban space. We used data from the 2009 Seoul Flow Population Survey and constructed a model with the pedestrian volume as a dependent variable and the weather and physical environment as independent variables. We constructed 28 models and compared the results to determine the effects of weather on pedestrian volume by season, land use, and time zone. A negative binomial regression model was used because the dependent variable did not have a normal distribution. The results show that weather affects the volume of walking. Rain reduced walking volume in most models, and snow and thunderstorms reduced the volume in a small number of models. The effects of the weather depended on the season and land use, and the effects of environmental factors depended on the season. The results have various policy implications. First, it is necessary to provide semi-outdoor urban spaces that can cope with snow or rain. Second, it is necessary to have different policies to encourage walking for each season.

• The Korean Journal of Emergency Medical Services
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• v.24 no.2
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• pp.39-50
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• 2020

Purpose: This study aimed to compare the effect of chest compression and the resulting ventilation volume in walking cardiopulmonary resuscitation (CPR), straddling CPR, and mechanical CPR while moving manikins to main stretchers. Methods: We compared the chest compressions in terms of compression depth, number of incomplete releases, complete release depth, compression rate, duration between peak time of previous compression and peak time of current compression, and respiration. We analyzed the compression comparatively with the ventilation volume in three different types of CPR. Results: The chest compression depth was significantly improved during straddling CPR as compared to walking CPR, during which women were unable to achieve sufficient chest compression depth. A constant chest compression depth was maintained during mechanical CPR. Conclusion: High-quality chest compressions were difficult to achieve in moving spaces. Further, walking CPR may be helpful in men, but straddling or applying automatic chest compressions in women would result in more effective CPR. Our findings demonstrate the limitations and trends in administering CPR in men and women, which may be useful in devising better education and training methods in the future.

• PNF and Movement
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• v.11 no.2
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• pp.103-110
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• 2013

Purpose : The aim of study was to assess the effect of backward walking combined with body weight supported treadmill training for patients with spinal cord injury. Methods : Forced vital capacity(FVC), forced expiratory volume at one second(FEV1), peak expiratory flow(PEF) and FEV1/FVC ratio(FER) were measured with a spirometer for on subject of T12 spinal cord injury. 10 meter walking test(10MWT), timed up & go test(TUG) and 6-Minute walking test(6MWT) were the measured. Intervention consisted of backward walking combined with body weight supported treadmill training five times a week for 12 weeks. Results : The date of 10MWT, TUG, 6MWT were improved. Furthermore, the date of PEF, FEV1, FVC, FER showed a improvement. Conclusion : Backward walking combined with body weight supported treadmill training may be a better and more effective method for gait performance and respiratory on incomplete spinal cord injury.

• International Journal of High-Rise Buildings
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• v.7 no.4
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• pp.409-415
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• 2018

Recently, many countries around the world began to show interest in safety against terrorism, fire, and natural disasters. This study aimed to propose a quantitative measurement system for emergency evacuation and safety for various kinds of terrorism and fire within high-rise multi-purpose facilities, which can measure the pedestrians' ordinary walking patterns in the concourse with the highest pedestrian volume out of all the spaces within multi-story buildings, predict pedestrians' evacuation walking lines when a sudden disaster breaks out, and analyze the gait coefficient, occupant density, and evacuation behavior time.

• Journal of Korean Academy of Fundamentals of Nursing
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• v.16 no.2
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• pp.214-222
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• 2009

Purpose: The purpose of this study was to evaluate the effects of a walking-support program on the pulmonary ventilatory functions of elderly people who had undergone upper-abdominal surgery. Method: The study was a quasi-experimental research design. There were 26 partcipants who were admitted for upper-abdominal surgery to P University Hospital in B city. Walking exercise education was provided individually to the experimental group the day before their operation and 20 minutes a day for five days after the surgery using the 'Walking Exercise Guide Document'. Pulmonary ventilatory function was with FVC (Forced Vital Capacity), PEF (Peak Expiratory Flow), FEVI (Forced Expiratory Volume in 1 Second), FER (Forced Expiratory Ratio), Oxygen Saturation, and VAS (Visual Analog Scale). Results: The objective indexes of pulmonary ventilatory function were not significantly different between the two groups, but the subjective index was significantly different. Conclusion: With the above results, the walking support program could be an effective nursing intervention for improving pulmonary ventilatory function of surgical patients.