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Dissertations / Theses on the topic 'Walking path'
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1
Arnold, Bram. "Walking home : the path as transect in an 800km autoethnographic enquiry." Thesis, University of the Arts London, 2016. http://ualresearchonline.arts.ac.uk/9634/.
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This practice-based project articulates the notion of an autoethnographic transect using Walking Home, a particular journey that I made in 2009, as its foundation. Borrowing key terms from the fields of ethnography and ecology, the project articulates a new contribution to knowledge by expanding the notion of a transect and using methods appropriated from autoethnography to generate visual arts practice in the wake of a long distance walk. Walking from London, England to St. Gallen, Switzerland the journey was undertaken in the wake of my father’s death. The key principle this project takes from autoethnography is that the position of the emotive self, as researcher and researched, can offer unique insights into a given field. Methods borrowed from autoethnography and ecology are re-employed throughout a transdisciplinary practice and body of research that, through the development of an ecological from of subjectivity, articulates an autoethnographic transect. The project expands the scale of a transect, from a line drawn across a field, to a journey taken across Europe; one that is drawn, walked and talked into being. Walking Home is presented in a holistic form whereby contextual and critical work is interwoven with and within practice: writing, image making, performance and installation. This interwoven process, whereby the practice and research become an inherent part of each other, is exemplified through a body of work called Fondue, a performance, taking place as a dinner party, which has evolved out of my engagement with autoethnography. An exhibition took place in Spring 2015, the outcomes of which are folded into this thesis. Articulating the notion of an autoethnographic transect as a new method within the field of visual arts practice this thesis will be of interest to performance practitioners, artists and writers engaged with the field of walking as a form of practice or process.
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Chappatte, Andre. "Walking an earthly path : everyday Islam in Bougouni, a town of southwest Mali." Thesis, SOAS, University of London, 2013. http://eprints.soas.ac.uk/15627/.
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Escalante, Katherine Atapauccar, Ramirez Ruiz Bryan Hugo, Manuel Silvera, and Fernando Campos. "Analysis of conflict points between pedestrians at BRT stations to prevent the spread of respiratory diseases." Institute of Electrical and Electronics Engineers Inc, 2020. http://hdl.handle.net/10757/656569.
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El texto completo de este trabajo no está disponible en el Repositorio Académico UPC por restricciones de la casa editorial donde ha sido publicado.Bus Rapid Transit (BRT) is a bus-based public transport system that increase the effectiveness of public transportation through dedicated lanes with busways and independent stations. However, the low capacity at the stations and the high demand of the system increases the respiratory diseases risk caused by the interaction between pedestrians. This article proposes to make the main access point an entrance only and the access point at the opposite end of the platform an exit only, allowing one-way walking paths. This research is focused on the reduction of conflict points between pedestrians generated by walking flows in opposite directions. A BRT station located in the city of Lima was used as a case study for the investigation. It was identified for the peak hour that the area with the highest pedestrian interaction occurs in the station platform and boarding areas. The efficiency of the proposal is validated by using the Viswalk software. The results obtained show that the conflict points decreased by 68.5% and the pedestrian density by 45%. From that perspective, the pedestrian flows were optimized, and the risk of respiratory diseases was reduced.
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Hamilton, Amy T. "Peregrinations: Walking the Story, Writing the Path in Euro-American, Native American, and Chicano/Chicana Literatures." Diss., The University of Arizona, 2008. http://hdl.handle.net/10150/195967.
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This dissertation traces the act of walking as both metaphor and physical journey through the American landscape in American texts. Drawing together texts from different time periods, genres, and cultural contexts, I contend that walking is a central trope in American literature. Textual representations of traversing the land provoke transformation of the self recording the walk and the landscape in the imagination of the walker. The experience of walking across and through the heavily storied American land challenges the walker to reconcile lived experience with prior expectations.While many critics have noted the preponderance of travel stories in American literature, they tend to center their studies on the journeys of Euro-American men and less often Euro-American women, and approach walking solely as metaphor. The symbolic power of a figure walking across the American land has rightfully interested critics looking at travel across the continent; however, this focus tends to obscure the fact that walking, after all, is not only a literary trope - it has real, physical dimensions as well.Walking in the American land is more than the forward movement of civilization, and it is more than the experience of wilderness and wildness. In many ways, walking defines the American ideals of space, place, and freedom. In this context, this dissertation investigates the connections between walking, American literature, and the natural world: What is it about walking that seems to allow American writers to experience the land in a way that horses, cars, trains, and planes prevent? What about the land and the self is revealed at three miles an hour? In the texts I examine, walking provides a connection to the natural world, the sacred, and individual and cultural identity. I trace American responses to nature and cultural identity through the model of walking - the rhythm of footsteps, the pain of blisters and calluses, and the silence of moving through the wilderness on foot.
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Rolando, Jean-Sebastian. "Between nature and culture: a stone masonry school and walking path at the Strand Street Quarry." Master's thesis, University of Cape Town, 2015. http://hdl.handle.net/11427/28257.
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The dissertation design seeks to make present and enhance the inherent qualities of the Stand Street Quarry in order to reintroduce its heritage narratives into the public realm. The proposed intervention aspires to, if anything, subtlety. It seeks to make the value of the histories of the site evident to the user in such a way that they are compelled to find meaning individually, to interact with the site and the landscape in a meaningful and personal manner. Minimalistic design solutions were sought out in order to produce a product scheme that embeds another layer of human intervention in the palimpsestual narrative of the Signal Hill territory.
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Pinker, Annabel Charlotte. "'The path is made by walking' : utopianism, cooperative development, and missionary practices in the Ecuadorian Andes." Thesis, University of Cambridge, 2011. https://www.repository.cam.ac.uk/handle/1810/252231.
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Claro, Sylvie Teixeira. "Aquae Ducto: proposta de percurso para a Água de Prata." Master's thesis, Universidade de Évora, 2019. http://hdl.handle.net/10174/25539.
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Aquae ducto - significa a água conduzida. O Aqueduto da Água da
Prata, enquanto infraestrutura de condução de água e o percurso
ambiental a ele associado, constitui o objeto de estudo deste trabalho.
O presente trabalho de projeto pretende descrever, analisar e
responder a dificuldades que o atual itinerário ambiental apresenta ao
caminhante. Propõem-se diferentes possibilidades e alternativas para
percorrer este trajeto, associando espaços e pequenos equipamentos
situados ao longo do território. Estes representam momentos de pausa
e transição para o caminhante e completam o percurso, assumindo um
carácter funcional e lúdico que colmata as necessidades sentidas ao
longo do reconhecimento do território.
Durante o estudo e análise do concelho, da cidade de Évora e do
Aqueduto da Água da Prata, caminhou-se ao longo do trajeto,
enquanto ferramenta metodológica fundamental de reconhecimento e
de validação de novas hipóteses de projeto. Fotografou-se e filmou-se
o Aqueduto, a sua relação com o território e com a cidade, como
registo do processo de reconhecimento metodológico e de
salvaguarda para o futuro.
O desenho projetual ancorou-se às singularidades identificadas ao
longo do território que justificam as opções arquitetónicas e de projeto
que complementam a experiência no percurso; ABSTRACT:
Aquae duct - means driven water. The Água da Prata Aqueduct, as an
infrastructure that conduces the water and the environmental walk to it
associated, constitutes the study object of this work.
The present project work pretends to describe, analyze and respond to
difficulties presented by the actual environmental itinerary to the
walker. Different possibilities and alternatives are proposed to go
through this course associating spaces and small appointments located
all along the territory. These represent transitional moments for the
walker and complete the path assuming a ludic and functional
character to meet the needs felt during the reconnaissance held on the
territory.
During the study and analysis of the county, Évora's city and the Àgua
da Prata Aqueduct, walks were held along the way as a fundamental
knowledge instrument and methodological tool of recognition and
validation of new project hypothesis. Pictures and videos were taken
from the aqueduct and its relationship with the territory and the city as
a process record of methodological recognition and safeguard for the
future.
The projectual drawing got anchored at the singularities identified
along the territory that justify the architectural and projectl options that
complete the path experience.
8
Joseph, Anjali. "Where older people walk assessing the relationship between physical environmental factors and walking behavior of older adults /." Diss., Available online, Georgia Institute of Technology, 2006, 2006. http://etd.gatech.edu/theses/available/etd-04072006-103929/.
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Thesis (Ph. D.)--Architecture, Georgia Institute of Technology, 2006.Zimring, Craig, Committee Chair ; Kohl, Harold W., Committee Member ; Bafna, Sonit, Committee Member ; Sparling, Phillip, Committee Member ; Day, Kristen, Committee Member.
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Capewell, Elizabeth Ann. "Working with disaster : transforming experience into useful practice : how I used action research to guide my path while walking it." Thesis, University of Bath, 2004. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.414793.
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Huber, Stephan. "“Walking encyclopedias of studies” for sustainability transformations? The role of information and discourse in the case of the German coal phase-out." Thesis, Stockholms universitet, Stockholm Resilience Centre, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:su:diva-197233.
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Transformations of energy systems in line with the Paris Agreement demand rapid deliberate decline of fossil energy production for decarbonization. Rising in priority on national political agendas, policy change for deliberate decline meets political barriers in the form of powerful incumbent actors, path dependencies and frames of loss. Although these dynamics can impede transformations, literature remains unclear in how to engage with these barriers. Therefore, this study focused on discourse and policy process theories in a qualitative analysis based on a broad selection of documents and expert-based interviews to explore and illustrate the “Commission on Growth, Structural Change and Employment” in Germany (2018/19). In this multi-stakeholder committee, a phase-out plan for coal-fired power generation was negotiated alongside claims of just transitions. Findings indicate that policy change was reached through consensual agreement but was reduced in ambition through path dependent discourse and expert-based information. The selection and evaluation of expert-based information was closely tied to expert members, while political debate on necessary assumptions as a basis for this information remained scarce. Lastly, insights from discourse and expert-based information can enrich the understanding of sustainability transformations and further research on the case could investigate the narrative subscriptions of stakeholders.
11
Delaney, H. "Walking and cycling interactions on shared-use paths." Thesis, University of the West of England, Bristol, 2016. http://eprints.uwe.ac.uk/27108/.
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Central to this research are the interactions that take place between cyclists and pedestrians on shared-use paths and the impact of these on journey experiences. This research proposes that as active travel is promoted and as walking and cycling targets are set in the UK, there is a potential for levels of active travel to increase; putting pressure on shared-use paths, and potentially degrading journey experiences. Previous research on shared-use paths focuses on the observable aspects of shared path relations, such as visible collisions and conflict. However, this thesis suggests that it is necessary to investigate shared-path interactions in more depth, not only focusing on the visible signs of conflict but also examining the non-visible experiential interactions. Thus, this research addresses the following questions: - What are the different kinds of interactions that occur on shared-use paths? - How do path users experience and share the path? - What are the respondents’ expectations and attitudes towards the path? - What are the practice and policy options in relation to enhancing shared-path experiences? - Are video recordings a useful aid to in-depth interviews? The Bristol-Bath railway path (Bristol, UK) was chosen as a case study site and a two phased data collection strategy was implemented. Phase I included on-site intercept surveys with cyclists and pedestrians along the path. Phase II involved a novel mobile method; using video recordings of the participants’ shared-use path journeys as a discussion tool during in-depth interviews. Phase II enabled a more detailed exploration of the path users’ experiences from a personal point of view. By implementing these methods and applying a novel theoretical framework (combining mobilities and social psychology theory), this research has uncovered findings relevant to practice and theory. Exploring path user interactions revealed the types of coping strategies used by the respondents to share space. The findings also highlighted that different sensory aspects are prominent for cyclists and pedestrians. Processes associated with path-user identities and path-identity were also uncovered as important aspects of shared-path experiences. The usefulness of video mobile methods in accessing the experiential aspects of walking and cycling interactions has also been highlighted. The conclusion considers these findings and sets out recommendations including a code of conduct and an identity-influencing strategy for the path, along with ideas for future research.
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Tovar, Zília Maria de Serpa Barata de. "Pedestrianismo, percursos pedestres e turismo de passeio pedestre em Portugal." Master's thesis, Escola Superior de Hotelaria e Turismo do Estoril, 2010. http://hdl.handle.net/10400.26/2409.
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A prática de andar a pé em trilhos sinalizados, ou pedestrianismo, é uma
actividade que tem vindo a ganhar um número crescente de praticantes. O pedestrianismo é uma actividade que procura os caminhos tradicionais e de montanha, no meio rural e nas cidades, no interior e no litoral. Para facilitar a sua prática são criados percursos pedestres sinalizados que têm por finalidade conduzir os praticantes que os percorrem.
As principais motivações associadas ao pedestrianismo são o contacto com a natureza, o bem-estar físico e a descoberta, motivações que se encontram descritas para
os mercados de Turismo de Saúde e Bem-Estar e, sobretudo, de Turismo de Natureza, mercados com fortes perspectivas de crescimento e identificados, no âmbito do Plano Estratégico Nacional de Turismo, como de desenvolvimento prioritário.
O presente trabalho explora o tema do pedestrianismo, percursos pedestres e
Turismo de Passeio Pedestre em Portugal, avaliando a sua dimensão e expressão territorial, através da análise das actividades de pedestrianismo promovidas, dos
recursos existentes e sua divulgação e dos programas de Turismo de Passeio Pedestre disponíveis no mercado.
A análise da expressão territorial do pedestrianismo é feita com base na oferta de
actividades promovidas por diversas entidades nos três últimos anos (2007 a 2009). Os percursos pedestres considerados são os percursos homologados pela Federação de Campismo e Montanhismo de Portugal. São apresentados dados quantitativos, bem
como a distribuição territorial das actividades, dos percursos pedestres e a relação existente entre actividades e percursos e entre actividades, percursos e território.
Após a identificação dos operadores de Turismo de Passeio Pedestre em Portugal, caracterizando-os de acordo com a sua origem e os destinos turísticos em que trabalham, apresenta-se uma análise da oferta de programas de Turismo de Passeio Pedestre no nosso país, enfatizando os destinos.
São ainda analisados os principais meios de divulgação de percursos pedestres em Portugal, considerando essencialmente edições de distribuição internacional e sites
das entidades oficiais de turismo, com responsabilidade ao nível da promoção de
destinos e produtos turísticos.
No que diz respeito à expressão territorial do pedestrianismo e do Turismo de Passeio Pedestre em Portugal, são identificadas as áreas de maior desenvolvimento actual e potencial do Turismo de Passeio Pedestre.
No final do trabalho é apresentado o exemplo do destino Aldeias do Xisto, focando os aspectos mais relevantes que constituem um destino de Turismo de Passeio Pedestre.Walking is an increasingly motivating activity, which is getting more and more adepts everywhere. It privileges traditional and mountainous paths in rural areas or in towns, inland or on the coastline. Flagged walking routes have been and are still created in order to offer guidance and to make this activity easier and safer for those interested in such ways of getting to know a country or a region. The main motivations associated with walking are the contact with nature, the physical wellness and the discovery thrill; such interests are those identified for Health & Wellness Tourism and especially for Nature Tourism markets. These markets have strong development perspectives and are identified as a priority in the National Strategic Plan for Tourism. The present work is focused on walking organized activities, walking paths and Walking Tourism in Portugal. It aims at assessing the dimension and territorial expression of this reality by analysing the provided activities, the existing resources and the way they are promoted; it also reviews and analyses the available Walking Tourism programs. The analysis of the territorial expression of walking organized activities is based on the offer promoted by different entities along three years (2007-2009). The walking paths considered are those approved by the Federação de Campismo e Montanhismo de Portugal. Quantitative data is provided together with the geographical location of the considered activities and paths, as well as the existing relationship between activities and paths on the one hand, and activities, paths and their spatial distribution on the other. After the identification of the tour operators, who offer Walking Tourism products in Portugal, these are characterized according to their origin and touristic destinations on their programs; subsequently the available Walking Tourism programs are reviewed as well, focusing on the spatial distribution of destinations. Then, the means to promote walking in Portugal are also analysed considering both the main international distribution editions and sites of Portuguese official tourism entities, responsible for the promotion of tourist destinations and products. Furthermore, the most developed areas or those with greater development potential, as Walking Tourism destinations, are identified, taking in consideration the spatial distribution of walking organized activities and Walking Tourism programs. Finally, this study would not be complete without an example. Aldeias do Xisto is a new tourism destination, presenting the most relevant aspects to consider within a Walking Tourism destination and is therefore worth a closer look.
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Brown, Geoffrey L. "Nonlinear Locomotion: Mechanics, energetics, and optimality of walking in circles and other curved paths." The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1339169797.
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Carlegrim, Sara. "GIS analysis of walking and bicycle paths in the new city quarters of Östra Saltängen, Norrköping." Thesis, Linköpings universitet, Kommunikations- och transportsystem, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-110574.
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Norrköpings kommun håller just nu på med ett stadsomvandlingsprojekt i Östra Saltängen. I dag bedrivs industri- och hamnverksamhet i området, vilka påverkas av de nya planerna och planerar flytten av sin verksamhet parallellt. Examensarbetets syfte var att planera och utforma GC-nätet för det nya området genom en GIS-modell, samt att analysera genhetskvoten från och till bostads- och målpunkter. GIS-modellen upprättades i programmet MapInfo Professional 12.0 där tilläggsprogrammet RouteFinder lades till för att utföra nätverksanalysen. Resultatet från nätverksanalysen användes sedan för att beräkna genhetkvoten. Fyra olika GC-nät togs fram för att analyseras i RouteFinder. Detta för att se vad nätens olika utformning hade för betydelse för genheten. JA bestod av ett GC-nät utifrån Norrköpings kommuns planskiss. UA1 bestod av ett GC-nät med normal maskvidd, UA2 av ett GC-nät med tät maskvidd och UA3 av ett GC-nät med dubbel diagonal. Därefter utfördes en tidsanalys och en diskussion kring broplacering. Till tiden från punkt A till B lades även en tidsrelaterad korsningsfördröjning på för att göra resultatet mera verklighetsbaserat. Diskussionen kring broplaceringen utfördes som en förbättringsåtgärd då en samverkan mellan broplacering och rutter med dålig genhetskvot upptäcktes. Resultatet av de olika analyserna är att en kombination av UA2 och UA3 är det bästa GC-nätet, med avseende på genhet- och tidsaspekten. Med avseende på broarna, bör Skeppsbron ersätta Hamnbron och ”GC-bro 2” byggas.
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Hedin, Kajsa. "Samband mellan gångsträcka, dyspné och desaturation i 6 minuters gångtest hos en grupp individer med pulmonell arteriell hypertension (PAH) - en registerbaserad pilotstudie." Thesis, Uppsala universitet, Åsenlöf: Fysioterapi, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-407329.
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Background: Pulmonary arterial hypertension (PAH) is a rare but serious disease with symptoms as dyspnea, fatigue and intolerance to exercise. The treatment is mainly pharmacological with physical exercise as an important complement. The 6 minutes walking test (6MWT) is used today worldwide for assessment and follow-up of the PAH patient. Objective: The aim of this study was to, among a PAH-population in Norrland, examine the 6-minutes walking test variables walking distance, ∆dyspnea and Δsaturation according to change over time and correlation between the variables. A further objectice was to examine any differences between four different PAH risk groups according to ∆dyspné och Δsat. Method: This study is a retrospective register study based on the Umeå/Sundsvall part of the Swedish patient registry SPAHR. A total of 69 patients were examined at the time of diagnosis and at follow-up after 12 ± 3 months regarding 6MWT. Results: A significantly longer walkning distance was measured at follow-up comepared to baseline (284 m (IQR 187-410) vs 322 m (IQR 240 - 435), p < 0,001). A negative but weak correlation existed at baseline between walking distance and Δsat (r = -0.23, p= 0.022) and at follow-up (r = -0.27, p= 0.033). No significant difference regarding Δsaturation and Δdyspnea could be seen between the risk groups. Conclusion: Also this study demonstrates that the walking distance is the measure that is seen to vary over time, while Δsaturation and Δdyspnea have not been shown to do so. The weak correlation that could be detected between walking distance and Δsaturation raises the idea that it may be a factor that strengthens or weakens the result measured in meters and could thus possibly increase the informational value of the 6MWT. However, the results of this study indicate that desaturation and estimated dyspnea are not factors that correlate with the walking distance (and thus the patient's functional working capacity). Other variables such as quality of life and fear of movement may need to be estimated by the patient group to be able to evaluate and plan both pharmacological treatment and physical exercise, and to see if it can predict the outcome of the treatment. This should be studied scientifically.
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YEH, SSU-HUNG, and 葉思宏. "Path Planning and Guidance for Robot Walking Helper under Crowded Environment." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/fjttdz.
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碩士國立交通大學
電控工程研究所
107
Along with medical progress, the elderly population rapidly increases. Robot walking helpers play an important role in providing safe mobility for the elders. To let it be able to move in a crowded environment and detect other pedestrians in the surroundings, we propose a control scheme with collision-free trajectory planning to govern the robot walking helper to reach the target, while avoiding the obstacles. With the conditions for collision avoidance formulated as the constraints, a feasible and comfortable collision-free trajectory is analytically expressed as an optimization problem. The path is efficient to generate a collision-free trajectory. The simulation and experiment results show that the robot walking helpers under the proposed control scheme can guide the elders to the goal effectively. Hopefully, in the near future, robot walking helpers can be widely used in daily life and help people with disabilities to enjoy a better quality of life.
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Lin, Chien-yao, and 林建堯. "Path Planning of Autonomous Quadruped Robot Walking Through River-stone Terrain." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/42500434379518645995.
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碩士國立交通大學
機械工程系所
95
The applications of a quadruped robot are adopted quite extensive, such as military, industry, entertainment, etc. Higher and higher topographical and environmental adaptive capacity requirement pushes the research intensity focus on the autonomous, sensory technology and gait planning etc and have been made a big progress recently. There are quite a few research works focus on the gait development of discontinuous terrain such as the case of a quadruped robot climbing on an inclined wall surface only by holding the protuberance with planned gait control. The Study proposed an innovative path planning methodology to calculate and generate a gait for quadruped robot to walk through a river-stone terrain. The Monte Carlo searching method is proposed to generate a feasible foot point for each leg in the area range of configuration workspace. And it was followed by zmp stabilization checking rule to ensure that the robot is stable at any moment. The programmed gait data have been transferred into ADAMS system to verify its correction and stabilization of the quadruped robot walking through a discontinuous river-stone terrain. The robot ”NC-F4-06” which was designed by CIDM Lab was modeled to demonstrate the usefulness and efficiency of gait planning generated by proposed methodology.
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Zhang, Yao-Ze, and 張耀澤. "Path Guidance for Passive Robot Walking Helper Based on Receding Horizon Control." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/61426194027186900415.
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碩士國立交通大學
電控工程研究所
101
In recent years, the progress in medical technology has contributed to longer life-span of human being. Due to the decrease of birthrate, the problem of aging of population has been emerged. How to take good care of the elderly is an important issue around the world. Along with the progress of the robot technology, various kinds of robot walking helpers have been developed. It motivates us to develop a robot walking helper, named i-Go, in our laboratory to tackle the inconvenience of the elderly in their daily life. In this thesis, we propose using the strategy of model prediction to achieve guidance and control of the walking helper. The strategy, combined with a path planning method newly developed, can generate appropriate brake torques sent to the walking helper for assistance. The experiment and simulation results show that the proposed system is effective on the i-Go. We expect, in the near future, the i-Go will be ready for elderly assistance.
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Zeng, Jyun-Rong, and 曾俊融. "Path Planning of Quadruped Robot Walking through Discontinuous River-stone Terrain Based on ANFIS." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/47894384934766853175.
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碩士國立交通大學
機械工程系所
97
The study proposes an innovative method which combines Adaptive Neuro-Fuzzy Inference Systems(ANFIS) with Zero-Moment-Point(ZMP) algorithms and applies in path planning for quadruped robot walking through a discontinuous River-stone terrain.Therefore,the robot can change its walking figure for adapting to different terrain like humans. Because the quadruped robot can be regarded as combinations of four 3-DOF manipulators and the ANFIS algorithm can also be regarded as combinations of Neural-Network and Fuzzy inference system,this thesis study is planned and proceeded from simple to difficult case.Firstly, we study the case of 3-DOF manipulator in a plane based on Fuzzy theorem .Second we compare the case of 3-DOF spatial manipulator based on both Neural-Network and ANFIS theorems.Finally this thesis proposes the ANFIS and ZMP methods to apply to the gait planning of 12-DOF quadruped robot. This research deals with the stability control algorithms of quadruped robot by ZMP method,when the robot walks through discontinuous terrain. If its projection of ZMP on the ground is inside the triangle foot print area,the robot will keep stable on walking. There are many experimental instruments were adoptive in the study,such as acrylic sheet,servo motors and SSC-32 servo controller. This gait planner transfers the angle datas made by ANFIS programs to the SSC-32 board by RS232 connected cable,and let the robot pass through the discontinuous River-stone successfully and stably.
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Wu, Ping-Yu, and 吳秉祐. "Path Planning and Guidance for Passive Robot Walking Helper Based on Multiple Dynamic Obstacles." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/kjj8k2.
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碩士國立交通大學
電控工程研究所
107
With the advancement of medical technology, the elder population in our society is increasing rapidly. As the elderly aging, they often face the problem of inconvenience in movement. As a result, many walking assistive devices have been developed to help the elderly to enhance the mobility. In this thesis, we develop a path planning and guidance system based on a passive robot walking helper, i-Go, developed in our laboratory. Considering the environment in daily life, multiple dynamic obstacles are expected. To protect the elderly in walking, we propose a dynamic obstacle avoidance algorithm. According to the information of the obstacles and the target location, the system can find the braking torques required to avoid all obstacles, and guide the user to the target point. Experiments are conducted to verify that the proposed algorithm is able to make robot walking helper avoid obstacles in the environment. Hope that in the future, robot walking helpers can be widely used in daily life and help people with limited mobility to get a better quality of life.
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Yu, Yin-Her, and 尤英和. "Applications of Genetic Algorithm for Optimization of Path Generation With Six-bar Legged Walking Mechanism." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/94437225100449139797.
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碩士國立高雄第一科技大學
機械與自動化工程所
92
From earlier research work, the linkage mechanism as some different chain as different kinds of design method. In traditional approach of synthesis to search optimal dimension of each linkage is always to waste time and cost. For this reason if research a process of design for optimal kinematic analysis of linkage mechanism could be help for engineering designer. This research is mainly based on the application of Genetic Algorithm (GA) on optimization of path generation with six-bar legged walking mechanism and parameter interchange for approved effective range of each parameter. From image treatment of walking horse, we taked coordinated value of walking gait to produce one curve of target for compare with GA’s result, and difference between result curve and target curve must less than setting value. Furthermore, in order to comfirm problem for the Genetic Algorithm,we design program with Matlab language,and simulate motion of six-bar leg with MSC. At last, we introduced one intergrated process that combine five targets of research. According to this integrated process of design, we got some good resolution below target of request, and then rechecked optimal result throught Genetic Algorithm. Optimal result aided to 3D body design and analysis of kinematic with application of product finally. Another research that same with or relation with this topic could be refer to this process method in furture. Keyword：Walking gait, Genetic Algorithm, Newton’s method, Parameter interchange.
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Li, Hau-Koung, and 李皓光. "Path Planning and Simulation of Autonomous Quadruped Robot Walking through Non-planar Type River-stone Terrain." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/69551529818831413067.
Full textAbstract:
碩士國立交通大學
機械工程系所
96
The applications of a quadruped robot are adopted quite extensive, such as military, industry, entertainment, etc. Higher and higher topographical and environmental adaptive capacity requirement pushes the research intensity focus on the autonomous, sensory technology and gait planning etc. The related research works about multi-leg locomotive have been afforded a big progress recently. There are quite a few research works focus on the gait development of discontinuous terrain such as the case of a quadruped robot climbing on an inclined wall surface only by holding the protuberance with planned gait control. The study proposed an innovative path planning methodology to calculate and generate a gait for quadruped robot to walk through a river-stone terrain. The Monte Carlo searching method is proposed to generate an obstacle avoidance and shortest trajectory for foot print of each leg in the configuration workspace of the quadruped robot. And it was followed by ZMP stabilization checking rule to ensure that the robot is stable at any moment. To get with the terrain, the study also includes some typical motions task in the path generation function, such as walking aslope, climbing steps, etc. Then, every single gait data could be programmed by the above-mentioned method and softward system. The programmed gait data have been transferred into ADAMS system to verify its correctness and stabilization of the planned gait for the quadruped robot walking through a discontinuous river-stone terrain. Some problems were observed and modified by the simulation results to match more practical situation. Finally, the study also build up an autonomous quadruped system NC-BH-3 to demonstrate the usefulness and efficiency of the gait generated by proposed methodology.
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Cai, Yao-Long, and 蔡曜隆. "Path Detection Using Digital Camera and Semantics-based Vague Image Representation for Autonomous Walking Aids Robot." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/07289222216315628063.
Full textAbstract:
碩士中原大學
電機工程研究所
101
In these years, due to the shortage of medical resources, the research of autonomous serving facilities becomes a main stream in home care systems. Of this issue, designing an autonomous walking aid robot to replace the load of manpower is urgent. Here this research focuses on the goal of elder’s rehabilitation with walking aids robot then designs a portable, real-time, low-cost, and reliable path detection system. The detecting mechanism of this project is based on recognizing the baseboard with digital camera in indoor environment. For this purpose, entire system is implemented on single chip with the functions of color detection, edge detection, pattern recognition, and steering angle determination in real-time. Moreover, lower developing cost is achieved by using Field-programmable Gate Array (FPGA) for prototyping with low-cost and high resolution camera. Finally, based on the design criteria, this research also particularly adopts the algorithm of Semantic-based Vague Image Representation (SVIR) for feature extraction of baseboard. Compared to the traditional image processing which is based on the designs with PCs, SVIR inherits the advantages of low computing load on chip and especially suitable for design in low-power and minimal dimension. According to the experimental results of this thesis, the resolution of steering angle is 〖0.5〗^° with calibration tolerance for 1^°. Novel design is not only satisfying the design criteria for elders’ autonomous walking aids robot but also a paradigm for robotic path tracking in the future.
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Gentry, Kristen Elizabeth. "Walking the narrow path : narratives of migration and mental health among Saudi Arabian women at Oregon State University." Thesis, 2012. http://hdl.handle.net/1957/30784.
Full textAbstract:
Since the inauguration of the King Abdullah-Aziz Foreign Scholarship Program in 2005, the number of Saudi university students in the United States has increased exponentially, and an unprecedented amount of Saudi women are seeking international degrees. The absence of scholarly research within these women���s home and host countries highlights the need for an ethnographic account of their transnational experiences, which can elucidate ways in which knowledge, values, and customs are in a constant process of contextual negotiation. This in turn influences available sources of social support and psychological well-being. Drawing on data from free-lists, a focus group, and in-depth semi-structured interviews, this ethnographic research aims to uncover and examine the social determinants of psychological well-being as described by the narrative experiences of Saudi Arabian women studying at Oregon State University. After providing a detailed analysis of specific sociocultural structures operating in these women's lives, two sides qualifying Saudi Arabian women's experiences are examined: stakes of their international education projects and challenges in maintaining good mental health. These stakes, formed by sociocultural structures, circumscribe their experiences, decisions, and behavior in the U.S., where they must navigate through new challenges and sources of distress. The challenges they face cause distress, but also delineate possible sources of support and create avenues for agency. Finally, this thesis is concluded by recommending applications for mental health care providers and examining macro-level theoretical underpinnings of social determinants of psychological well-being.Graduation date: 2012
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Wang, Mej-fang, and 王美芳. "Walking the Path of Peaceful Development: Metaphor Usage in International Speeches by Chinese Government Representatives in the United Nations (2003-2012)." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/t4wede.
Full textAbstract:
碩士國立臺灣師範大學
東亞學系
101
This thesis examines three categories of metaphors used by the Chinese representative in international contexts. It focuses on speeches made at the General Debates of the United Nations General Assembly, and draws on the methods of Conceptual Metaphor Theory, as articulated by scholars including George Lakoff, Zoltan Kövecses and others. Through a systematic examination of the speeches used by the CCP, I identify and sort the metaphors into common types and utilise the aforementioned theory to analyse them. In so doing, I highlight the functions of metaphor usage in Chinese political discourse and its underlying cognitive mechanisms.
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Ning, Chuan-Jen, and 寗全貞. "The Research of Elderly People''s Social Support and Walking Space by Space-time Path - A Case Study of Taipei Xinyi District." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/22w86b.
Full textAbstract:
碩士國立臺北科技大學
建築與都市設計研究所
102
Under the trend of global aging, the issue of elders should be paid attention. Up to January 2014, the elders popularity occupied 11.57% in Taiwan. Approximately Taiwan will step in to Aged society in 2017. In order to make the elders have a healthy and active life, the living environment and space arranging should be the important part in the urban city. This study calculates the walking space and the living path of elders by out-door activity type, walking range time and walking environment to understand the activity condition and type of elders in Xin-Yi district and also testified by the standers of Outdoor spaces and buildings in the standers of aging friendly city. This study investigates 22 elders in Xin-Yi district by GPS record, observation and deeply interviews to explore the influence factor like activity type, activity item, space equipment and walking environment of elders to propose the requirement of walking space and the improvement subjects in Xin-Yi district. This study discovered the outdoor walking activity of elders and classified as social, selecting and essentiality and the activity space like community activity center, shop, market, plaza, park, hospital, clinic, mountain, church, sports center, public authority, exhibition stadium and Taipei medical university. The social type elders’ walking time and distance is 91min/day and 3531m/day; selection type elders’ walking time and distance is 63min/day and 2193m/day; essentiality type elders’ walking time and distance is 84min/day and 1686m/day. The social type elders’ walking period is all day especially at night and most of all for the social and service for 4hr35min/day; selection type elders’ walking period is also all day but stay in community at night leaving most free time without any restrict factors to affect their activities and 3hr17min/day for outdoor activity time; essentiality type elders’ walking time is distributed at morning, afternoon and night and the range is in community for the shortest activity time 1hr34min/day. There is also discover these three type elders have different walking time and range to arrive at their activity space. The social type elders’ go out making traffic as their purpose. They can accept 12min for walking time and 675m for walking distance otherwise they will take bus for transportation. Selection type elders go out making traffic and leisure as their purpose. They can accept walking for 10min and 343m to their destination by any kind of transportation. Essentiality type elders go out walking for traffic and leisure. They can accept walking for 6min and 145m to their destination. The demand of walking environment for the traffic purpose are 6 : beautiful, street connectivity, public facility accessibility, livelihood facility accessibility, sidewalk comfort and safety. The demand of walking environment for the leisure purpose are 6 : beautiful, livelihood facility accessibility, sidewalk comfort, open space accessibility, public facility accessibility and society support. In the other hand, testified by the standers of Outdoor spaces and buildings in the standers of aging friendly city, the walking environment and public space of Xin-Yi district should priority to improve: friendly walking space, save crossing road, sidewalk for people and bike and resting place. Unfriendly spots are assemble at Wu-Xing market, Jung-Tuo country house, Xin-yuan community and the surrounding, Sun Yat-Sen memorial hall, Wu-Xing street, Juang-Jing street and the end of Song-Ren road. Summing up the condition of elder activity and society support, the demand of activity environment and walking space for social type elders are public social space, safe crossing road space, bus stop and support by the information on the bus; the demand of activity environment and walking space for selection type elders are communication chairs at shop arcade, diverse sports facility; the demand of activity environment and walking space for essential type elders are participatory to the open space, groups cooperative facility. By the setting and improving of the items above, wish it can improve the social support for elders then we can provide a friendly and healthy urban city activity space for them.
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Mhatre, Natasha. "The Prediction Of Field Cricket Phonotaxis In Complex Acoustic Environments." Thesis, 2007. http://hdl.handle.net/2005/883.
Full textAbstract:
Animals detect, recognize and localize relevant objects in noisy, multi-source environments. Female crickets locate potential mates in choruses of simultaneously calling males using acoustic signals, a behaviour termed phonotaxis. The mechanisms underlying cricket phonotaxis are now understood across multiple levels: biophysical, neurobiological and behavioural. Phonotaxis has, however, rarely been tested in the complex real-world acoustic environments and no attempts have been made to predict acoustic orientation behaviour in these conditions despite our extensive understanding of its underlying mechanisms.
In this thesis, I first characterized the acoustic environments faced by female crickets of the species Plebeiogryllus guttiventris in the field. Phonotaxis behaviour of females was then characterized under laboratory conditions using two sound sources. The data obtained were used to develop a simulation that predicted this behaviour. The predictions of the simulation were then tested against the phonotaxis behaviour of females in realistic, multi-source conditions in the field.
My field studies of male behaviour showed that males of this species produced complex and variable songs in choruses where multiple males called simultaneously. The acoustic ranges of males in these choruses overlapped extensively and females performing phonotaxis in such choruses would hear multiple males simultaneously. The acoustic interactions of simultaneously calling males were also characterized for their timing relationships with each other and the changes they made to the temporal patterns of their songs. Males did not either synchronise or alternate their chirps, however they made changes to the temporal patterns of song in a way that is likely to make them more attractive to females.
I then characterized the closed-loop walking phonotaxis behaviour of P. guttiventris females in the presence of two active sound sources playing conspecific song. Both the baseline and relative SPLs of the two speakers were systematically varied and female phonotactic paths were obtained. Females were found to preferentially approach louder songs. Several aspects of this behaviour were characterized, in particular orientation ability and motor behaviour under varied conditions of stimulus intensity.
A stochastic simulation of closed-loop walking phonotaxis behaviour was developed using both current understanding of field cricket physiology and my data on closed-loop walking phonotaxis. The simulation was demonstrated to both qualitatively and quantitatively recapture female behaviour. It was also able to qualitatively recapture female behaviour in two previously published classical experiments in which the hearing of female crickets was disrupted.
Female phonotaxis was then tested under real-world multi-source conditions. The behaviour of real females was compared to the predictions of the simulation. The simulation was found to recapture both female preference and phonotactic path forms at the population level. To my knowledge, this is the first study to both examine and successfully predict phonotaxis behaviour in complex real-world acoustic conditions.
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Chen, Ke-Zen, and 陳科任. "Gait Analysis for Human Walking Paths and Identities Recognition." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/97098466450800877831.
Full textAbstract:
碩士國立清華大學
電機工程學系
96
In this thesis, we combine the dynamic and static information extracted from gait to identify the walking human object. First we utilize the periodicity of swing distances to estimate the gait period for each gait sequence and divide them to sub-cycles. For each gait cycle, we extract the static information by proceeding intersecting operation and dynamic information by analyzing the statistic histogram of motion vectors. The extracted information is transformed into low dimensional embedding space by dimensionality reduction process. The low-dimensional feature vector is used to represent the subject. Then, we use a set of discriminant functions to determine the decision regions for normal data distribution, and then we can recognize the human walking path. Given a test feature vector, the nearest neighbor classifier is applied to compare with the feature vectors established from a gait database for subject identification. The proposed algorithm is evaluated on the CASIA gait database, and the experimental results demonstrate that own system achieves a high recognition rate.
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Ferreira, Maria João Pereira Monteiro Gomes Mendes. "A cidade caminhada. A ambiência experienciada em duas visitas guiadas no centro histórico de Lisboa." Doctoral thesis, 2016. http://hdl.handle.net/10362/20276.
Full textAbstract:
O presente estudo aborda a cidade enquanto processo dinâmico e contínuo de produção
social do espaço, através do uso caminhado. São trabalhadas duas escalas interligadas,
sobrepostas: a produção social da cidade pela prática caminhada, e a cidade
experienciada no acto caminhado, sintetizada na ambiência urbana.
Consideram-se três tipos de aproximação ao problema. O primeiro, o entendimento do
uso caminhado enquanto prática, individual, social, cultural, de produção do plexo
sócio-espacial da cidade. O segundo, um entendimento da dimensão temporal e espacial
do caminhar a cidade e a sua interpretação no contexto sócio-espacial actual. O terceiro,
a compreensão da experiência caminhada sensorial indivíduo-ambiente e a
instrumentalização do conceito de ambiência urbana.
Com base na exploração teórica e com o intuito de racionalizar e operacionalizar o
conceito de ambiência urbana experienciada pelo uso caminhado, constrói-se uma
metodologia de recolha de apreciações da ambiência urbana percepcionada.
Tendo como premissa a atitude perceptiva do caminhante visitante e o valor da prática
lúdica e/ou turística na sociedade contemporânea, previamente abordado, considera-se
como estudo de caso o estudo perceptivo da prática caminhada de visitantes. Como
objecto empírico, analisou-se a ambiência percepcionada num contexto muito particular:
dois percursos no centro histórico de Lisboa alvo de visitas guiadas temáticas.
A experiência caminhada é estudada no âmbito do significado do território acedido e do
turismo cultural, em particular do produto turístico visita guiada caminhada no centro
histórico de Lisboa. Os dados são analisados tendo em consideração o contexto físico e
social da prática e um potencial factor de referência: informação turística de fácil acesso.
As especificidades da experiência, ou seja, o seu propósito, o modo específico de a
concretizar e o significado da mesma, são factores determinantes na partilha de atributos
percepcionados e significados associados.
A aplicação da metodologia proposta permitiu uma análise comparativa, qualitativa e
quantitativa, da apreciação da experiência caminhada de diferentes indivíduos, e uma
descrição, embora de forma simplificada, da ambiência partilhada ao longo de
experiências caminhadas semelhantes.
Conclui-se que esta investigação, pela agregação, clarificação e operacionalização de
conceitos de diferentes origens disciplinares, contribuiu para a valorização do caminhar
enquanto ferramenta de análise e produção da cidade.This study approaches the city as a dynamic and continuous social production of space through the walking practice. Two interconnected overlapping scales are analysed: the city produced by the social walking practice and the experienced city, the urban ambiance accessed, perceived and built by walking a path. Three approaches were considered: first the walking practice as a personal, social and cultural way of building the urban social plexus. Second the spatial and temporal dimension of walking and its meaning in the present social-spatial context. And third the comprehension of the sensorial walking experience. Having as a premise the perceptive attitude of the walker visitor and the value of the ludic practice on contemporary society, it was studied the perceptive point of view of visitor’s walking practice. As an empirical object the walking activity analysed were two guided walking tours through Lisbon’s historical centre. The method is supported by the theoretical approaches and aims to rationalize and operationalize the urban ambiance concept experienced by the walking practice. This practice is contextualized in terms of meaning given to the territory, Lisbon’s historic centre, and the meaning of the cultural touristic activity, especially the tourist product: guided walking tours. The potential referential factors are taken into account, namely the easily accessed tourist information. The particularities of the experience in terms of activity components or detail, the proper, the way of doing it and its meaning, are determinant in the sharing of the perceptive attributes and connotative meanings. The methodology allowed a quantitative and qualitative comparative appraisal of different individuals walking experience, a description, although simplified, of a shared ambience troughout similar walking experiences. In conclusion, this study, by agregating, clarifying and operacionalizing concepts from different backgrounds, enhanced the value of walking as an analysis and social space producer tool of the city.