• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.10a
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• pp.116-116
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• 2003

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.261-268
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• 2013

In this paper, we propose the algorithm that improves the linearity of the walking assistant robot on lateral slopes. The walking assistant robot goes out of the course due to the rotational moment which is caused by the weight of the robot and the slope. To compensate this, we give the weight to each driving axle after comparing the real rotational angular velocity with the target rotational angular velocity which is entered by an user. The results of applying the algorithm to the real walking assistant robot show that the yaw axis deviation of the robot without the algorithm diverges, but the yaw axis deviation of the robot with the algorithm lies within 20cm, which can be recognized as stable. In addition, the changing rate of the course deviation is stabilized and shows no more course deviation, after moving 300cm.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.3
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• pp.187-196
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• 2014

This paper suggests linearity enhancement algorithm to Ensure safety of Mobile Walker on Slope. Mobile Walker happens to get off track due to external forces from Walker's weight and the degree of the slope while slope driving. In order to compensate this, this research used the controller that estimates the external forces according to the slope of road surface and adjusts it to the motor output. Also, through comparisons between targeted rotational angular velocity which the user inputs and its velocity of the robot, algorithm was applied which applies a weight to each shaft. As a result of applying the proposed correction controller, it diverges in case of non-compensation experiments that deviates when moving, but it case of applying the ramp calibration algorithm, the deviation distance at max was within 10cm that it keeps safe driving, and change rate of deviation distance was also stabilized after 1m where no more changes occurred.

• Korean Journal of Agricultural and Forest Meteorology
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• v.11 no.1
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• pp.13-18
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• 2009

Accurate solar radiation data are critical to evaluate major physiological responses of plants. For most upland crops and orchard plants growing in complex terrain, however, it is not easy for farmers or agronomists to access solar irradiance data. Here we suggest a simple method using a sun-slope geometry based topographical coefficient to estimate daily solar irradiance on any sloping surfaces from global solar radiation measured at a nearby weather station. An hourly solar irradiance ratio ($W_i$) between sloping and horizontal surface is defined as multiplication of the relative solar intensity($k_i$) and the slope irradiance ratio($r_i$) at an hourly interval. The $k_i$ is the ratio of hourly solar radiation to the 24 hour cumulative radiation on a horizontal surface under clear sky conditions. The $r_i$ is the ratio of clear sky radiation on a given slope to that on a horizontal reference. Daily coefficient for slope correction is simply the sum of $W_i$ on each date. We calculated daily solar irradiance at 8 side slope locations circumventing a cone-shaped parasitic volcano(c.a., 570m diameter for the bottom circle and 90m bottom-to-top height) by multiplying these coefficients to the global solar radiation measured horizontally. Comparison with the measured slope irradiance from April 2007 to March 2008 resulted in the root mean square error(RMSE) of $1.61MJ\;m^{-2}$ for the whole period but the RMSE for April to October(i.e., major cropping season in Korea) was much lower and satisfied the 5% error tolerance for radiation measurement. The RMSE was smallest in October regardless of slope aspect, and the aspect dependent variation of RMSE was greatest in November. Annual variation in RMSE was greatest on north and south facing slopes, followed by southwest, southeast, and northwest slopes in decreasing order. Once the coefficients are prepared, global solar radiation data from nearby stations can be easily converted to the solar irradiance map at landscape scales with the operational reliability in cropping season.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.11 no.4
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• pp.197-200
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• 1999

An extension of the modified leap-frog scheme is made to solve the nonlinear shallow-water equations. In the extended model. the physical dispersion of the Boussinesq equations is replaced by the numerical dispersion resulted from the leap-frog finite difference scheme. The model is used to simulate propagations of a solitary wave over a constant water depth and a linearly varying water depth. Obtained numerical results are compared with available analytical and other numerical solutions. A reasonable agreement is observed.

• Journal of the Korean Solar Energy Society
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• v.29 no.1
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• pp.38-43
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• 2009

In this paper. a prototype of a mobile Sun tracking system is proposed. The proposed system uses 2-axis tilt sensor and 3-axis magnetic sensor to measure the orientation and the posture of the system according to the horizontal system of coordinates, which are used to compensate the slope effects. Then through astronomical calculation using the time and position information obtained by GPS sensor the azimuth and altitude of the Sun from that location is calculated. The position of the Sun is converted to that of the mobile Sun tracking system coordinates and used to control A-axis and C-axis of the system.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.3
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• pp.33-39
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• 2021

This paper presents an optimized design technique that can satisfy the design input values. Numerical analysis was performed on the slope correction device based on the first design. The stress distribution was confirmed when the load specified as the design input value was applied, and design changes were introduced for parts for which the design safety factor did not meet the standard to ensure rigidity. And the results were verified through FEA.

• Korean Journal of Remote Sensing
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• v.13 no.1
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• pp.57-73
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• 1997

This paper is related to the correction of radiometric distortions induced by topographic relief. RADARSAT SAR image data were obtained over the mountainous area near southern part of Seoul. Initially, the SAR data was geometrically corrected and registered to plane rectangular coordinates so that each pixel of the SAR image has known topographic parameters. The topographic parameters (slope and aspect) at each pixel position were calculated from the digital elevation model (DEM) data having a comparable spatial resolution with the SAR data. Local incidence angle between the incoming microwave and the surface normal to terrain slope was selected as a primary geometric factor to analyze and to correct the radiometric distortions. Using digital maps of forest stands, several fields of rather homogeneous forest stands were delineated over the SAR image. Once the effects of local incidence angle on the radar backscatter were defined, the radiometric correction was performed by an empirical fuction that was derived from the relationship between the geometric parameters and mean radar backscatter. The correction effects were examined by ground truth data.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1829_1830
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• 2009

본 논문은 로봇이 처한 환경의 실시간 상황 인식을 위한 지능형 센서 인터페이스를 연구 개발하여 다양한 환경에서의 안정되고 유연한 이족 보행 로봇의 동적 보행 제어를 수행하였다. 자이로 및 가속도 센서를 적용한 실험을 통하여 간단한 보상만으로도 로봇의 안정도가 확연히 개선되는 사실을 알 수 있었다. 미지의 외력이 가해져 로봇이 불안정한 상태가 계속될 때 상체의 기울기 보정이 무게중심을 보다 안정된 영역쪽으로 이동시켜 곧바로 균형을 잡아준다. 또한 압력센서를 이용한 ZMP 측정과 이를 통한 균형 제어 실험 결과 뛰어난 보행을 구현할 수 있었다. 불규칙적인 지면에서도 발바닥에 가해지는 압력 분포가 변화하는 것을 이용하여 ZMP가 항상 로봇의 발바닥 지지 영역 안으로 오도록 제어하였다. 이것을 통해 로봇은 경사면을 보행하거나 기울기가 변하는 바닥에서 쓰러지지 않고 안정한 상태를 유지하였다.

• Korean Journal of Agricultural and Forest Meteorology
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• v.20 no.4
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• pp.376-385
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• 2018

To estimate the hourly temperature distribution due to solar radiation during the day, on slope in complex terrain, an empirical formula was developed including the hourly deviation in the observed temperature following solar radiation deviation, at weather stations on the east-facing and west-facing slopes. The solar radiation effect was simulated using the empirical formula to estimate hourly temperature at 11 weather observation sites in mountainous agricultural areas, and the result was verified for the period from January 2015 to December 2017. When the estimated temperature was compared with the control, only considering temperature lapse rate, it was found that the tendency to underestimate the temperature from 9 am to 3 pm was reduced with the use of an empirical formula in the form of linear expression; consequently, the estimation error was reduced as well. However, for the time from 5 pm to 6 pm, the estimation error was smaller when a hyperbolic equation drawn from the deviation in solar radiation on the slope, which was calculated based on geometric conditions, was used instead of observed values. The reliability of estimating the daytime temperature at 3 pm was compared with existing estimation model proposed in other studies; the estimation error could be mitigated up to an ME (mean error) of $-0.28^{\circ}C$ and RMSE (root mean square error) of $1.29^{\circ}C$ compared to the estimation error in previous models (ME $-1.20^{\circ}C$, RMSE $2.01^{\circ}C$).