• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.6
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• pp.692-697
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• 2011

There are many researches to develop robots that improve its mobility to adapt in various uneven environments. In the paper, a hybrid mobile robot that can dock with the other robot and transforms between wheeled robot and legged robot is proposed. The hybrid mobile robot platform has docking device with a peg and a cup module. In addition, the robot is possible to walk and drive according to condition of the road. A navigation algorithm of the hybrid mobile robot is proposed to improve the mobility of robots using docking algorithm based on image processing on the broken road and uneven terrain. The proposed method recognizes road condition through PSD sensor attached in front and bottom of the robot and selects an appropriate navigation method according to terrain surface. The proposed docking and navigation methods are verified through experiments using hybrid mobile robots.

• The Proceeding of the Korean Institute of Electromagnetic Engineering and Science
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• v.6 no.3
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• pp.15-23
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• 1995

The antenna height of the mobile communications lower than its typical surroundings causes multipath fading usually resulting in fast fluctuations of both signal strength and wave length in mobile radio communications. Therefore, there have been developed and used various wave be- havior prediction models, in some other foreign countries, based on the measurement data rather than on theoretical derivation. The main purpose of this paper is to examine the wave propagation characteristics particularly in Korean terrain with the measurements made in four types of different areas - a large city area, a small city area, a flat terrain area, and a mountain area. Those areas have been classified according to the terrain characteristics with which the particular area contains, such as scale and number of buildings, highways, trees, and so on. With the measured data of the field strength in the frequency band of pager system obtained from those four different areas, we compared the calculated ones from both Hata's and TIREM prediction models which are often applied in Korea.

• Ecology and Resilient Infrastructure
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• v.8 no.4
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• pp.223-232
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• 2021

In general, stormwater flows to the road surface, especially in urban areas, and it is discharged through the drainage grate inlets on roads. The appropriate evaluation of the road drainage capacity is essential not only in the design of roads and inlets but also in the design of sewer systems. However, the method of road surface flow analysis that reflects the topographical and hydraulic conditions might not be fully developed. Therefore, the enhanced method of road surface flow analysis should be presented by investigating the existing analysis method such as the flow analysis module (uniform; varied) and the flow travel time (critical; fixed). In this study, the algorithm based on varied and uniform flow analysis was developed to analyze the flow pattern of road surface. The numerical analysis applied the uniform and varied flow analysis module and travel time as parameters were conducted to estimate the characteristics of rainfall-runoff in various road conditions using the developed algorithm. The width of the road (two-lane (6 m)) and the slope of the road (longitudinal slope of road 1 - 10%, transverse slope of road 2%, and transverse slope of gutter 2 - 10%) was considered. In addition, the flow of the road surface is collected from the gutter along the road slope and drained through the gutter in the downstream part, and the width of the gutter was selected to be 0.5 m. The simulation results were revealed that the runoff characteristics were affected by the road slope conditions, and it was found that the varied flow analysis module adequately reflected the gutter flow which is changed along the downstream caused by collecting of road surface flow at the gutter. The varied flow analysis module simulated 11.80% longer flow travel time on average (max. 23.66%) and 4.73% larger total road surface discharge on average (max. 9.50%) than the uniform flow analysis module. In order to accurately estimate the amount of runoff from the road, it was appropriate to perform flow analysis by applying the critical duration and the varied flow analysis module. The developed algorithm was expected to be able to be used in the design of road drainage because it was accurately simulated the runoff characteristics on the road surface.

• Journal of Korean Society of Transportation
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• v.36 no.3
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• pp.216-228
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• 2018

In this study analyzed the ponding changing of plastic deformation section follwed time development to apply weather, geometry and traffic data in additon to time development to improve road management service and safety of roads during or after rain. After We selected an 8.3km section of old national highway the Seongnam-Janghowon section and created a three-demensional surface of terrain through the numerical transformantion of design drawing data, with reflection the linear data of the same coordinate system in order to describe more realistic roads, we design additional structures with shading above roads. The altitude and azimuth of the sun were calculated and set based on the longitude and latitude data of the survey line for the analysis of the sun rate, and the daylight impact zone was visualized by setting the shaded time to an interval of 1 hour and the shade rate of the corresponding section. In addition, the evaporation volume calculated from weather data such as temperature, humidity, radiant energy, and road temperature analyzes together, it will use the way of a safer and more efficient road management as grasping the ponding changing more efficent in time development.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.23 no.3
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• pp.293-301
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• 2005

In case of the roads that pass the mountain area, the cut sections or the tunnels are constructed. And In winter season it appears sunshine few in the specific segment, the shade is continued last and the freezing sections occur. So, the attention is necessary in traffic safety. This study was to evaluate the influence of sunshine and surface freezing sections expected in route plans of roads using GIS and makes alternative ideas in road stability security. After selecting 29 km sections of Donghae highway and creating a 3 dimensional terrain surface through the digital conversion of design plan data, it reflects the road alignment data of the same coordinates and a 3 dimensional road modeling is created. It set shadow time of road surface for the solar trace in the winter solstice in 20 minute interval. Shade areas are displayed and inputed in polygon data by manual vertorizing. Graphic and attribute data of this shade section is constructed in geodatabase of ArcCatalog. And it extracted the freezing section using intersect fuction of the GIS spatial analysis. By analyzing the winter meteorological data of temperature, rainfall, snowfall, humidity, and etc. and grasping dangerous freezing section of the road surface effectively, it will be able to make alternative ideas of the preliminary stability evaluation reflected in basic design.

• Korean Journal of Remote Sensing
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• v.27 no.2
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• pp.171-180
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• 2011

MAI (multiple aperture SAR interferometry) method has been recently developed to improve the measurement accuracy of along-track surface deformation. By means of split-beam SAR processing, this novel technique produces forward- and backward-looking interferograms, which are combined to generate an MAI interferogram. The along-track surface deformation can then be derived from the MAI interferogram. The achieved accuracy of the along-track surface deformation is approximately 8 cm for interferograms with a coherence of 0.6. It is commonly recognized that the topographic phase on an MAI interferogram can be ignored. However, in this paper, we have generated an MAI interferogram from an ALOS P ALSAR interferometric pair spanning the 2010 Haiti earthquake, and shown that the topographic phase distortion on the MAI interferogram can reach to about $3.45{\times}10^{-4}$ rad./m. This distortion corresponds to an along-track surface deformation of about 98 cm. We have proposed an efficient method to remove the topographic phase distortion. After correcting the distortion, the topographic phase distortion on the MAI interferogram is reduced to about $7.82{\times}10^{-6}$ rad./m. This means that the proposed method can effectively remove the topographic distortion on the MAI interferogram to improve along-track surface deformation measurement.

• Proceedings of the Korea Water Resources Association Conference
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• 2007.05a
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• pp.84-88
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• 2007

우리나라의 토양조사는 미농무성(USDA)의 분류방법에 따라 개략토양조사($'65{\sim}'67$년), 정밀토양조사($'68{\sim}'79$년), 논토양배양사업 10개년계획($'80{\sim}'90$년), 그리고 밭토양세부정밀토양조사($'95{\sim}'99$년) 등을 실시하였다. 현지에서의 토양조사는 지형, 배수등급, 토성, 자갈함량, 유효토심, 경사 등 현지의 지형지물 및 환경을 통하여 많은 정보를 얻을 수 있으며, 이를 통하여 전국에 대한 토양조사 결과, 토양통 (심토의 특성이 유사한 토양) 390개, 토양구(표토의 토성을 세분) 536개, 토양상(경사도 및 침식등급을 세분) 1,321개로 분류되어 있다. 우리나라 토양형성 발달에 미친 기후인자는 습윤권역(Udic moisture regime)과 토양온도는 mesic과 일부 남해안과 제주지역의 thermic인 토양온도(Soil moisture regime)였으며, 식생인자는 높은 지역의 경우에는 산림이 낮은 저지대 평탄지는 자연초지가 대부분이다. 지형인자는 동고서저지형으로 동부는 산악지, 서부는 경사가 완만한 구릉지며, 한강 등 대부분이 서남방향으로 흐르는 지형이다. 모재는 다양하나 70%이상이 화강암, 화강편마암이 주를 이루고 있었다. 시간인자의 경우에는 기간이 매우 오래되었으나, 지형이 복잡하여 토양발달이 약한 Inceptisol과 층위발달이 없는 Entisol이 대부분이며, 다음으로 Ultisol과 Alfisol이 뒤를 이었다. 일부 Andisol, Mollisol, Histosol이 존재하였다. 우리나라의 토양분류는 Soil Taxonomy에 의해 분류되었는데, 이것은 토양의 단면내에 존재하는 감식층위(Diagnostic Horizon)의 유무 및 종류에 따른 분류이다. 토양분류 결과 최고 상위분류 단위인 목(order)이 7개, 아목(suborder) 14개, 대군(great group) 27개, 아군(sub group) 67개, 속(family) 161개로 분류되었으며, 가장 저차단위인 통(series)이 390개 분류되었다. 또한 작물이용측면에서 실용적 분류를 실시하였는데, 논토양의 경우 보통논, 미숙논, 사질논, 습논, 염해논, 특이산성논으로 분류할 경우 각각의 분포면적이 31.9%, 23.0%, 31.9%, 9.1%, 3.9%, 0.2%이었다. 밭토양의 경우에도 보통밭, 사질밭, 미숙밭, 중점밭, 고원밭, 화산회밭으로 6개 유형으로 분류할 경우 각각의 분포면적은 41.9%, 23.3%, 17.5%, 13.9%, 1.1. 2.2% 이었다. 도시화 및 도로확대 등 다양한 토지이용 및 지형개변으로 과거의 토양정보가 많이 변경되었다. 그래서, 앞으로는 인공위성자료 및 항공사진을 이용하여 빠르고 쉽게 활용할 수 있는 토양조사 방법개발과 기 구축된 토양도의 수정, 보완 작업이 필요한 절실히 요구되고 있는 현실이다.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.24 no.1
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• pp.123-130
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• 2006

The purpose of the paper is to make the three dimensional road simulation model based on the digital photogrammetry and GIS techniques in the middle of Halla mountain of Jeju island. To do this, we generate DEM (digital elevation model) and digital ortho image using GIS tools such as Arc View, Imagestation and MGE module. In GIS, the overlay map schemes combining of the hill shade, the land slope and aspect were applied. Based on the processes, we can build the best three dimensional road line along the hill side of the island. From the results, we also found that the derived DEM from digital ortho image and the GIS technique were very useful for choosing the best three dimensional road design before the real road construction works in Jeju island.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.21 no.1
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• pp.45-51
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• 2003

Stereo bird's-eyes-view was prepared for 3-dimensional view of various forms of Jecheon city, and 3-dimensional simulation was applied to it so as to show it in moving pictures in spatial. In manufacturing stereo bird's-eyes-view, perspective technology was used in image-making technology, and the basic material images are prepared as fellows: used EOC Images from Arirang-1 satellite, created DEM whose error was optionally geometric corrected after drawn from the contour line of the map on a scale of l/5,000 manufactured by national geography institute as a national standard map, and classified road lines which were manufactured as a road layer vector file of a map on a scale of l/l,000 and then overlay it over the three dimensional image of target area. Especially for the connectivity with address system to be used in new address, an arterial road map on a scale of l/l,000 that had been manufactured to grant new address was used in maximum in road network structure data of city area in this study.

• Proceedings of the Korea Contents Association Conference
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• 2003.05a
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• pp.255-259
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• 2003

The technique of birdeye image generation of terrain through the use of satellite digital images and digital maps are very important elements and have applications in planning establishment as well as the actual design of several construction work in complex fields. This paper studies stereo perspective image generation as a possibility through 3-dimensional analysis combined with digital elevation data and remotely sensed images. For this, first of all, ortho-images generated by very accurate GCP and DEM from contour file makes 3-dimensional terrain analysis possible and allows stereo-viewing at the highway construction planning sites. So, we developed the technical methods for the 3-dimensional approach on the planning sites of highways by use of perspective orthoimages. From this research diverse terrain analysis is possible through stereo perspective image generation, and can leads to various application in road construction through gain study results from access to realtime virtual spatial on the objects area in korea.