• Proceedings of the KSME Conference
• /
• 2008.11a
• /
• pp.888-893
• /
• 2008

In This paper proposes the control algorithm for quadruped robots on irregularly sloped uneven surface. Body balance is important in stable running locomotion. Since the body balance is determined by the forces applied at the feet during touchdown phase, the ground reaction force is controlled for stable running. To control the forces at each foot, the desired force is generated. The generated desired force is compared with actual contact force, then, the difference between them modifies the foot trajectory. The desired force is generated by combination of the rate change of the angular and linear momentum at flight. Then the rate change of momentum determines each force distribution. The distribution of the force is carried out by fuzzy logic. The computer simulation is carried out with the commercial software RecurDyn$^{(R)}$. Dynamic model simulation program show that the stable running on the irregularly sloped uneven surface are accomplished by the proposed method.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.33 no.11A
• /
• pp.1124-1131
• /
• 2008

In this paper, we propose a timing synchronization scheme and its hardware architecture of the next generation IEEE 802.11n wireless LAN standard which is based on MIMO-OFDM technique. Proposed timing synchronization method takes two steps which consist of two modified auto-correlators. For coarse timing synchronization, a sliding window differentiator is used after a conventional auto-correlation in order to avoid plateau problem. The conjugate symmetry property of L-LTS is utilized for the simplification of fine timing synchronization. Since cross-correlation based methods are not required, the computational complexity and the number of multipliers can be reduced. In order to reduce the hardware complexity, we have used sign multipliers. Based on simulation results, the proposed method outperforms a conventional method. The proposed scheme can be applied to IEEE 802.11n systems and can easily be expanded to frequency synchronization scheme.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.37 no.1
• /
• pp.37-48
• /
• 2000

In this paper, we propose a new connected operator Using morphological grayscale reconstruction for region-based coding First, an effective method of reference-image creation lis proposed, which is based on the Size as well as the contrast. This improves the performance of simplification, because It preserves perceptually important components and removes unnecessary components The conventional connected operators are good for removing small regions, but have a serious drawback for low-contrast regions that are larger than the structuring element. That is, when the conventional connected operators are applied to tills region, the simplification becomes less effective or several meaningful regions are merged to one region to avoid this, the conventional geodesic dilation is modified to propose an adaptive operator to reduce the effect of inappropriate propagation, pixels reconstructed to the original values are excluded m the dilation operation Experimental results have shown that the proposed algorithm achieves better performance In terms of the reconstruction of flat zones. The Picture quality has also been improved by about 7dB, compared to the conventional methods.

• Geophysics and Geophysical Exploration
• /
• v.9 no.1
• /
• pp.121-128
• /
• 2006

Magnetic survey flights by helicopters are usually parallel to the topographic surface, with a nominal clearance, but especially in high-resolution surveys the altitudes at which observations are made may be too variable to be regarded as a smooth surface. We have developed a reduction procedure for such data using the method of equivalent sources, where surrounding sources are included to control edge effects, and data from points distributed randomly in three dimensions are directly modelled. Although the problem is generally underdetermined, the method of conjugate gradients can be used to find a minimum-norm solution. There is freedom to select the harmonic function that relates the magnetic anomaly with the source. When the upward continuation function operator is selected, the equivalent source is the magnetic anomaly itself. If we select as source a distribution of magnetic dipoles in the direction of the ambient magnetic field, we can easily derive reduction-to-pole anomalies by rotating the direction of the magnetic dipoles to vertical.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.26 no.2
• /
• pp.140-146
• /
• 1989

An efficient quantization and encoding of BTC (Block Truncation Coding) parameters {($Y_{\alpha},\;Y_{\beta}),\;P_{{\beta}/{\beta}}$} are investigated, In our algorithm 4${\times}$4 blocks are classified into flat or edge block. While edge block is represented by two approximation level $Y_{\alpha},\;Y_{\beta}$ with label plane $P_{{\beta}/{\beta}}$, flat block is represented by single approximation level Y. The approximation levels Y, $Y_{\alpha}$ and $Y_{\beta}$ are encoded by predictive quatization specially designed, and the label plane $P_{{\beta}/{\beta}}$ is tried to be encoded using stored 32 reference plantes. The performance of the proposed scheme has appeared comparable to much more complex transform coding in terms of SNR, although it requires more study on the representation of small slope in background.

• Korean Journal of Environment and Ecology
• /
• v.21 no.1
• /
• pp.74-81
• /
• 2007

This study investigated the growth pattern and species composition by landform and seaside distribution to evaluate the basic community structure and topographical distribution of the Peucedanum japonicum Thunb. community group in Korea. The appearing plants with the Peucedanum japonicum Thunb. were a total 170 taxa belonging to 130 genera and to 57 families, and the species number by families was the most in Compositae of 30 taxa. The frequency of appearing plants was the highest in the Aster spathulifolius Max.(54.1%), and the east and west seasides were the highest in the Aster spathulifolius Max. and south seaside was the highest in the Miscanthus sinensis Ander.. The ratio of common plants among seasides was the highest between the west and south seasides of 35.6% with 47 taxa. The distribution landforms of the Peucedanum japonicum Thunb. was a $17.4^{\circ}$ slope of the unevenness landform, vertical joint, horizontal joint, blockfield, planation surfaces and the rocky seaside of the sea cliff. The distribution among landforms was the greatest in the rocky seaside of the 61 regions. The sociability on growing pattern was the highest in the 3 sociability rank of 54.6% with the 83 region.

• Journal of The Geomorphological Association of Korea
• /
• v.19 no.3
• /
• pp.123-134
• /
• 2012

This work is to describe the geomorphological landscapes of of Dongcheon-gugok in Korea, and attempts to develop a basic data for traditional natural heritage. Dongcheon-gugok is a union of natural lanscape and human mind-activity. Therefore the study of natural landscape, which consists of geomorphological landscapes, provides a basic data for the use and conservation of traditional natural heritage. Dongcheon-gugok in Korea is almost distributed in the valley of mountainous areas of Taeback and Soback Mountain Ranges. The bedrocks of the areas of Dongcheon-gugok are almost granitic rocks and sedimentary rocks. The landscapes of Dongcheon-gugok is characterized by narrow meandering valley, so Gugok means nine-bended river. The elements of the geomorphological features is a broad flat rock with sheeting joints, joint-block seperated large blocks or tor, steep slope and rocky cliffs, pool, ripple, large or small scale waterfall, pot-hole, etc.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.28 no.1D
• /
• pp.35-43
• /
• 2008

This paper mainly deals with the performance evaluation of 33 asphalt sections of Korea Expressway Corporation Test Road (KECTR) during the past four years. Since the construction of the KECTR in December 2002, key performance indicators of asphalt pavements have been collected five times with an Automatic Road Analyzer (ARAN), and have been analyzed for permanent deformation, surface distress, and road roughness. Linear viscoelastic characteristics of four dense graded HMAs used in KECTR were investigated with a series of complex modulus test. The effect of air void in HMAs on dynamic modulus was investigate at two air void contents for a surface course HMA (19 mm Nominal Maximum Size of Aggregate). Layer densification due to traffic was estimated from air void contents of field cored samples, and was correlated with pavement distresses and performances. One of findings of this study was that both permanent deformation and cracking were suspectible to pavement temperatures, rather than traffic. However, it was found that road roughness was mostly affected by traffic loading.

• The Journal of Engineering Geology
• /
• v.34 no.1
• /
• pp.13-24
• /
• 2024

The purpose of this study is to identify the geology, geologic structure, hydrogeology and geomorphic characteristics of the Nari Basin and establish the controls on the discharge of water 20,000~40,000 m³/day from the Choosan Yongchulso, Ulleung Island, South Korea. Pumice and lapilli tuffs showing well-developed stratification are the predominant rock types surrounding the spring. The spring shows a structure whereby discharge occurs along a lens-like erosion cave formed by differential erosion of strata comprising tuff or pumice tuff. The Choosan Yongchulso is located at the point where the planation surface of the Nari Basin' ends and steep slopes begin. The basin is bounded on all sides by these steep slopes, except in the north, where the Choosan Yongchulso is located. Given these geomorphic characteristics, the Choosan Yongchulso is regarded as the ultimate outlet of the basin catchment area.

• Journal of The Geomorphological Association of Korea
• /
• v.18 no.2
• /
• pp.65-80
• /
• 2011

This is to find out geomorphological environment of optimum location for the object of dwelling site of Bronze Age (hereinafter called dwelling site) of total 177 unit confirmed in Yongducheon basin and Onyangcheon basin (hereinafter called investigation-object basin) in Asan-si Chungnam. To do this, hill of investigation-object basin where dwelling sites were confirmed was divided into 11 units of hillslope geomorphological and this was combined with the grade of 5 units of gradient and again subdivided into total 55 units of micro-landforms of Hillslope. Based on this, in the viewpoint of 'gradient of each of micro-landforms' analyzed 'number of dwelling sites' and 'dwelling site distribution density (unit: number of dwelling sites/1000m2)'. As the result, the optimum geomorphological environment where dwelling sites were located was largely confirmed be 5 units(① semi-gentle slope land of crest slope ②gentle slope land of crest slope ③ slope of upper sideslope ④ flat land of crest slope ⑤ flat land of crest flat). It is thought that this analysis data will be used in the future as basic data for the study of predicting distribution of dwelling sites in Bronze Age which might have been buried in the investigation-object basin.