• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.16 no.2
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• pp.121-129
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• 2002

The present paper describes a technique for installing an effective grounding grids, the major objective is forced on the experimental evaluation of the performance and characteristics with the arrangement and installation method for grounding grids consisting of the means to protect electric shock, electronics and computerized facilities against lightning, switching and ground fault surges. The study is oriented on two major areas: (1) the analysis of the ground surface potential gradient with the arrangement of grounding grids, (2) the control of the dangerous ground surface potential rise. The experiments wee carried out with the impulse currents as a function of the installation method or arrangement of grounding grids. An installation method of the inclined auxiliary grounding grid was proposed to overcome the drawbacks of equally spared grounding grids, i.e. an appropriate design concept far the installation of grounding grids was found out, It has been shown that the installation of the intwined auxiliary grounding grid can also result in a mere than 50% decrease in the maximum potential gradient on the ground surface and enhance the level of safety for persons and electronic equipments..

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2005.05a
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• pp.240-243
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• 2005

This paper presents the transient behaviors of grounding system impedance against lighting impulse currents. The dynamic characteristics of the deeply driven ground rod and grounding grid subjected to the impulse current with various rise time were investigated. It was found that the transient ground impedance strongly depends on the configuration and size of grounding electrodes and the shapes of impulse currents, and the inductance of grounding electrodes has a significant affect on the transient ground impedance of grounding system in the short time domain.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.5
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• pp.549-556
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• 2009

One of the basic technology for implementing the autonomy of UGV(Unmanned Ground Vehicle) is a path planning algorithm using obstacle and raw terrain information which are gathered from perception sensors such as stereo camera and laser scanner. In this paper, we propose a generation method of DVGM(Directional Velocity Grid Map) which have traverse speed of UGV for the five heading directions except the rear one. The fuzzy system is designed to generate a resonable traveling speed for DVGM from current patch to the next one by using terrain slope, roughness and obstacle information extracted from raw world model data. A simulation is conducted with world model data sampled from real terrain so as to verify the performance of proposed fuzzy inference system.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2008.10a
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• pp.69-72
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• 2008

This paper presents the transient and conventional grounding impedance behaviors of large grid grounding system associated with the injection point of impulse current The measurement methods consider two possible errors in the grounding-system impedances: (1) ground mutual resistance due to current flow through ground from the ground electrode to be measured to the current auxiliary, (2) ac mutual coupling between the current test lead and the potential test lead The test circuit was set to reduce the error factors. The transient grounding impedance depends on the rise time and injection point of impulse current It is effective that grounding conductor is connected to the center of the large grid grounding system.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.6
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• pp.60-66
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• 2010

Mesh grounding electrodes in Korea and abroad are designed as lattice-shaped equidistance grounding grids. In case of a lattice-shaped grounding Grid, however, there is a problem of higher touch voltage at the corner of the grid relative to the center. To overcome this problem, we used oblique-shaped equidistance grounding grid to reduce the area of the corner where mesh voltage occurs. As a result the mesh voltage was reduced. Therefore, this paper suggests the use of oblique-shaped grounding grid instead of the existing lattice-shaped ones. It applied the same grounding design dimensions for both lattice-shaped and oblique-shaped grounding grids, compared and analyzed mesh voltage, GPR, ground resistance, total length of grounding conductor, verified that oblique-shaped grounding grid is superior to the lattice-shaped.

• Journal of the Earthquake Engineering Society of Korea
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• v.20 no.7_spc
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• pp.537-543
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• 2016

In low to moderate seismic regions, there are limited earthquake ground motion data recorded from past earthquakes. In this regard, the Gyeongju earthquake (M=5.8)occurred on September 12, 2016 produces valuable information on ground motions. Ground motions were recorded at various recording stations located widely in Korean peninsula. Without actual recoded ground motions, it is impossible to make a ground motion prediction model. In this study, a point source model is constructed to accurately simulate ground motions recorded at different stations located on different soil conditions during the Gyeongju earthquake. Using the model, ground motions are generated at all grid locations of Korean peninsula. Each grid size has $0.1^{\circ}(latitude){\times}0.1^{\circ}(longitude)$. Then a contour hazard map is constructed using the peak ground acceleration of the simulated ground motions.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.3
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• pp.327-334
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• 2011

It is necessary that UGV(Unmanned Ground Vehicle) should generate a real-time travesability index map by analyzing raw terrain information to travel autonomously tough terrain which has various slope and roughness values. In this paper, we propose a local path planning method, $MA^*$(Modified $A^*$) algorithm, using DVGM (Directional Velocity Grid Map) for unmanned ground vehicle. We also present a path optimization algorithm and a path smoothing algorithm which regenerate a pre-planned local path by $MA^*$ algorithm into the reasonable local path considering the mobility of UGV. Field test is conducted with UGV in order to verify the performance of local path planning method using DVGM. The local path planned by $MA^*$ is compared with the result of $A^*$ to verify the safety and optimality of proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.253-253
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• 2000

Each robot plays a role of its own behavior in dynamic robot-soccer environment. One of the most necessary conditions to win a game is control of robot movement. In this paper we suggest a win strategy using Cellular Neural Network to set optimal path and cooperative behavior, which divides a soccer ground into grid-cell based ground and has robots move a next grid-cell along the optimal path to approach the moving target.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.5
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• pp.116-124
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• 2006

No matter how the equally spaced grounding grid is designed there are many problem. The best-fitted design for unequally spaced grounding grid is a part that must be considered. This paper Suggest a new way of calculation for grounding grid space of ground conductor by an algebraic function control(The first-order function, Root function, Polynomial function etc.) and on the optimal spaced grounding conductor that make the under 2[%] between maximum potential and minimum potential.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.4
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• pp.72-77
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• 2006

This paper presents the transient impedance behaviors according to the length of down conductors of grounding systems to lightning impulse currents. The potential rise and effective impulse ground impedance of the deeply-driven ground rod and grounding grid subjected to the impulse currents were measured and analyzed as a function of the rise time of impulse currents and lengths of down conductor. The transient ground impedances strongly depend on the configuration and size of grounding electrodes, the waveform of impulse currents and the length of down conductors, and the installation methods reducing the inductance of down conductors are an important factor to decrease the transient ground impedances.