• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.6
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• pp.721-728
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• 2012

The tracked SUGVs(Small Unmanned Ground Vehicles) are frequently operated in the narrow slope such as stairs and trails. But due to the nature of the tracked vehicle which is steered using friction between the track and the ground and the limited field of view of driving cameras mounted on the lower position, it is not easy for SUGVs to trace narrow slopes. To properly trace inclined narrows, it is very important for SUGVs to keep it's heading direction to the slope. As a matter of factor, no roll value control of a SUGV can makes it's heading being located in the direction of the slope in general terrains. But, the problem is that we cannot directly control roll motion for SUGV. Instead we can control yaw motion. In this paper, a new slope driving method that enables the vehicle trace the narrow slopes with IMU sensor usually mounted in the SUGV is suggested which including an estimation technique of the desired yaw angle corresponding to zero roll angle. In addition, a fuzzy steering controller robust to changes in driving speed and the stair geometry is designed to simulate narrow slope driving with the suggested method. It is shown that the suggested method is quite effective through the simulation.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.460-461
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• 2008

A new AC-PDP driving method was proposed to reduce the address period. The overlapped scan method can reduce the address period. However, this method has a narrow address voltage margin compared with conventional scan method in this paper, Slope overlapped scan method is presented. The proposed new overlapped scan method allows wider address voltage margin than conventional overlapped scan method.

• Journal of the Korean Institute of Landscape Architecture
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• v.24 no.2
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• pp.1-12
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• 1996

In order to develope a road landscape that is in harmony with landscaping purpose, degree of sight occupation by slopes at road sides was measured and physical elements composing the slope scenery were visually evaluated and the results are as follows : In analysis of sight occupation ratio by perspective method, gradient of the slopes influenced more on the sight occupation than height did and the driving lane occupied 2 to 3% more proportion of sight than the passing lane. When there is slope at one side of the road, difference in sight occupation between the lanes was increasing with deceased height and with increased gradient of the slopes. In visual analysis of the slope scenery, negative image was increasing with narrow road, increased height and gradient of the slopes. In visual analysis of the slope scenery, negative image was increasing with narrow road, increased height and gradient of the slopes. Particularly, the effect of gradient was critical on scenery. The effect of the slopes was negative at 60$^{\circ}$ or more but positive at 45$^{\circ}$or less gradient. This phenomenon was more conspicuous with wide 4 lane roads than wide 2 lane roads. Although direct comparison is difficult due to a great difference between Korea and U.S.A. in climate, land condition, road dimension, and public process of purchasing land, etc, it is desirable to treat road sides so that the scenery is in harmony with landscape around as well as emphasizing the regional characteristics, also giving friendly and comfortable image to drivers and nearby residents in addition to safety as can be seen in U.S.A.