• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.270-277
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• 2010

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.

• Journal of Korea Multimedia Society
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• v.13 no.2
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• pp.298-307
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• 2010

The grass is one of important components that cover the wide surfaces in the application such as game or real time simulation. Actually, it not easy to render effectively numerous grasses that grow over the wide terrain. To solve the difficulty, we must find a solution to the two contradictions in terms : quality and calculation cost. As a solution to the above-mentioned task, in this paper, we propose an efficient method to represent the natural grasses by introducing fractal theory and instancing technique. Although the existing grass representation methods make use of a simple rule of applying a basic grass model repeatedly in rendering process, on the contrary we take advantage of the basic property of fractal's self-similarity and we devise a natural representation method suited to the given environment by introducing two important growth factors such as nature of terrain and quantity of light, and finally we apply a GPU-based shader instancing technique to rendering numerous grass models in real-time.

• Journal of Industrial Technology
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• v.25 no.B
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• pp.157-164
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• 2005

Two methods, the bin averaging method and least square method, are often used in calibrating wind turbine test sites. The objective of this work was to determine a better method to predict the wind speed at wind turbine installing point. The calibration was done at the test site on a complex terrain located in Daegwallyeong, Korea. It was performed for two different cases based on the IEC 61400-12 power performance measurement standard. The wind speeds averaged for 10 minutes ranged between 4 m/s and 16 m/s. The wind-direction bins of each meteorological mast were 10 degrees apart, and only the bins having data measured for more than 24 hours were employed for the test site calibration. For both cases, the two methods were found to yield almost same results which estimated real wind speed very closely.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.4
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• pp.768-778
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• 1998

Human beings usually absorb a shock from terrain during walking through the damping effects of joints, muscles and skin. With this analogy, a robot-leg with a shock absorber is built to absorb the impact forces at its foot during high-speed walking on irregular terrain. To control the hip position while walking, the dynamic controller suitable for high speed walking is designed and implemented based on a dynamic model by Kane's equation. The hip position tracking performances of various controllers (PID controller, computed torque controller and feedforward torque controller) are compared through the experiments of the real robot-leg.

• Journal of KIISE:Computing Practices and Letters
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• v.14 no.7
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• pp.748-752
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• 2008

Various services are developed from advancement of satellite imagery methodologies and internet infrastructure expansions. However, most of these services still rely upon low-resolution satellite images combined with DEM models. In this paper, we have implemented the raw data processing modules and other modules that transfer and render high-spatial resolution satellite images for efficient streaming services in web environments. By utilizing the Bukhan-mountain data as a pilot study, the paper has proposed the efficient approach to solve graphical problems in real time processing the large geographical area.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.205-207
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• 2006

Since a humanoid robot inherently suffers from instability and always risks tipping itself over, or topping to the ground, it is necessary to ensure high stability and reliability of walk. An unexpected ground condition is one of the principal factors of instability. This paper proposes a walk stabilization method consisting of a Fuzzy algorithm and geometry under uneven terrain. The ground reaction forces that are measured by the FSR sensors on the sole are used to check the ground condition and the robot posture. The effectiveness of proposed method is verified by computer simulations.

• Journal of Korea Game Society
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• v.14 no.4
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• pp.37-44
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• 2014

In this paper, we propose a NPC decision making model based on Prospect Theory which tries to model real-life choice, rather than optimal decision. For this purpose, we analyse the problems of reference point setting, diminishing sensitivity and loss aversion which are known as limitations of the utility theory and then apply these characteristics into the decision making in game. Dynamic Terrain Analysis is utilized to evaluate the proposed model and experimental result shows the method have effects on inducing diverse personality and emergent behavior on NPC.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.5
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• pp.55-61
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• 2005

In this paper, we propose the visual simulation system for virtual reality motion rider system. The visual simulation system can apply verity virtual reality system. This paper deals with programs on 3D automatic creation of terrain, road design, and a realtime rendering program for the virtual reality system. For the 3D automatic creation of terrain, DEM data and rectangular grid method are applied. We can make two different road object with the road design program. One of them includes road definition, and the other is obtained by using 'NURBS curve.' Visual simulation is consisted by additional modeling and real-time rendering. We can apply the programs made in this way to visual system of driving simulator.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.4
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• pp.642-649
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• 2010

LOS analysis is used for optimal deployment of mid-range guided weapon system or system engagement effectiveness simulation. Comparing to real-world, LOS analysis includes error sources such as coarse terrain data resolution, refraction of radio waves, and several ideal assumptions. In this research, exact LOS algorithm under assumption of constant earth curvature and error analysis of that is investigated. It proved that LOS algorithm under assumption of constant earth curvature has negligible error in mid-range guidance weapon system's scope.

• Journal of Korean Society for Atmospheric Environment
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• v.23 no.4
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• pp.449-456
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• 2007

Dispersion coefficient preprocessing schemes have been examined to improve plume dispersion model performance in complex coastal areas. The performances of various schemes for constructing the sigma correction order were evaluated through estimations of statistical measures, such as bias, gross error, R, FB, NMSE, within FAC2, MG, VG, IOA, UAPC and MRE. This was undertaken for the results of dispersion modeling, which applied each scheme. Environmental factors such as sampling time, surface roughness, plume rising, plume height and terrain rolling were considered in this study. Gaussian plume dispersion model was used to calculate 1 hr $SO_2$ concentration 4 km downwind from a power plant in Boryeung coastal area. Here, measured data for January to December of 2002 were obtained so that modelling results could be compared. To compare the performances between various schemes, integrated scores of statistical measures were obtained by giving weights for each measure and then summing each score. This was done because each statistical measure has its own function and criteria; as a result, no measure can be taken as a sole index indicative of the performance level for each modeling scheme. The best preprocessing scheme was discerned using the step-wise method. The most significant factor influencing the magnitude of real dispersion coefficients appeared to be sampling time. A second significant factor appeared to be surface roughness, with the rolling terrain being the least significant for elevated sources in a gently rolling terrain. The best sequence of correcting the sigma from P-G scheme was found to be the combination of (1) sampling time, (2) surface roughness, (3) plume rising, (4) plume height, and (5) terrain rolling.