• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.58-69
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• 2014

This paper proposes a method for predicting maximum friction coefficients and optimal slip ratios as optimal control parameters for traction control or slip control of autonomous mobile robots on rough terrain. This paper focuses on strength of ground surface which indicates different characteristics depending on material types on surface. Strength of various material types can be estimated by Willoughby sinkage model and by a developed testbed which can measure forces, velocities, and displacements generated by wheel-terrain interaction. Estimated strength is collaborated on building improved Brixius model with friction-slip data from experiments with the testbed over sand and grass material. Improved Brixius model covers widespread material types in outdoor environments on predicting friction-slip characteristics depending on strength of ground surface. Thus, a prediction model for obtaining optimal control parameters is derived by partial differentiation of the improved Brixius model with respect to slip. This prediction model can be applied to autonomous mobile robots and finally gives secure maneuverability on rough terrain. Proposed method is verified by various experiments under similar conditions with the ones for real outdoor robots.

• Wind and Structures
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• v.17 no.2
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• pp.135-162
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• 2013

The majority of experiments to characterize the turbulence in the surface layer have been performed in flat, open expanses. In order to characterize the turbulence in built-up terrain, two mobile towers were deployed during Hurricane Ike (2008) in close proximity, but downwind of different terrain conditions: suburban and open. Due to the significant non-stationarity of the data primarily caused by changes in wind direction, empirical mode decomposition was employed to de-trend the signal. Analysis of the data showed that the along-wind mean turbulence intensity of the suburban terrain was 37% higher than that of the open terrain. For the mean vertical turbulence intensity, the increase for the suburban terrain was as high as 74%, which may have important implications in structural engineering. The gust factor of the suburban terrain was also 16% higher than that of the open terrain. Compared to non-hurricane spectral models, the obtained spectra showed significantly higher energy in low frequencies especially for the open terrain.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2006.04a
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• pp.533-540
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• 2006

In recent years, civil-engineering work is desired the terrain information to be more efficient in earthwork volume calculation. One method for collecting elevation data is LiDAR. Lidar data was used to produce rapidly an accurate digital elevation model of the terrain, compared with the conventional ground surveys, photogrammetty, and remote sensing. Raw Lidar data is combined with GPS positional data to georeference the data sets. Lidar data is edited and processed to generate surface models, elevation models, and contours. Here we can either create a Tin Volume Surface or a Gird Volume Surface. Triangulated Irregular Network(TIN) has complex data structure, but it can describe well terrain surface features. As we have seen, we search the efficiency for earthwork volume calculation using Lidar data. One conclusion we can draw from this study is that Lidar data is more accurate result than digital map in the calculation of earthwork volume.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.14 no.2
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• pp.325-334
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• 1994

Modern society is the age of a high state of information and demands more effective land information. Moreover, because the use of land in Korea is intensive, Korea requires more synthetic and systematic geographical information for which the digitizing of terrain is prerequisite. This study aims at development of the data structure which is suitable to the digitizing of terrain for Geographical Information System(GIS). Regular grid has been used generally in Digital Terrain Model(DTM), for it is easy to manipulate. But regular cannot reflect well the terrain surface features. In the meantime, Triangulated Irregular Network(TIN) has complex data structure, but it can describe well terrain surface features and is useful in various applications. In this paper the method which constructs effective DTM by improving TIN has been researched.

• Proceedings of the Korea Society for Simulation Conference
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• 2002.11a
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• pp.163-170
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• 2002

Terrain surfaces have to be modeled in very detail and wheel-surface contacting geometry must be well defined in order to obtain proper ground-reaction and friction forces for realistic simulation of off-road vehicles. Delaunay triangulation is one of the most widely used methods in modeling 3-dimensional terrain surfaces, and T-search is a relevant algorithm for searching resulting triangular polygons. The T-search method searches polygons in successive order and may not allow real-time computation of off-road vehicle dynamics if the terrain is modeled with many polygons, depending on the computer performance used in the simulation. In order to accelerate the searching speed of T-search, a terrain database of triangular polygons is modeled in multi-levels by adopting the LOD (Level of Detail) method used in realtime computer graphics. Simulation results show that the new LOD search is effective in shortening the required computing time. The LOD search can be even further accelerated by introducing an NN (Neural Network) algorithm, in the cases where a appropriate range of moving paths can be predicted by cultual information of the simulated terrain, such as lakes, houses, etc.. Numerical tests show that LOD-NN search almost double the speed of the original T-search.

• Journal of the Korean earth science society
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• v.31 no.1
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• pp.1-7
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• 2010

Many studies have successfully developed a number of terrain correction programs in gravity data. Furthermore, terrain data that is a basic data for terrain correction has widely been provided through internet. We have also developed our own precise gravity terrain correction program. The currently existing gravity terrain correction programs have been developed for regional scale gravity survey, thus a more precise gravity terrain correction program needs to be developed to correct terrain effect. This precise gravity terrain program can be applied on small size geologic targets, such as small scale underground resources or underground cavities. The multiquadric equation has been applied to create a mathematical terrain surface from basic terrain data. Users of this terrain correction program can put additional terrain data to make more precise terrain correction. In addition, height differences between terrain and base of gravity meter can be corrected in this program.

• Journal of the Korean Geophysical Society
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• v.8 no.3
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• pp.153-157
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• 2005

A discussion of a method has been used with success in terrain modelling to estimate the height at any point on the land surface from irregularly distributed samples. The special requirements of terrain modelling are discussed as well as a detailed description of the algorithm and an example of its application.

• Journal of Korean Society for Geospatial Information Science
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• v.5 no.2 s.10
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• pp.77-85
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• 1997

Researches in the field of Computer Graphics and Geographical Information Systems(GIS) have extensively studied the method of photo-realistic landscape modelling, because it have become a commom requirement in applications such as flight simulators, mission rehearsal, and construction planning. A common approach to the display of terrain uses a Digital Elevation Model(DEM). DEM is an evenly spaced array of the terrain elevation data and can be obtained from stereo satellite data. With the DEM data, the process of 3D terrain modelling consists of three steps. The first step is to extract the meaningful data (such as peak, pit, passes...) from DEM data based on LOD(Level Of Detail) criteria. The second is to construct the 3D surface by TIN, which represents a surface as a set of non-overlapping continuous triangular facets of irregular size and shape. The third is a rendering of 3D terrain model. The goal of this research is a construction of 3D terrain with TIN. To do this, we are going to app]y Radial Sweep Algorithm. Radial Sweep Algorithm for generating TIN works quickly and efficiently. However, it does not solve the problem caused by the approximated nature of triangulated surface. To solve this problem, this research derive improved radial sweep algorithms with the optimal triangle definition.

• Journal of Information Processing Systems
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• v.14 no.6
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• pp.1445-1456
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• 2018

Environment perception and three-dimensional (3D) reconstruction tasks are used to provide unmanned ground vehicle (UGV) with driving awareness interfaces. The speed of obstacle segmentation and surrounding terrain reconstruction crucially influences decision making in UGVs. To increase the processing speed of environment information analysis, we develop a CPU-GPU hybrid system of automatic environment perception and 3D terrain reconstruction based on the integration of multiple sensors. The system consists of three functional modules, namely, multi-sensor data collection and pre-processing, environment perception, and 3D reconstruction. To integrate individual datasets collected from different sensors, the pre-processing function registers the sensed LiDAR (light detection and ranging) point clouds, video sequences, and motion information into a global terrain model after filtering redundant and noise data according to the redundancy removal principle. In the environment perception module, the registered discrete points are clustered into ground surface and individual objects by using a ground segmentation method and a connected component labeling algorithm. The estimated ground surface and non-ground objects indicate the terrain to be traversed and obstacles in the environment, thus creating driving awareness. The 3D reconstruction module calibrates the projection matrix between the mounted LiDAR and cameras to map the local point clouds onto the captured video images. Texture meshes and color particle models are used to reconstruct the ground surface and objects of the 3D terrain model, respectively. To accelerate the proposed system, we apply the GPU parallel computation method to implement the applied computer graphics and image processing algorithms in parallel.

• Journal of Ocean Engineering and Technology
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• v.16 no.6
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• pp.37-43
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• 2002

The calculation of earthwork plays a major role in the plan or design phase of many civil engineering projects, such as seashore reclamation; and thus, it has become very important to improve upon its accuracy. There have been common drawbacks to earlier methods of ground profiling, such as dialing with sharp corners or the grid points of any tow straight lines. In this paper, we prepose an algorithm for finding a terrain surface using the natural boundary conditions and the both direction spline method, which interpolates the given three-dimensional data by using spline. As a result of this study, the algorithm of the proposed two methods to estimate pit excavation volume should provide a better accuracy than Spot height, Chambers, Chen, or Lin method. Also, the mathematical model mentioned offers maximum accuracy in estimating the volume of a pit excavation.