• Journal of the Korea Computer Graphics Society
• /
• v.17 no.2
• /
• pp.1-9
• /
• 2011

In recent researches, several LOD techniques are used for real-time visualization of large sized terrain data. However, during mesh simplification, geometry popping may occur in consecutive frames, because of the geometric error. We propose an efficient method for reducing the geometry popping using roughness map and bias map. A roughness map and a bias map are used to move vertices of the terrain mesh to appropriate position where they minimize the geometry errors. A roughness map and a bias map are represented as a texture suitable for GPU processing. Moving vertices using bias map is processed on the GPU, so the high-speed visualization can be possible.

• Journal of the Korean Solar Energy Society
• /
• v.32 no.2
• /
• pp.87-94
• /
• 2012

In this study, we found a relationship between wind shear exponent, ${\alpha}$, and a few factors such as the wind speed, $V$, ruggedness index($RIX$), and the Weibull shape parameter, $k$ of sites in complex terrain in Korea. Wind shear exponents in main wind directions were calculated using wind speed data measured for one year from various heights of eleven meteorological masts in Gangwon province. It was found from the analysis that the reciprocal of the wind shear exponent can be expressed by an exponentially decaying function with respect to a multiple of $V$, $RIX$ and $k$. This result is considered useful to be used to characterize wind characteristics of specific sites in complex terrain in Korea with limited information.

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

• Proceedings of the KSRS Conference
• /
• 2008.10a
• /
• pp.155-158
• /
• 2008

The needs for digital models of real environment such as 3D terrain or cyber city model are increasing. Most of applications related with modeling and simulation require virtual environment constructed from geospatial information of real world in order to guarantee reliability and accuracy of the simulation. The most fundamental data for building virtual environment, terrain elevation and orthogonal imagery is acquired from optical sensor of satellite or airplane. Providing interoperable and reusable digital model is important to promote practical application of high-resolution satellite imagery. This paper presents the new research regarding representation of geospatial information, especially for 3D shape and appearance of virtual terrain, and describe framework for constructing real-time 3D model of large terrain based on high-resolution satellite imagery. It provides infrastructure of 3D simulation with geographical context. Details of standard-based approach for providing infrastructure of real-time 3D simulation using high-resolution satellite imagery are also presented. This work would facilitate interchange and interoperability across diverse systems and be usable by governments, industry scientists and general public.

• Journal of Navigation and Port Research
• /
• v.33 no.6
• /
• pp.451-456
• /
• 2009

In this paper, we presents an algorithm which generates its high-resolution DTM using a low-resolution DTM of the sea floor terrain and fractal theory. The fractal dimension of each patch region divided from the DTM is extracted and then with this information and original data, each cell region in the patch is interpolated using the midpoint displacement method and a median filter is incorporated to generate natural and smooth sea floor surface. The effectiveness of the proposed algorithm is tested on a fractal terrain map.

• Wind and Structures
• /
• v.13 no.6
• /
• pp.519-528
• /
• 2010

A meteorological model, RAMS, and a commercial computational fluid dynamics (CFD) model, FLUENT are combined as a one-way off-line nested modeling system, namely, RAMS/FLUENT system. The system is experimentally applied in the wind simulation over a complex terrain, with which numerical simulations of wind field over Foyeding weather station located in the northwest mountainous area of Beijing metropolis are performed. The results show that the method of combining a meteorological model and a CFD model as a modeling system is reasonable. In RAMS/FLUENT system, more realistic boundary conditions are provided for FLUENT rather than idealized vertical wind profiles, and the finite volume method (FVM) of FLUENT ensures the capability of the modeling system on describing complex terrain in the simulation. Thus, RAMS/FLUENT can provide fine-scale realistic wind data over complex terrains.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.13 no.5
• /
• pp.894-902
• /
• 2010

This paper presents a vision-based robust off-road terrain classification method against environmental variation. As a supervised classification algorithm, we applied a neural network classifier using wavelet features extracted from wavelet transform of an image. In order to get over an effect of overall image feature variation, we adopted environment sensors and gathered the training parameters database according to environmental conditions. The robust terrain classification algorithm against environmental variation was implemented by choosing an optimal parameter using environmental information. The proposed algorithm was embedded on a processor board under the VxWorks real-time operating system. The processor board is containing four 1GHz 7448 PowerPC CPUs. In order to implement an optimal software architecture on which a distributed parallel processing is possible, we measured and analyzed the data delivery time between the CPUs. And the performance of the present algorithm was verified, comparing classification results using the real off-road images acquired under various environmental conditions in conformity with applied classifiers and features. Experiments show the robustness of the classification results on any environmental condition.

• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• 2000.11c
• /
• pp.690-697
• /
• 2000

The objective of this study is to develop a method that is able to realize autonomous traveling for tractor-like robot on the slope terrain. A neural network (NN) and genetic algorithms (GAs) have been used for resolving nonlinear problems in this system. The NN is applied to create a vehicle simulator that is capable to describe the motion of the tractor robot on the slope, while it is impossible by the common dynamics way. Using this vehicle simulator, a control law optimized by GAs was established and installed in the computer to control the steering wheel of tractor robot. The autonomous traveling carried out on a 14-degree slope had initial successful results.

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

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.4 no.1
• /
• pp.58-71
• /
• 1986

A Digital Terrain Model (DTM) consists of two components;one is sampling of the terrain imformation, and the other is interpolation. The present study aims at the investigation of the accuracy and efficiency of Moving Average and Linear Prediction interpolation methods by numerical experiment. Basic input data are the elerations in square grid which procured by photogrammetry, and the accuracy of each interpolation is investigated on different grid size, terrain type and pattern of reference points.