• Journal of the Korean Solar Energy Society
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• v.23 no.1
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• pp.39-47
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• 2003

In order to test the predictability of the wind resource assessment computer code in our country a field experiment and prediction by WAsP has been compared. A field experiment has been performed in Songdang province, Jeju island, composed of sea, inland flat terrain, a high and a low slope craters. For this experiment, four meteorological towers have been installed at seashores, inland flat and on a crater. Wind resource at one site is predicted by WAsF with the meteorological data at the other three sites. The comparisons show that the WAsP preditions give better agreement with experimental data by adjusting the roughness descriptions.

• Wind and Structures
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• v.28 no.4
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• pp.239-253
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• 2019

Accurate numericalsimulation of wind field over complex terrain is an important prerequisite for wind resource assessment. In this study, numerical simulation of wind field over complex terrain was further carried out by taking the complex terrain around Siu Ho Wan station in Hong Kong as an example. By artificially expanding the original digital model data, Gambit and ICEM CFD software were used to create high-precision complex terrain model with high-quality meshing. The equilibrium atmospheric boundary layer simulation based on RANS turbulence model was carried out in a flat terrain domain, and the approximate inflow boundary conditions for the wind field simulation over complex terrain were established. Based on this, numerical simulations of wind field over complex terrain under different inflow wind directions were carried out. The numerical results were compared with the wind tunnel test and field measurement data for land and sea fetches. The results show that the numerical results are in good agreement with the wind tunnel data and the field measurement data which can verify the accuracy and reliability of the numerical simulation. The near ground wind field over complex terrain is complex and affected obviously by the terrain, and the wind field characteristics should be fully understood by numerical simulation when carrying out engineering application on it.

• 한국신재생에너지학회:학술대회논문집
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• 2010.11a
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• pp.180.2-180.2
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• 2010

The purpose of this research is to analyze the sensitivity of WindSIM in complex terrain. As the flat areas for wind turbine installation become scarce globally, it becomes inevitable to install wind turbines in complex terrain. In order to predict annual energy production (AEP) in a more precise manner in complex terrain, it is of great importance to conduct such research. Three parameters: reference velocity, roughness and resolution have been chosen to see to which parameter WindSIM was the most sensitive in terms of annual energy production in complex terrain. By fixing two parameters and setting one parameter as a variable, it could be easily found that how annual energy production was effected by the change in each parameter.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1062-1072
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• 2008

When mobile robots perform the mission in the rough terrain, the traversability depended on the terrain characteristic is useful information. In the traversabilities, wheel-terrain maximum friction coefficient can indicate the index to control wheel-terrain traction force or whether mobile robots to go or not. This paper proposes estimating wheel-terrain maximum friction coefficient. The existing method to estimate the maximum friction coefficient is limited in flat terrain or relatively easy driving knowing wheel absolute velocity. But this algorithm is applicable in rough terrain where a lot of slip occurred not knowing wheel absolute velocity. This algorithm applies the tire-friction model to each wheel to express the behavior of wheel friction and classifies slip-friction characteristic into 3 major cases. In each case, the specific algorithm to estimate the maximum friction coefficient is applied. To test the proposed algorithm's feasibility, test bed(ROBHAZ-6WHEEL) simulations are performed. And then the experiment to estimate the maximum friction coefficient of the test bed is performed. To compare the estimated value with the real, we measure the real maximum friction coefficient. As a result of the experiment, the proposed algorithm has high accuracy in estimating the maximum friction coefficient.

• Journal of KIISE:Computer Systems and Theory
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• v.28 no.10
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• pp.499-506
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• 2001

Terrain Following means that a mobile object, such a user's avatar, must follow terrain, remaining in contact with the ground at all times in virtual environments. This makes a virtual environment have the effects of gravity. Terrain Following is often done using collision detection: however this is inefficient, because general collision detection solves a problem that is inherently more complex than merely determining terrain contact points. Many virtual environments avoid the expense by utilizing a flat terrain with a constant altitude everywhere. This makes a terrain following trivial, but lacks realism. This paper provides as algorithm and a data structure for a terrain following using a neighboring area search as a way to search neighboring polygons. Because this algorithm uses a pre-processing step that stores the terrain polygons for calculating, it results in reducing overheads to workstations that is used to construct and maintain a virtual environment. Consequently, workstation can be used to apply not only a terrain following but also other things.

• Journal of Electrical Engineering and Technology
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• v.11 no.6
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• pp.1787-1792
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• 2016

Previous walking pattern generation methods could generate walking patterns that allow only straight walking on flat and uneven terrain. They were unable to generate modifiable walking patterns whereby the sagittal and lateral step lengths and walking direction can be changed at every footstep. This paper proposes a novel walking pattern generation method to realize modifiable walking of humanoid robots on unknown uneven terrain. The proposed method employs a walking pattern generator based on the 3-D linear inverted pendulum model (LIPM), which enables a humanoid robot to vary its walking patterns at every footstep. A control strategy for walking on unknown uneven terrain is proposed. Virtual spring-damper (VSD) models are used to compensate for the disturbances that occur between the robot and the terrain when the robot walks on uneven terrain with unknown height. In addition, methods for generating the foot and vertical center of mass (COM) of the 3-D LIPM trajectories are developed to realize stable walking on unknown uneven terrain. The proposed method is implemented on a small-sized humanoid robot platform, DARwIn-OP and its effectiveness is demonstrated experimentally.

• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.733-740
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• 2016

To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

• Journal of Environmental Impact Assessment
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• v.32 no.6
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• pp.407-418
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• 2023

This study conducted an analysis of terrain change indicators in major development projects in Korea, examining the correlation between terrain change indicators to derive foundational terrain change metrics based on different land use and slope types. The aim is to contribute to sustainable development by enhancing the efficiency of land utilization and landscaping, while minimizing environmental impacts in future development endeavors. Additionally, to apply the research findings in practical contexts, domestic regulations related to terrain were surveyed, and the compatibility and usability between these regulations and research analysis results were discussed. Based on this, the study seeks to explore strategies for more accurate and useful utilization of terrain change indicators in future research. As a result, in the tourism development, terrain changes predominantly occur in the order of flat land, hillly land, and mountain land, with the analysis indicating higher terrain changes in undulating hilly and mountainous lands compared to flat land. Furthermore, in industrial complex development, very steep (20°-30°) and extreme (30°-40°) slopes; in urban development projects, steep slope (15°-20°); in athletic service facility and tourist development, steep (15°-20°) and very steep (20°-30°) exhibit higher average terrain change indicators compared to other slope categories. The findings of our study can contribute to the formulation of strategies aimed at minimizing terrain disturbance in future domestic development projects and serve as foundational data for environmental impact assessments.

• Wind and Structures
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• v.30 no.6
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• pp.547-558
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• 2020

With the development of economy and construction technology, more and more bridges are built in complex mountainous areas. Accurate assessment of wind parameters is important in bridge construction at complex terrain. In order to investigate the wind characteristics in the high-altitude difference area, a complex mountain terrain model with the scale of 1:2000 was built. By using the method of wind tunnel tests, the study of wind characteristics including mean wind characteristics and turbulence characteristics was carried out. The results show: The wind direction is affected significant by the topography, the dominant wind direction is usually parallel to the river. Due to the sheltering effect of the mountain near the bridge, the wind speed and wind attack angle along the bridge are both uneven which is different from that at flat terrain. In addition, different from flat terrain, the wind attack angle is mostly negative. The wind profiles obey exponential law and logarithmic law. And the fitting coefficient is consistent with the code which means that it is feasible to use the method of wind tunnel test to simulate complex terrain. As for turbulence characteristics, the turbulence intensity is also related to the topography. Increases sheltering effect of mountain increases the degree of breaking up the large-scale vortices, thereby increasing the turbulence intensity. Also, the value of turbulence intensity ratio is different from the recommended values in the code. The conclusions of this study can provide basis for further wind resistance design of the bridge.

• KIPS Transactions on Software and Data Engineering
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• v.12 no.5
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• pp.237-242
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• 2023

Research on high-performance walking robots is being actively conducted, and quadruped walking robots are receiving a lot of attention due to their excellent mobility and adaptability on uneven terrain, but they are difficult to introduce and utilize due to high cost. In this paper, to increase utilization by applying intelligent functions to a low-cost quadruped robot, we present a method of improving uneven terrain overcoming ability by mounting IMU and reinforcement learning on embedded board and automatically detecting objects using camera and deep learning. The robot consists of the legs of a quadruped mammal, and each leg has three degrees of freedom. We train complex terrain in simulation environments with designed 3D model and apply it to real robot. Through the application of this research method, it was confirmed that there was no significant difference in walking ability between flat and non-flat terrain, and the behavior of performing person detection in real time under limited experimental conditions was confirmed.