• 한국정밀공학회지
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• 제28권1호
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• pp.56-62
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• 2011

Terrain recognition ability is crucial to the performance of legged robots in an outdoor environment. For instance, a robot will not easily walk and it will tumble or deviate from its path if there is no information on whether the walking surface is flat, rugged, tough, and slippery. In this study, the ground surface recognition ability of robots is discussed, and to enable walking robots to recognize the surface state and changes, a central moment method was used. The values of the sensor signals (load cell) of robots while walking were detected in the supported section and were analyzed according to signal variance, skewness, and kurtosis. Based on the results of such analysis, the surface state was detected and classified.

• 한국대기환경학회지
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• 제11권2호
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• pp.145-152
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• 1995

Predictability of a Gaussian model, ISCST2 was assessed by scaling up wind tunnel experiments with a 1/3,000 terrain model to the real scale. Concentration profiles obtained from the flat-terrain experiment in the neutral condition were estimated to be in agreement with the calculated ones from ISCST2 in the stability class A, but the difference between the two was still large. Concentration profiles from the mountainous-terrain experiments were better fitted to the calculated ones primarily because in the experiment, concentration behind the source was raised due to the effect of a hill in the upstream side. Model prediction was improved with including the downwash effect of buildings and the hill, but overall concentration profiles were not much different from a typical Gaussian profile. While concentration profiles in the experiments were changed with local flows by varying the wind direction and the topography, those from the Gaussian modeling were mot freely changed together with these variations.

• 한국측량학회지
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• 제8권2호
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• pp.17-22
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• 1990

토지정보관리체계에 있어서 지형표고를 나타내는 수치지형정보는 각종 계산 및 출력을 위하여 큰 간격으로 추출된 원래자료로부터 조밀한 자료로 바꾸어 주어야 할 필요가 있다. 이때 보간법을 사용하게 되는데, 여러 보간법 중 선형적인 평균에 의한 방법, 그레고리-뉴톤 보간법에 의한 방법, B-Spline에 의한 보간법을 실제로 지형에 적용시켜 봄으로써 각 보간법에 의한 결과를 비교 분석하였다.

• 한국태양에너지학회 논문집
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• 제23권4호
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• pp.21-27
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• 2003

The comparative performance of the WAsP in calculating the wind climate in complex terrain has been examined in order to test the predictability of the wind resource assessment computer code in our country. An analysis was carried out of predicted and experimental 10-min averaged wind data collected over 8 months at four monitoring sites in SongDang province, Jeju island, composed of sea, inland flat terrain, a high and a low slope craters. The comparisons show that the WAsP preditions give better agreement with experimental data by adjusting the roughness descriptions, the obstacle list.

• Wind and Structures
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• 제32권4호
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• pp.393-403
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• 2021

A comprehensive knowledge of the wind flow in hilly terrains is of great interest in many engineering applications, be it wind energy distribution for suitable site selection for wind farms, pollution dispersion, forest fire propagation or agrometerological studies. Several researchers have shown that wind flow over a hilly terrain may be significantly different when compared with the wind flow over a flat terrain. Complex hilly terrains may alter the wind speed to a great extent. Therefore, this effect of terrain must be properly assessed by designers and planners to arrive at a proper wind flow distribution. This paper reviews the work done in this area over the past three decades. Wind flow over two-dimensional hills and two-dimensional escarpments investigated in wind tunnels by various researchers is presented in this paper.

• 로봇학회논문지
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• 제17권4호
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• pp.438-446
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• 2022

In this paper, we propose an intelligent three-legged landing system that can maintain stability and level even on rough terrain than conventional four-legged landing systems. Conventional landing gear has the limitation that it requires flat terrain for landing. The 3-leg landing system proposed in this paper extends the usable range of the legs and reduces the weight, allowing the quadcopter to operate in various environments. To do this, kinematics determine the joint angles and coordinates of the legs of the two-link structure. Based on the angle value of the quadcopter detected via the IMU sensor, the leg control method that corrects the posture is determined. A force sensor attached to the end of the leg is used to detect contact with the ground. At the moment of contact with the ground, landing control starts according to the value of the IMU sensor. The proposed system verifies its reliability in various environments through an indoor landing test stand. Finally, in an outdoor environment, the quadcopter lands on a 20 degree incline and 20 cm rough terrain after flight. This demonstrates the stability and effectiveness of the 3-leg landing system even on rough terrain compared to the 4-leg landing system.

• 한국가시화정보학회:학술대회논문집
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• 한국가시화정보학회 2003년도 추계학술대회 논문집
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• pp.47-50
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• 2003

The wind flow and pollutant dispersion over a two-dimensional sinusoidal hilly obstacle with slope (the ratio of height to half width) of 0.7 have been investigated experimentally and numerically. Flow over a single sinusoidal hill model was visualized in a subsonic wind tunnel. The mean velocity profiles, turbulence statistics, and pollutant concentration distribution were measured at the Reynolds number based on the obstacle height (H=40mm) oft $2.6\times10^4$. Experimental results for flow over a flat ground were agreed with the theoretical and numerical results. When a pollutant source is located behind the hilly terrain, the pollutant dispersion appeared even in the upstream region due to recirculation flow.

• 한국전자파학회논문지
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• 제8권6호
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• pp.551-557
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• 1997

이동통신에 있어서 안테나 높이에 대한 이득은 6 dB / octave로 잘 알려져 있다. 그러나 이동통신의 전파환경은 단순하지 않고 지형지물에 따라서 변하기 때문에 안테나 높이에 대한 이득도 전파환경에 따라서 달라칠 수 있다. 이 논문은 도심지 마이크로셀 환경에서의 기지국 안테나 높이 변화에 따른 수선전력의 변화를 평탄지형과 경 사지형을 모텔로하여 이론적으로 해석한 것이다. 또한 안테나 높이 이득이 나타나기 시작하는 거리인 이득점을 사률레이션에 의해 설험적으로 구하였다.

• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.251-257
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• 2012

Unmanned ground vehicles have important military, reconnaissance, and materials handling application. Many of these applications require the UGVs to move at high speeds through uneven, natural terrain with various compositions and physical parameters. This paper presents a framework for high speed autonomous navigation based on the integrated real time traversability. Specifically, the proposed system performs real-time dynamic simulation and calculate maximum traversing velocity guaranteeing safe motion over rough terrain. The architecture of autonomous navigation is firstly presented for high-speed autonomous navigation. Then, the integrated real time traversability, which is composed of initial velocity profiling step, dynamic analysis step, road classification step and stable velocity profiling step, is introduced. Experimental results are presented that demonstrate the method for a $6{\times}6$ autonomous vehicle moving on flat terrain with bump.

• 한국측량학회지
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• 제36권3호
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• pp.197-202
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• 2018

Drone has been continuously studied in the field of geography and remote sensing. The basic researches have been actively carried out before the utilization in the field of photogrammetry. In Korea, it is necessary to study the actual way of research in accordance with the drone utilization environment. In particular, analysis on the characteristics of DSM (Digital Surface Model) generated through drone are needed. In this study, the characteristic of drone DSM as a data acquisition method was analyzed for coastal management. The coastal area was selected as the study area, and data was acquired by using drone. As a result of the study, the terrain model and the ortho image of coastal area were produced. The accuracy of UAV (Unmanned Aerial Vehicle) results were very high about 10cm at check points. However, concavo-convex shapes appeared in very flat areas such as tidal flats and roads. To correct this terrain model distortion, a new terrain model was created through data processing and the results were evaluated. If additional studies are carried out and the construction and analysis of terrain model using drone image is done, drone data for coastal management will be available.