• 한국철도학회:학술대회논문집
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• 한국철도학회 2005년도 추계학술대회 논문집
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• pp.475-481
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• 2005

최근 국내에서의 철도 교통량증가로 인하여 단일노선의 증편을 복선철도로 재설계하여 건설하려는 다각적인 방안이 논의되고 있다. 특히 경부선에 비해 일반 승객보다는 시멘트 및 산림자원의 수송량이 많은 태백선과 중앙선에 대한 복선화 전철사업이 추진되면서 부분적인 구간에 대한 설계와 건설이 이루어지고 있다. 본 연구에서는 중앙선의 중간지점이 되고 있는 제천과 도담 구간에 대한 공간정보의 적용과 태백선의 출발지점인 제천과 쌍용구간에 대한 영상정보의 적용의 결과를 비교하여 분석하였다. 이러한 연구결과를 통하여 다각적인 방법으로 최적의 노선성정방안을 도출하고자 하였다.

• 제어로봇시스템학회논문지
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• 제18권8호
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• pp.787-793
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• 2012

This paper introduces the autonomous vehicle Pharos, which participated in the 2010 Autonomous Vehicle Competition organized by Hyundai-Kia motors. PHAROS was developed for high-speed on/off-road unmanned driving avoiding diverse patterns of obstacles. For the high speed traveling up to 60 km/h, long range terrain perception, real-time path planning and high speed vehicle motion control algorithms are developed. This paper describes the major hardware and software components of our vehicle.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2003년도 Proceedings of ACRS 2003 ISRS
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• pp.744-746
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• 2003

A 3D modeling of urban area can be composed the terrain modeling that can express specific and shape of the terrain and the object modeling such as buildings, trees and facilities which are found in urban areas. Especially in a 3D modeling of building, it is very important to make a unit model by simplifying 3D structure and to take a texture mapping, which can help visualize surface information. In this study, the texture mapping technique, based on library for 3D urban modeling, was used for building modeling. This technique applies the texture map in the form of library which is constructed as building types, and then take mapping to the 3D building frame. For effectively apply, this technique, we classified buildings automatically using LiDAR data and made 3D frame using LiDAR and digital map. To express the realistic building texture, we made the texture library using real building photograph.

• Wind and Structures
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• 제23권3호
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• pp.191-209
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• 2016

Wind tunnel tests of a 1/2200-scale mountainous terrain model have been carried out to investigate local wind characteristics at a bridge location in southeast Tibet, China. Flows at five key locations on the bridge at deck level were measured for 26 directions. It was observed that wind characteristics (including mean wind velocity and overall turbulence intensity) vary significantly depending on the approaching wind direction and measurement position. The wind inclination angle measured in the study fluctuated between $-18^{\circ}$ and $+16^{\circ}$ and the ratio of mean wind velocity to reference wind velocity was small when the wind inclination angles were large, especially for positive wind inclination angles. The design standard wind speed and the minimum critical wind speed for flutter rely on the wind inclination angle and should be determined from the results of such tests. The variation of wind speed with wind inclination angles should be of the asymmetry step type. The turbulence characteristics of the wind were found to be similar to real atmospheric flows.

• 한국지형학회지
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• 제28권4호
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• pp.41-52
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• 2021

With the popularization of drones and the ease of use of the Global Navigation Satellite System (GNSS), drone photogrammetry for terrain information has been widely used. Drone photogrammetry enables the realization of high-accuracy three-dimensional topography for the entire area with less effort and time compared to the past direct survey using GNSS or total station. From 3-D topographic data, various topographical analysis is possible. To improve the accuracy of drone photogrammetry, direct GCP surveying in the field is essential, and the numbers and reasonable positioning of GCPs are very important. In the case of beaches or tidal flats on the west coast of Korea, the numbers and location of GCPs are important factors in efficient drone photogrammetry because of the size of the area, difficulties of movement, and the risk from tides. If the RTK (Real-time kinematic) or PPK (Post-processed kinematic) method is used, the increased accuracy of the drone's location enables high-accuracy photogrammetry with a small number of GCPs. This study presents an efficient drone photogrammetry method in terms of time and economy by comparing and analyzing the results of drone photogrammetry using Non-PPK with low-cost PPK-Kit, based on the tests of various numbers and locations of GCPs in the university field including various slopes and structures like coastal terrain.

• 로봇학회논문지
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• 제8권4호
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• pp.283-291
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• 2013

Methods for measuring or estimating of ground shape by a laser range finder and a vision sensor(exteroceptive sensors) have critical weakness in terms that these methods need prior database built to distinguish acquired data as unique surface condition for driving. Also, ground information by exteroceptive sensors does not reflect the deflection of ground surface caused by the movement of UGVs. Thereby, UGVs have some difficulties regarding to finding optimal driving conditions for maximum maneuverability. Therefore, this paper proposes a method of recognizing exact and precise ground shape using Inertial Measurement Unit(IMU) as a proprioceptive sensor. In this paper, firstly this method recognizes attitude of a robot in real-time using IMU and compensates attitude data of a robot with angle errors through analysis of vehicle dynamics. This method is verified by outdoor driving experiments of a real mobile robot.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2012년도 춘계학술대회
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• pp.521-523
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• 2012

가상현실이나 게임 제작 분야에서는 사실적이고 실시간으로 캐릭터의 동작을 생성해야 하는 경우가 빈번하다. 특히, 인체를 비롯한 다관절체의 동작 생성에 있어서는 지형이나 다른 주변 환경에 의한 적응적인 동작의 필요성이 증가하고 있다. 본 논문은 지형의 변화나 다른 주변 환경에 의한 적응적인 동작을 구현해 어떠한 동작이 가장 자연스럽고 실시간으로 적응될 수 있는지 분석하고 캐릭터 애니메이션을 구현한다. 이를 위해 캐릭터의 다양한 움직임을 제어하기 위해 인체의 주요 관절들을 부각시켜 인체 모형 캐릭터를 키네마틱 애니메이션 방식으로 생성하기로 한다. 지형의 변화는 고저차이가 발생할 수 있는 계단 환경에서의 동작을 분석하고 다른 주변 환경에 의한 적응적인 동작은 경사면을 올라가는 동작을 분석하여 이를 토대로 캐릭터 애니메이션을 구현한다.

• Wind and Structures
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• 제18권4호
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• pp.423-441
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• 2014

The high frequency base balance (HFBB) technique is a convenient and relatively fast wind tunnel testing technique for predicting wind-induced forces for tall building design. While modern tall building design has seen a number architecturally remarkable buildings constructed recently, the characteristics of those buildings are significantly different to those that were common when the HFBB technique was originally developed. In particular, the prediction of generalized forces for buildings with 3-dimensional mode shapes has a number of inherent uncertainties and challenges that need to be overcome to accurately predict building loads and responses. As an alternative to the more conventional application of general mode shape correction factors, an analysis methodology, referred to as the linear-mode-shape (LMS) method, has been recently developed to allow better estimates of the generalized forces by establishing a new set of centers at which the translational mode shapes are linear. The LMS method was initially evaluated and compared with the methods using mode shape correction factors for a rectangular building, which was wind tunnel tested in isolation in an open terrain for five incident wind angles at $22.5^{\circ}$ increments from $0^{\circ}$ to $90^{\circ}$. The results demonstrated that the LMS method provides more accurate predictions of the wind-induced loads and building responses than the application of mode shape correction factors. The LMS method was subsequently applied to a tall building project in Hong Kong. The building considered in the current study is located in a heavily developed business district and surrounded by tall buildings and mixed terrain. The HFBB results validated the versatility of the LMS method for the structural design of an actual tall building subjected to the varied wind characteristics caused by the surroundings. In comparison, the application of mode shape correction factors in the HFBB analysis did not directly take into account the influence of the site specific characteristics on the actual wind loads, hence their estimates of the building responses have a higher variability.

• International Journal of Control, Automation, and Systems
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• 제6권4호
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• pp.551-558
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• 2008

This paper deals with the real-time stable walking for a humanoid robot, ISHURO-II, on uneven terrain. A humanoid robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the ground conditions are estimated from these data. From this information the robot selects the proper motion pattern and overcomes ground irregularities effectively. In order to generate the proper reaction under the various ground situations, a fuzzy algorithm is applied in finding the proper angle of the joint. The performance of the proposed algorithm is verified by simulation and walking experiments on a 24-DOFs humanoid robot, ISHURO-II.

• 한국컴퓨터정보학회논문지
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• 제24권4호
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• pp.51-56
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• 2019

In this paper, we propose an algorithm that can quickly generate and synthesize city maps in racing games. Racing games are characterized by moving a wide map rather than a fixed map, but designing and developing a wide map requires a lot of production time. This problem can be mitigated by creating a large map in the preprocessing step, but a fixed map makes the game tedious. It is also inefficient to process all the various maps in the preprocessing step. In order to solve this problem, we propose a technique to create a terrain pattern in the preprocessing process, to generate a map in real time, and to synthesize various maps randomly. In addition, we reduced unnecessary rendering computations by integrating view-dependent techniques into the proposed framework. This study was developed in Unity3D and can be used for various contents as well as racing game.