• Journal of the Institute of Convergence Signal Processing
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• v.6 no.4
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• pp.191-197
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• 2005

Biped walking is the main feature of a humanoid robot. In a biped walking robot, there are many actuators to be controlled and many sensors to be interfaced. In this paper, we propose a DSP-based controller for a miniature biped walking robot with 21 RC servo motors. The proposed controller has a hierarchical structure; a host PC, a DSP-based main controller, and an auxiliary controller with an FPGA chip. The host PC generates and transmits the robot walking data for given walking parameters such as stride, walking period, etc. The main controller implemented with a TMS320LF2407A controls 21 RC servo motors via the auxiliary controller. We also perform some experiments for balancing motion and walking on a slope terrain with interfacing a 2-axis acceleration sensor and a TMS320LF2407A.

• Journal of Korea Water Resources Association
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• v.35 no.4 s.129
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• pp.345-358
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• 2002

The flow apportioning algorithms with digital elevation models have been developed to reflect reasonable flow divergence properties but they showed several defects related to the connectivity of channel cells, various divergence features along to local topography and channel cells' size etc. Topographic data used by existing flow apportioning algorithms are flow accumulation area and local slope. However, the size and location of channel cells which play the dominant role in the flow pathway were not properly considered. Therefore, a new flow apportioning algorithm considering various flow divergence characteristics in the complicate terrain is proposed. The GA optimization scheme is used to represent the location and scale of the channel pixel. Improved result can be obtained by using both a new flow apportioning algorithm and optimization.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.1
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• pp.12-22
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• 2016

Lidar-based hazard avoidance landing system for lunar lander calculates hazard cost with respect to the desired local landing area in order to identify hazard and designate safe landing point where the cost is minimum basically using slope and roughness of the landing area. In this case, if the parameters are only considered, chosen landing target can be designated near hazard threatening the lander. In order to solve this problem and select optimal safe landing point, hazard cost based on relative distance to hazard should not be considered as well as cost based on terrain parameters. In this paper, the effect of hazard cost based on relative distance to hazard on safe landing performance was analyzed and it was confirmed that landing site designation with two relative distances to hazard results in the best safe landing performance by an experiment using three-dimensional depth camera.

• Proceedings of the Korea Contents Association Conference
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• 2008.05a
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• pp.436-440
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• 2008

Complete consideration on condition and surrounding environment shall be performed to select proper location for complex planning or establishment of facility with special purpose. Especially, in case of living space for human, lighting, ventilation, efficiency in land use, etc. are important elements. Diverse 3D analysis through 3D topography modeling and virtual simulation is necessary for this. Now, it can be processed with relatively inexpensive cost since high resolution satellite image essential in topography modeling is provided with domestic technology through Arirang No. 2 satellite (KOMPSAT2). In this study, several candidate sites is selected for complex planning with special purpose and analysis on proper location was performed using the 3D topography modeling and land information. For this, land analysis, land price calculation, slope analysis and aspect analysis have been carried out. As a result of arranging the evaluation index for each candidate site and attempting the quantitative evaluation, proper location could be selected efficiently and reasonably.

• Journal of the Korean Institute of Landscape Architecture
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• v.13 no.1
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• pp.43-66
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• 1985

Korea needs proper and rational public policies on conservation and use of forest land and other natural resources because of the accelerating expansion of national land developments in recent years. Unfortunately, there is no systematic planning system to support the needs. Generally, forest land use planning needs suitability analysis based on efficient land classification system. The goal of this study was to classify a forest land using multivariate satistical methods. A case study was carried out in winter of 1983 on a mountainous area higher than 100m above sea level located at Mt. Kwanak in Anyang -city, Kyung-gi-do (province). The study area was 19.80 km$^2$wide and was divided into 1, 383 Operational Taxonomic Units (OTU's) by a 120m$\times$120m grid. Fourteen descriptors were identified and quantified for each OTU from existing national land data : elevation, slope, aspect, terrain form, geologic material, surface soil permeability, topsoil type, depth of the solum, soil acidity, forest cover type, stand size class, stand age class, stand density class, and simple forest soil capability class. For this study, a FORTRAN IV program was written for input and output map data, and the computer statistics packages, SPSS and BMD, were used to perform the multivariate statistical analysis. Fourteen variables were analyzed to investigate the characteristics of their fire quench distribution and to estimate the correlation coefficients among them. Principal component analysis was executed to find the dimensions of forest land characteristics, and factor scores were used for proper samples of OTU throughout the study area. In order to develop the classes of forest land classification based on 102 surrogates, cluster and discriminant analyses of principal descriptor variable matrix were undertaken. Results obtained through a series of multivariate statistical analyses were as follows ; 1) Principal component analysis was proved to be a useful tool for data selection and identification of principal descriptor variables which represented the characteristics of forest land and facilitated the selection of samples.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.82-84
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• 2003

Watershed boundaries and flow paths within the watershed are the most important factors required in watershed analysis. Most often the derivation of watershed boundaries and stream network and flow paths is based on topographical maps but spatial variation of flow direction is not clearly understandable using this method. Water resources projects currently use 1: 50, 000-scale ground survey or aerial photography-based topographical maps to derive watershed boundary and stream network. In basins, where these maps are not available or not accessible it creates a real barrier to watershed geo-spatial analysis. Such situations require the use of global datasets, like GTOPO30. Global data sets like ETOPO5, GTOPO30 are the only data sets, which can be used to derive basin boundaries and stream network and other terrain variations like slope aspects and flow direction and flow accumulation of the watershed in the absence of topographic maps. Approximately 1-km grid-based GTOPO 30 data sets can derive better outputs for larger basins, but they fail in flat areas like the Karkheh basin in Iran and the Amudarya in Uzbekistan. A new window in geo-spatial hydrology has opened after the launching of the space-borne satellite stereo pair of the Terra ASTER sensor. ASTER data sets are available at very low cost for most areas of the world and global coverage is expected within the next four years. The DEM generated from ASTER data has a reasonably good accuracy, which can be used effectively for hydrology application, even in small basins. This paper demonstrates the use of stereo pairs in the generation of ASTER DEMs, the application of ASTER DEM for watershed boundary delineation, sub-watershed delineation and explores the possibility of understanding the drainage flow paths in irrigation command areas. All the ASTER derived products were compared with GTOPO and 1:50,000-based topographic map products and this comparison showed that ASTER stereo pairs can derive very good data sets for all the basins with good spatial variation, which are equal in quality to 1:50,000 scale maps-based products.

• Journal of Korean Society of Forest Science
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• v.101 no.1
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• pp.1-6
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• 2012

To achieve the forest fire management goals such as early detection and quick suppression, fire resources should be allocated at high probability area where forest fires occur. The objective of this study was to develop and validate models to estimate spatially distributed probabilities of occurrence of forest fire. The models were builded by exploring relationships between fire ignition location and forest, terrain and anthropogenic factors using logistic regression. Distance to forest, cemetery, fire history, forest type, elevation, slope were chosen as the significant factors to the model. The model constructed had a good fit and classification accuracy of the model was 63%. This model and map can support the allocation optimization of forest fire resources and increase effectiveness in fire prevention and planning.

• Journal of Korean Society of Forest Science
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• v.76 no.4
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• pp.348-356
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• 1987

A new simple method to estimate the earth quantity which is basic data for making the plan of mountain forest road is tried to develop as one of ways to reduce time cost of plan making. The zero-line surveying method, the concept of 2/3 road width in cut-away part and of same quantity between cut-away and fill-up earth which are the backgrounds to develop this method is introduced and explaned also it's theoritical propriety. Under the precondition which have to apply above concepts for constructing the mountain forest road the exchange table for estimating the earth quantity is made like table 3 and 4 through being calculated by a trigonometric function. Table 3 can be used to estimate the earth quantity on the cut-away road-width according to slope of terrain and different road-width, and table 4 can be applied to calculate the quantity of cut-away earth when to know the road-width of cut-away. When using these tables the performance of field surveying and office work for road plan will be highly increased.

• Proceedings of the Korea Water Resources Association Conference
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• 2019.05a
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• pp.152-152
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• 2019

This study demonstrates a novel approach of remotely sensed estimates of stream flow at fifteen hydrological station in the Han River Basin, Korea. Multi-temporal data of the European Space Agency's Sentinel-1 SAR satellite from 19 January, 2015 to 25 August, 2018 is used to develop and validate the flow estimation model for each station. The flow estimation model is based on a power law relationship established between the remotely sensed surface area of water at a selected reach of the stream and the observed discharge. The satellite images were pre-processed for thermal noise, radiometric, speckle and terrain correction. The difference in SAR image brightness caused by the differences in SAR satellite look angle and atmospheric condition are corrected using the histogram matching technique. Selective area filtering is applied to identify the extent of the selected stream reach where the change in water surface area is highly sensitive to the change in stream discharge. Following this, an iterative procedure called the Optimum Threshold Classification Algorithm (OTC) is applied to the multi-temporal selective areas to extract a series of water surface areas. It is observed that the extracted water surface area and the stream discharge are related by the power law equation. A strong correlation coefficient ranging from 0.68 to 0.98 (mean=0.89) was observed for thirteen hydrological stations, while at two stations the relationship was highly affected by the hydraulic structures such as dam. It is further identified that the availability of remotely sensed data for a range of discharge conditions and the geometric properties of the selected stream reach such as the stream width and side slope influence the accuracy of the flow estimation model.

• Korean Journal of Agricultural and Forest Meteorology
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• v.15 no.2
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• pp.76-84
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• 2013

An adequate downscaling of the official forecasts of Korea Meteorological Administration (KMA) is a prerequisite to improving the value and utility of agrometeorological information in rural areas, where complex terrain and small farms constitute major features of the landscape. In this study, we suggest a simple correction scheme for scaling down the KMA temperature forecasts from mesoscale (5 km by 5 km) to the local scale (30 m by 30 m) across a rural catchment, especially under temperature inversion conditions. The study area is a rural catchment of $50km^2$ area with complex terrain and located on a southern slope of Mountain Jiri National Park. Temperature forecasts for 0600 LST on 62 days with temperature inversion were selected from the fall 2011-spring 2012 KMA data archive. A geospatial correction scheme which can simulate both cold air drainage and the so-called 'thermal belt' was used to derive the site-specific temperature deviation across the study area at a 30 m by 30 m resolution from the original 5 km by 5 km forecast grids. The observed temperature data at 12 validation sites within the study area showed a substantial reduction in forecast error: from ${\pm}2^{\circ}C$ to ${\pm}1^{\circ}C$ in the mean error range and from $1.9^{\circ}C$ to $1.6^{\circ}C$ in the root mean square error. Improvement was most remarkable at low lying locations showing frequent cold pooling events. Temperature prediction error was less than $2^{\circ}C$ for more than 80% of the observed inversion cases and less than $1^{\circ}C$ for half of the cases. Temperature forecasts corrected by this scheme may accelerate implementation of the freeze and frost early warning service for major fruits growing regions in Korea.