• Journal of the Korean Society for Precision Engineering
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• v.16 no.4 s.97
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• pp.138-147
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• 1999

For autonomous navigation, a legged robot should be able to walk over irregular terrain and adapt itself to variation of supporting surface. Walking through slope is one of the typical tasks for such case. Robot needs not only to change foot trajectory but also to adjust its configuration to the slope angle for maintaining stability against gravity. This paper suggests such adaptation algorithm for stable walking which uses feedback of reaction forces at feet. Adjusting algorithm of foot trajectory was studied with the estimated angel of slope without visual feedback. A concept of virtual slope angle was introduced to adjust body configuration against slope change of the supporting terrain. Regeneration of foot trajectory also used this concept for maintaining its stable walking against unexpected landing point.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2002.10a
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• pp.165-168
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• 2002

• Journal of the Korean Association of Geographic Information Studies
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• v.16 no.3
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• pp.115-125
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• 2013

The systematic management of river is difficult due to various environmental factors such as season and terrain deformation. Especially, river terrain are rapidly changing by natural and anthropogenic factors such as torrential rain during the summer and river development projects. Thus in this conditions, building the advanced river management system is an essential condition to support the ongoing management of survey data and to acquire data regularly through river terrain survey in order to maintain an active river. The need to build an efficient system have been increased through the enhancement and advancement of River Management Geographic Information Systems(RIMGIS). In this study, database design system and Riverbed Change Data Management Program was developed for systematic management of new river terrain survey data and the efficient use of river data dynamic changes. The key features are construction of river survey data, cross and longitudinal section monitoring and analysis of riverbed change data. Maintenance tasks which can be utilized in river-based architecture was constructed. The expected results are to be able to manage river systematically, and utilization of river topographic survey data efficiently for river maintenance work.

• Journal of Korean Society for Geospatial Information Science
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• v.13 no.2 s.32
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• pp.13-20
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• 2005

Upon the request of balanced development of the country and making inroads into the continent of China the development of the west coast was begun in the late 1980s, which has been being continued till recently under the blueprint of making the western part of the capital region to be the hub of northeastern Asia. As more lively development is expected to continue in the area, there are many occurrences of change in topology and terrain in the west coast. This study was done to detect the topographic and terrain change of the vicinity of the west coast. To make the basic map of the change in topology and terrain, the mosaic images were made using landsat images. The accuracy of the images was examined by comparing them with GCP through 1:25,000's digital map. After that, among the resultant images of the 1970s and 2000s, those of Sihwa, Hwaong and Ansan, the lands reclaimed by drainage were compared to observe the change in the area. From the results, it was concluded that, in case of the land the topological change was not so big due to the development in the reclaimed land or the bare land, and the area of agriculture and downtown increased, the drainage and bare land area decreased by comparing the change of land use.

• Journal of The Korean Society of Agricultural Engineers
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• v.65 no.2
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• pp.1-11
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• 2023

This study analyzed the impact of greenhouse cultivation area and groundwater level changes due to the water curtain cultivation in the greenhouse complexes. The groundwater observation data in the Miryang study area were used and classified into greenhouse and field cultivation areas to compare the groundwater impact of water curtain cultivation in the greenhouse complex. We identified the characteristics of the groundwater time series data by the terrain of the study area and selected the optimal model through time series analysis. We analyzed the time series data for each terrain's two representative groundwater observation wells. The Seasonal ARIMA model was chosen as the optimal model for riverside well, and for plain and mountain well, the ARIMA model and Seasonal ARIMA model were selected as the optimal model. A suitable prediction model is not limited to one model due to a change in a groundwater level fluctuation pattern caused by a surrounding environment change but may change over time. Therefore, it is necessary to periodically check and revise the optimal model rather than continuously applying one selected ARIMA model. Groundwater forecasting results through time series analysis can be used for sustainable groundwater resource management.

• Journal of the Korean Association of Geographic Information Studies
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• v.6 no.2
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• pp.92-100
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• 2003

Analysis and results of the relationship between the NDVI and terrain element such as elevation, slope, aspect in Chunahn city area are as follows. It does not show the linear relationship between NDVI and analyzed terrain element such as elevation, slope, aspect, etc. and there is a trend such that the deviation of NDVI is decreased as the elevation and slope is increased. It appears that there is trends such that the distribution range of NDVI is discontinuously changed as the elevation and slope is increased. The distribution range of NDVI is discontinuously decreased based on about 50m and 100m borderline in elevation case, and slope $10{\sim}20^{\circ}$ borderline in slope case, respectively. Any special trend is discovered in the relationship between aspect and NDVI.

• Korean Journal of Remote Sensing
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• v.35 no.5_1
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• pp.715-726
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• 2019

With the increasing prevalence of high-resolution satellite images, the need for technology to generate accurate 3D information from the satellite images is emphasized. In order to create a digital terrain model (DTM) that is widely used in applications such as change detection and object extraction, it is necessary to extract trees, buildings, etc. that exist in the digital surface model (DSM) and estimate the height of the ground. This paper presents a method for automatically generating DTM from DSM extracted from KOMPSAT-3A stereo images. The technique was developed to detect the non-ground area and estimate the height value of the ground by using the previously constructed low-resolution topographic data. The average vertical accuracy of DTMs generated in the four experimental sites with various topographical characteristics, such as mountainous terrain, densely built area, flat topography, and complex terrain was about 5.8 meters. The proposed technique would be useful to produce high-quality DTMs that represent precise features of the bare-earth's surface.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.5
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• pp.467-475
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• 2012

In this study, the problems were analyzed that derived a different position evaluation results depending on the unit grid size that are applied to the terrain slope analysis conducted to assess the its position and environmental impacts in the prior environment reviewing process of golf course construction projects. For this purpose, the unit grid size were analyzed that can precisely reflect a actual terrain by analyzing the change of a slope percentage according to the change of unit grid size about 12 golf courses is currently in progress of construction work through the environmental consultation or ongoing consultation. And the consultation availability of environmental assessment was reverified by applying the unit grid size derived through this study about a study golf course. In the result of study, the bigger grid size for slope analysis is set, the greatly gradient is changed and the slope ratio of the higher elevation was lowly evaluated in comparison with actual terrain. The analytical result that most closely match the actual terrain was extracted in the case applied $5m{\times}5m$ of the unit grid sizes setting in this study. So, we proposed this study results to the ministry of environment and could be amended the unit grid size of $5m{\times}5m$ as standard for the analysis of slope. Also, if new grid size for site evaluation is applied to the study sites, 4 sites exceed the standard suggested the existing regulations and they are not proper as golf course site in flank of environment.

• The Journal of the Korea institute of electronic communication sciences
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• v.6 no.4
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• pp.559-565
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• 2011

In this paper, we propose the geographic information systems that is able to build geographic information effectively by creating 3D topography after extraction surrounding terrain information through the video shooting in the CCTV camera. We also propose tracing method for object recognized through the video shooting of camera and recognition method which is whether or not the terrain change according to success or not of tracing the object. We apply this method in the industry field we can build a geographic information close to the actual terrain, but also can be used for security, surveillance and tracking system.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1152-1159
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• 2013

This paper proposes an effective walking system for a hexapod robot on uneven terrain. To overcome the deficiencies of two-pair walking systems, which are effective on even terrain, the use of only three legs changes the steps required for movement. The proposed system receives feedback data from switches attached to the bottom of the legs and gyro sensor to carry out stable walking using the Bezier curve algorithm. From the coordinates of the Bezier curve, which guarantees the circular motion of legs, the motor's angle value can be obtained using inverse kinematics. The angle values are sent to each motor though RS-485 communication. If a switch is pushed by the surface during navigation in the Bezier curve pattern, the robot is designed to change its circular course. Through the changed course, each leg can be located on an optimal surface and the wobble phenomenon is reduced by using a normal vector algorithm. The simulation and experiment results show the efficiency of the proposed algorithm.