• 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 the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.36 no.3
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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.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2007.04a
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• pp.187-190
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• 2007

This study is for analyzing best band in image matching using correlation coefficient of left and right images of stereo image pair, lot red, green, blue band images separated from color aerial photo and gray image converted from the same color aerial photo image. The image matching is applied to construct Digital Elevation Model(DEM) or terrain data. The correlation coefficients and variation by change of pixel patch size are computed from pixel patches of which sizes are $11{\times}11{\sim}101{\times}101$. Consequently, the correlation coefficient in red band image is highest. The lowest is in blue band. Therefore, to construct terrain data using image matching, the red band image is preferable. As the size of pixel patch is growing, the correlation coefficient is increasing. But increasing rate declines from $51{\times}51$ image patch size and above. It is proved that the smaller pixel patch size than $51{\times}51$ is applied to construct terrain data using image matching.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.17 no.1
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• pp.46-51
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• 2009

This paper presents results from field studies carried out to monitor off-target droplet movement of endosulfan insecticide applied to the Korea chestnut tree area. As a results, mean airborne drift values were recorded 25m as average from downwind of a single flight line(sample line) in mountain terrain and mean effective swath width was recorded 19.5m as average in a plain. In terms of characteristics of geography of Korea aerial application is mainly carried out in mountain terrain. The equipment, weather conditions, and appropriate aerial spray technic are required for effective aerial application. In particular, the pilot can get effective results when he only sprays with consideration of environment factors since there is much turbulence in mountain terrain. Eventually, the most effective factor of droplets drift is to estimate the local weather conditions exactly.

• Journal of architectural history
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• v.25 no.1
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• pp.7-21
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• 2016

The purpose of this paper is to study on the characteristic of site planning of Hadrian's villa. The whole site planning of Hadrian's villa can be divided by different characteristic four groups(I-IV). It is analysed to the whole site plan of such huge complex and the site planning of partial each group which is organically connected each other. The results of this study are as follows: 1. Hadrian's villa was arranged in adapt to natural condition according to a gentle inclination by topography and terrain of the whole site which many different buildings are oriented towards natural landscape of the site and the site surroundings. 2. The site planning of Hadrian's villa is composed of dividing into four groups as plan segmentalized through various land use plan, considering for territory of functional aspect and direction of axis formed by situation and direction of topography and terrain. 3. The concept of site planning to buildings of Hadrian's villa is composed through each other connection; the first, meeting, crossing and merging with each other from arrangement by several axises, the second, change of direction with as the center a part of corner of buildings and the third, facing or inserting system to side and side, side and a part of corner of building.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37C no.9
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• pp.791-801
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• 2012

Currently, SEAMCAT has been widely used as a tool to evaluate the effects of interference among a variety of wireless communication systems. This supports various channel propagation models, all of which are based on some statistical models for the channel propagation and do not exploit any specific terrain characteristics. Thus it is not appropriate for assessing the effects of interference between wireless systems, given some specific terrain features. In order to overcome this limit in its use, it is necessary to extend the capability of SEAMCAT to support a channel propagation model which takes into account terrain informations. The ITU-R P.526 is a familiar channel propagation model which calculates the path loss considering the terrain features. In this paper, we present an enhanced version of SEAMCAT which supports the ITU-R P.526 and provide a few examples of interference evaluation using it.

• Proceedings of the Korea Water Resources Association Conference
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• 2006.05a
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• pp.678-682
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• 2006

In order to analyze movement of soil moisture, Time Domain Reflectometry(TDR) with multiplex system has been installed at the Bumreunsa hillslope of Sulmachun Watershed to configure spatial-temporal variation pattern considering seasonal characteristic. An intensive surveying was performed to build a refined digital elevation model(DEM) and flow determination algorithms with inverse surveying have been applied to establish an efficient soil moisture monitoring system. Soil moisture data were collected through an intensive and long term monitoring 380 hrs in November of 2003 and 1037 hrs in May and June of 2004. Soil moisture data shows corresponding variation characteristics of soil moisture on the up slope, buffer, main channel zones of the hillslope which were classified from terrain analysis. Inferences and limitations of measured soil moisture data were discussed in conjunction with flow characteristic through terrain analysis.

• Journal of Electrical Engineering and Technology
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• v.9 no.6
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• pp.1891-1899
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• 2014

A reliability model of wind farm located in mountainous land with complex terrain, which considers the cable and wind turbine (WT) failures, is proposed in this paper. Simple wake effect has been developed to be applied to the wind farm in mountainous land. The component failures in the wind farm like the cable and WT failures which contribute to the wind farm power output (WFPO) and reliability is investigated. Combing the wind speed distribution and the characteristic of wind turbine power output (WTPO), Monte Carlo simulation (MCS) is used to obtain the WFPO. Based on clustering algorithm the multi-state model of a wind farm is proposed. The accuracy of the model is analyzed and then applied to IEEE-RTS 79 for adequacy assessment.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2010.09a
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• pp.126-128
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• 2010

지형 참조 항법(TRN, Terrain reference navigation)은 항체에 탑재된 지형 데이터베이스와 센서로부터 측정된 고도값을 대조하여 항체의 위치를 알아내는 것으로, GPS/INS 결합항법 시스템의 대체 항법으로 많이 알려져 있다. 지형의 형태에 따라서 시스템의 정확도와 안정성이 달라지기 때문에 특정적인 지형 정보를 이용하여 지형 데이터베이스와 대조하는 과정이 매우 중요하다. 따라서 본 논문에서는 센서 측정값과 지형 데이터베이스 상의 값에서 지형의 특성적 변화가 발생하는 지점인 Model Key Point를 2D Douglas-Peucker 알고리즘을 이용하여 추출하고 이를 항법 알고리즘에 적용하여 시뮬레이션 하였다. 그 결과 오차가 발산하지 않고 수십m 급의 항법 정밀도를 얻을 수 있었다.

• Journal of the Korean association of regional geographers
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• v.11 no.6
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• pp.530-542
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• 2005

In this study, GIS method has been used to get fractal characteristics. Using the projected area and surface area, 2 dimensional fractal characteristic of terrain was found out. Correlation of fractal dimension and mean slope were also checked over. Results are as below. 1) To get a fractal dimension, the method which is using the surface area is also directly proportional to complexity of the terrain as other fractal dimension. 2) Fractal dimensions using the surface area, that is proposed in this thesis are carried out as below : Uiseong : $2.02{\sim}2.15$ Yeongcheon : $2.10{\sim}2.24$. These values are in a range of fractal $2.10{\sim}2.20$ dimensions which has known. 3) Correlation of mean slope and fractal dimension is diminished about 30% in a region which is more than $25^{\circ}$ of mean slope. So, in this region using the fractal dimension method is better than using the mean slope. From this study, on formula using the projected area and surface area is still good to get a fractal dimension that has been found. But to confirm this method the region of research should be wider and be set up the correlation of mean slope, surface area and fractal dimension. It can be applicable to restoration of terrain and traffic flow analysis in the future research.