• Journal of the Korea Society for Simulation
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• v.6 no.1
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• pp.61-69
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• 1997

In 3D computer graphics, fractal techniques have been applied to terrain models. Even though fractal models are convenient way to get the data of terrain models, it is not easy to gain the final results by manipulating the data of terrain model. However, by using the object oriented programming techniques, we could reduce the effort of programming job to find the final result. In this paper, a set of classes made by object oriented programming technique is presented. To show the results, the data of a terrain model were made by a fractal technique, namely, the midpoint displacement methods with square lattices of points.

• Journal of Electrical Engineering and Technology
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• v.11 no.6
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• pp.1787-1792
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• 2016

Previous walking pattern generation methods could generate walking patterns that allow only straight walking on flat and uneven terrain. They were unable to generate modifiable walking patterns whereby the sagittal and lateral step lengths and walking direction can be changed at every footstep. This paper proposes a novel walking pattern generation method to realize modifiable walking of humanoid robots on unknown uneven terrain. The proposed method employs a walking pattern generator based on the 3-D linear inverted pendulum model (LIPM), which enables a humanoid robot to vary its walking patterns at every footstep. A control strategy for walking on unknown uneven terrain is proposed. Virtual spring-damper (VSD) models are used to compensate for the disturbances that occur between the robot and the terrain when the robot walks on uneven terrain with unknown height. In addition, methods for generating the foot and vertical center of mass (COM) of the 3-D LIPM trajectories are developed to realize stable walking on unknown uneven terrain. The proposed method is implemented on a small-sized humanoid robot platform, DARwIn-OP and its effectiveness is demonstrated experimentally.

• The Transactions of the Korea Information Processing Society
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• v.3 no.1
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• pp.160-166
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• 1996

In 2D and 3D computer graphics, fractal techniques have been applied ter rain models. In general, a specific 3D terrain model such as Cheju or Uleung Island could not beformulated by statistical fractalsowing to the randomeffects. However, by locating the control points on the edges and the surface of a specific terrain such as Cheju Island, a similar shape of the terrain model can be simulated. This paper presents the way of formulating a specific 3D terrain model by the statistical fractals with fixed midpoints.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.14 no.2
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• pp.151-157
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• 1996

This study, experimentally, aims at presenting the methodology to construct an efficient digital terrain by com-paring and analyzing the accuracy among the existing Digital Terrain Models, develope 3-D fractal terrain model-ling program by applying digital algorithm of fractal geometry and using turbo pascal, and lastly perform basic research on constructing GSIS-based 3-D fractal terrain modelling system by integrating a PC-based GSIS Pack-age and the 3-D fractal terrain modelling program developed by this paper. The results are as follows -First, the method to produce TIN(Triangulated Irregular Network) by the combination of point data and line data was showed as an alternative to construct efficient Digital Terrain Model. Second, developing GSIS-based 3-D fractal terrain modelling system, applying fractal geometry is the basic research in developing the new terrain modelling method. also, this study presented the possibility of 3-D terrain modelling with the use of fractal.

• Nuclear Engineering and Technology
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• v.17 no.3
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• pp.216-223
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• 1985

The Gaussian plume model is widely used to calculate the concentrations of gaseous radioactive effluents in the atmosphere. This model assumes that the terrain is flat, so that the dispersion coefficients which are the most important parameters in this model must be compensated in complex terrain such as in Korea. In this study the compensation of vertical dispersion coefficient in two dimensional x-z plane has been accomplished by comparing the Gaussian plume model with numerical model. The results show that the concentractions of radioactive effluents over complex terrain are more dilluted than those expected over flat terrain.

• Atmosphere
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• v.16 no.4
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• pp.359-370
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• 2006

Terrain height variance spectra for the Korean mountain region are calculated in order to determine an adequate grid size required to resolve terrain forcing on mesoscale model simulation. One-dimensional spectral analysis is applied to specifically the central-eastern part of the Korean mountain region, where topographical-scale forcing has an important effect on mesoscale atmospheric flow. It is found that the terrain height variance spectra in this mountain region has a wavelength dependence with the power law exponents of 1.5 at the wavelength near 30 km, but this dependence is steeply changed to 2.5 at the wavelength less than 30 km. For the adequate horizontal grid size selection on mesoscale simulation two-dimensional terrain height spectral analysis is also performed. There is no directionality within 50% of spectral energy region, so one-dimensional spectral analysis can be reasonably applied to the Korea Peninsula. According to the spectral analysis of terrain height variance, the finer grid size which is higher than 6 km is required to resolve a 90% of terrain variance in this region. Numerical simulation using WRF (Weather Research and Forecasting Model) was performed to evaluate the effect of different terrain resolution in accordance with the result of spectral analysis. The simulated results were quantitatively compared to observations and there was a significant improvement in the wind prediction across the mountain region as the grid space decreased from 18 km to 2 km. The results will provide useful guidance of grid size selection on mesoscale topographical simulation over the Korean mountain region.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.5 no.1
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• pp.43-48
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• 1987

The terrain is classified by the parameters-gradient, curuature, bump frequency and the ratio of the surface area to the corresponding planar area- that indicate the quantitative measurement of the terrain roughness, and the terrain is fitted to the polynomial function. According to the terrain roughness, the flat terrain, the gently undulating terrain, the rough terrain are classified The flat terrain, the gently undulating terrain and the rough terrain are fitted to the plane function, the 3th or 5th polynomial function and the 5th polynomial function, respectively.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.17 no.11
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• pp.1060-1071
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• 2005

Passive gas dispersions over a 1/1000 scale terrain model at Eiffel type wind tunnel were reproduced by numerical simulation. Large eddy simulation was used to treat the sub-grid scale turbulences. The terrain features were represented by millions of point forces densely distributed over the solid surface using the virtual boundary method. The model simulations agreed very well with the experiments in a consistent fashion for all wind directions. The measured profiles of the wind speeds as well as the tracer gas concentrations were nicely simulated by the CFD model at most locations scattered over the model terrain. With scale factor adjusted and the thermal stratification effects incorporated, the CFD model was expected to provide reliable information on pollutant dispersions over the real complex terrains.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.4
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• pp.449-455
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• 2014

This paper presents a method for developing a TM (Traversability Map) from a DTM (Digital Terrain Model) collected by remote sensors of autonomous mobile robots. Such a map can be used to plan traversable paths and estimate navigation speed quantitatively in real time for robots capable of performing autonomous tasks over rough terrain environments. The proposed method consists of three parts: a DTM partition module which divides the DTM into equally spaced patches, a terrain information module which extracts the slope and roughness of the partitioned patches using the curve fitting and the fractal-based triangular prism method, and a traversability analysis module which assesses traversability incorporating with extracted terrain information and fuzzy inference to construct a TM. The potential of the proposed method is validated via simulation works over a set of fractal DTMs.

• International Journal of CAD/CAM
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• v.8 no.1
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• pp.37-40
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• 2009

Based on the study of Digital Elevation Simplification Model and fractal theory, this paper put forward a new method to simulate complex terrain. That use simplified DEM data to construct terrain frame based on the quad tree at first, and then use fractal to generate the details of every node of the tree. In the process of construction, the LOD theory is used to simplify the terrain and get its typical data. According to the change of view position and direction, the paper gives a new way to judge the visibility of the surface patch. Experimental results show that this algorithm is simple, efficient and supports the real time dynamic simulation of terrain model.