• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.6
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• pp.711-717
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• 2014

Global path planning for autonomous driving of unmanned ground vehicle is essential. When setting global path planning, its accuracy and effectiveness is increased if useful information such as terrain type of driving route has been reflected on global path planning. As a method to reflect the terrain type, there is a method to perform global path planning by applying the weight to each terrain type. At this time, how to assign appropriate weights corresponding to the terrain type is more important than anything. In this paper, we proposed a method to determine the weight for terrain type that may affect the results of global path planning. Moreover, we presented effective operation method and design results(GUI) to check the possibility of the use of the proposed method.

• Proceedings of the Korea Information Processing Society Conference
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• 2017.04a
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• pp.30-31
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• 2017

본 연구는 게임을 비롯한 여러 가지 콘텐츠에서 활용하기 위해서 단일 이미지를 이용한 복층 구조의 지형을 제작하는 방법에 대해서 제안한다. 기존의 하이트맵(Heightmap)을 이용하여 복층구조를 제작했을 때의 문제점을 제시하며 어떻게 단일이미지 하이트맵(Heightmap)을 이용하여 복층 구조의 지형을 제작할수 있는지에 대한 방향을 제시한다. 본 논문에서는 단일 이미지의 RGBA값을 이용한 복층 구조 지형 제작 방식에 대한 실험을 통해 제안한 알고리즘을 검증한다.

• Journal of Korean Society of Transportation
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• v.23 no.6 s.84
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• pp.7-18
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• 2005

Currently, design speed selection is chosen by highway function, terrain type and area type. But some standards in classifing highway function let designer decide design speed in an arbitrary manner and too rough a highway function classification system leads to a road function which can not reflect road design, and some ambiguity of terrain type leads to a road which can not reflect land use pattern. Highway design based on traffic volume level without considering area type can result high construction cost. This research paper provides new highway design standards which are based on the refinement of highway design speed selection procedure. The new design speed is summarized to be determined by a more detailed highway function, terrain type, and area type that were made considering South Korean characteristics. The new highway function is established by adopting highway function reclassification and design volumes and rural town center reclassification and new design standards for terrain type selection are developed in this research by analyzing South Korean GIS Data Base obtained over the national government offices.

• Journal of the military operations research society of Korea
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• v.26 no.1
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• pp.1-14
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• 2000

This research studies an attrition rate considering terrain feature in a battlefield. Lanchester-type combat models for heterogeneous forces and the Weapon Effectiveness Index are used in this study. The various environments of the battlefield can be explained by the terrain feature. Attrition rates of heterogeneous model are estimated by applying the battle of Baek-Sek mountain during the Korean War. Estimated attrition rates are checked by the paired samples T-Test. Specific cases are shown in this paper as an example. If we study out the relative influence of the terrain feature upon the performance of individual weapons, these will be a possible alternative to analyze the military operations.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.7
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• pp.723-733
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• 1988

In this paper, A model of 4-legged walking robot is presented by investigating the gait of animals, which can walk with maintaining static stability on irregular terrain. Kinematices of the model robot was analyzed by geometric approach, and a gait control algorithm is proposed for the effective walking on irregular terrain. Terrains are classified into 4 types in order to study the terrain adaptability of the proposed algorithm and it is simulated for each type of terrain.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.131-139
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• 2013

In recent years alternative navigation system such as a DBRN (Data-Base Referenced Navigation) system using geophysical information is getting attention in the military navigation systems in advanced countries. Specifically TRN (Terrain Referenced Navigation) algorithm research is important because TRN system is a practical DBRN application in South Korea at present time. This paper presents an integrated navigation algorithm that combines a linear profile-based TRN and INS (Inertial Navigation System). We propose a correlation analysis method between TRN performance and terrain roughness index. Then we propose a conditional position update scheme that utilizes the position output of the conventional linear profile type TRN depending on the terrain roughness index. Performance of the proposed algorithm is verified through Monte Carlo computer simulations using the actual terrain database. The results show that the TRN/INS integrated algorithm, even when the initial INS error is present, overcomes the shortcomings of linear profile-based TRN and improves navigation performance.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.9
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• pp.883-895
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• 2007

In this work, we present the development of a patrol robot which is intended to navigate outdoor rough terrain. Proposed mechanism consists of six legs for overcoming an obstacle, and six wheels for traveling. Also, in order to absorb vibration in rough terrain effectively, the slide-spring system and tubed type tire are adopted to each leg and each wheel. The control system of robot consists of several imbedded boards for management of lots of diverse devices such as sensors designed for rough terrain, motor controllers, camera, micro controller and so on. And the base system of the robot is designed to operate in real time and to surveille in the vicinity of the robot, and the robot system is controlled by wireless LAN connected to GUI-based remote control system, while CAN communication connects the control board and the device controllers for sensors and motor controllers. For operating this robot system efficiently, we propose the control algorithms for autonomous navigation using GPS, stabilization maintenance by posture control, obstacle-avoidance by impedance control, and obstacle-overcoming with interference-avoidance between wheels. The performance of the robot and the proposed algorithms are tested and proved by a set of experiments in outdoor rough terrain.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.16 no.1
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• pp.18-28
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• 2008

The purpose of this study is leading to prevent the major causes of commercial-aviation fatalities about controlled-flight-into-terrain(CFIT) in approach-and-landing accidents. The paper of major analysis for controlled flight into terrain(CFIT) was Guam accident, Mokpo accident and Gimhae accident in commercial transport-aircraft accidents from 1993 through 2002. CFIT occurs when an airworthy aircraft under the control of the flight crew is flown unintentionally into terrain, obstacles or water, usually with no prior awareness by the crew. This type of accident can occur during most phases of flight, but CFIT is more common during the approach-and-landing phase. Ninety-five percent of the Guam accident, Mokpo accident, and Gimhae accident where weather was known involved IMC, fog, and rain. The paper believed that prevention for CFIT accident was education and training for flying crew and upgrade for equipment such as EGPWS, and need more research for professional organizations of airlines, and accomplishing precision approaches should be a high priority.

• 한국지형공간정보학회:학술대회논문집
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• 2002.11a
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• pp.73-80
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• 2002

RFM is believed to be universally applicable to any type of the sensor. Most of researches carried out lately are concentrated on terrain-independent method, but the researches about approvement of accuracy by way of terrain-dependent method are required to increase a practical use of satellite imagery in nonprofessional groups. This research focused on a means to improve RFM solution, a matching technique, and a generation of DEM through a correlation analysis, with terrain-dependent solution. The result shows that accuracy problem which is caused by over-parameterization on RFCs was removed through correlation analysis, and it was possible to generate a accurate DEM with terrain-dependent solution. And also, the application of RFM with different satellite images show sensor independent characteristics of RFM

• 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.