• Proceedings of the KSME Conference
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• 2005.11a
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• pp.190.2-190.2
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• 2005

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1048-1053
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• 2005

This paper presents design and integration of the ROBHAZ-DT3, which is a newly developed mobile robot system with chained double-track mechanisms. A passive adaptation mechanism equipped between the front and rear body enables the ROBHAZ-DT3 to have good adaptability to uneven terrains including stairs. The passive adaptation mechanism reduces energy consumption when moving on uneven terrain as well as its simplicity in design and remote control, since no actuator is necessary for adaptation. Based on this novel mobile platform, a rescue version of the ROBHAZ-DT3 with appropriate sensors and a semi-autonomous mapping and localization algorithm is developed to participate in the RoboCup2004 US-Open: Urban Search and Rescue Competition. From the various experiments in the realistic rescue arena, we can verify that the ROBHAZ-DT3 is reliable in traveling rugged terrain and the proposed mapping and localization algorithm are effective in the unstructured environment with uneven ground. The another application is an military robot for an EOD(Explosive Ordnance Disposal) and reconnaissance mission. The military version of the ROBHAZ-DT3 with a water disrupter, a thermal scope and a long distance wireless communication device is developed and sent to the area of military tactics in Iraq. Consequently, the feasibility of the military version of ROBHAZ-DT3 is verified.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.9
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• pp.1356-1362
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• 2015

Modular snake-like robots are robust for failure and have flexible locomotions for obstacle environment than of walking robot. This requires an adaptation capability which is obtained from a learning approach, but has not been analysed as well. In order to investigate the property of adaptation of locomotion for different terrains, NEAT controllers are trained for a flat terrain and tested for obstacle terrains. The input and output characteristics of the adaptation for the neural network controller are analyzed for different terrains in frequency domain.

• Korean Journal of Remote Sensing
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• v.22 no.5
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• pp.351-356
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• 2006

Based on current practical needs for geo-spatial information on mobile platform, the main theme of this study is a design and implementation of dynamic 3D terrain rendering system using spaceborne imagery, as a kind of texture image for photo-realistic 3D scene generation on mobile environment. Image processing and 3D graphic techniques and algorithms, such as TIN-based vertex generation with regular spacing elevation data for generating 3D terrain surface, image tiling and image-vertex texturing in order to resolve limited resource of mobile devices, were applied and implemented by using graphic pipeline of OpenGL|ES (Embedded System) API. Through this implementation and its tested results with actual data sets of DEM and satellite imagery, we demonstrated the realizable possibility and adaptation of complex typed and large sized 3D geo-spatial information in mobile devices. This prototype system can be used to mobile 3D applications with DEM and satellite imagery in near future.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1173-1178
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• 2007

The robot for narrow space is used in searching, investigating or cleaning. Up to now variety of researches on in-pipe robots have been introduced. However it is still hard to overcome vertical or curved passage. In most cases of narrow space robots are able to travel just aimed diameter which was selected when those are developed. Also, a large percentage of robots are not able to detect the configuration of pipe or circumstance. In this paper we present a robot called PAROYSⅡ for narrow space with vertical and curved passage. This proposed robot is not affected at all to variance of pipes, vertical or horizontal passages, curved pipes, projecting parts and parallel planes. In addition to that, it will perceive the internal configuration of pipe and terrain, which will be not only available to control navigating scheme by itself, but also mappable about the passage which the robot traveled. Core points in the design and structure are introduced and preliminary verification is given.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.30.4-30
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• 2001

In this paper, design and integration of a newly developed double-tracked mobile robot called ROBHAZ-DT are introduced. It is designed to carry out military and civil missions in various hazardous environments such as the areas of fire, war, disaster and mine field etc. ROBHAZ-DT is configured with three mechanical bodies, namely front, rear and main body. By using its rotational passive adaptation mechanism equipped between the front and rear bodies, ROBHAZ-DT shows a good mobile capability on uneven terrain including stairs. The passive adaptation mechanism reduces energy consumption and offers simplicity in the design of the ROBHAZ-DT ...

• Journal of Ecology and Environment
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• v.41 no.8
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• pp.223-234
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• 2017

Background: Spatial structure of plants in a population reflects complex interactions of ecological and evolutionary processes. For dioecious plants, differences in reproduction cost between sexes and sizes might affect their spatial distribution. Abiotic heterogeneity may also affect adaptation activities, and result in a unique spatial structure of the population. Thus, we examined sex- and size-related spatial distributions of old-growth forest of dioecious tree Torreya nucifera in extremely heterogeneous Gotjawal terrain of Jeju Island, South Korea. Methods: We generated a database of location, sex, and size (DBH) of T. nucifera trees for each quadrat ($160{\times}300m$) in each of the three sites previously defined (quadrat A, B, C in Site I, II, and III, respectively). T. nucifera trees were categorized into eight groups based on sex (males vs. females), size (small vs. large trees), and sex by size (small vs. large males, and small vs. large females) for spatial point pattern analysis. Univariate and bivariate spatial analyses were conducted. Results: Univariate spatial analysis showed that spatial patterns of T. nucifera trees differed among the three quadrats. In quadrat A, individual trees showed random distribution at all scales regardless of sex and size groups. When assessing univariate patterns for sex by size groups in quadrat B, small males and small females were distributed randomly at all scales whereas large males and large females were clumped. All groups in quadrat C were clustered at short distances but the pattern changed as distance was increased. Bivariate spatial analyses testing the association between sex and size groups showed that spatial segregation occurred only in quadrat C. Males and females were spatially independent at all scales. However, after controlling for size, males and females were spatially separated. Conclusions: Diverse spatial patterns of T. nucifera trees across the three sites within the Torreya Forest imply that adaptive explanations are not sufficient for understanding spatial structure in this old-growth forest. If so, the role of Gotjawal terrain in terms of creating extremely diverse microhabitats and subsequently stochastic processes of survival and mortality of trees, both of which ultimately determine spatial patterns, needs to be further examined.

• Journal of Korean Society of Water and Wastewater
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• v.23 no.2
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• pp.223-230
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• 2009

Most urban water management systems are becoming vulnerable to flooding and drought due to the climate change (CC), urbanization and energy shortage. Despite of poor water management circumstances caused by extremely uneven annual rainfall and hilly terrain, traditionally we have made a sound and sustainable life based on our own philosophy and technologies which copes with our rigid environment. In this study a new paradigm of rainwater management is suggested and multipurpose and creative rainwater harvesting and management (RWHM) systems are introduced providing several case studies such as rainfall storage drainage (RSD) system, rainwater infiltration facilities and star city RWHM system. This new RWHM paradigm leads Seoul Metropolitan Government (SMG) in the Republic of Korea to change regulations and politics for the integrated RWHM. Finally, RWHM is expected to improve the safety, efficiency, energy consumption of urban water infrastructure, to reduce urban heat island phenomenon and, furthermore, to contribute in finding solutions for worldwide water issues and to adapt CC.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.308-313
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• 2005

For a real-time quadruped robot running control, there are many important objectives to consider. In this paper, the running control architecture based on global states, which describe the cyclic target motion, and central pattern is proposed. The main goal of the controller is how the robot can have robustness to an unpredictable environment with reducing calculation burden to generate control inputs. Additional goal is construction of a single framework controller to avoid discontinuities during transition between multi-framework controllers and of a training-free controller. The global state dependent neuron network induces adaptation ability to an environment and makes the training-free controller. The central pattern based approach makes the controller have a single framework, and calculation burden is resolved by extracting dynamic equations from the control loop. In our approach, the model of the quadruped robot is designed using anatomical information of a cat, and simulated in 3D dynamic environment. The simulation results show the proposed single framework controller is robustly performed in an unpredictable sloped terrain without training.