• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.6
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• pp.1-7
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• 2005

Incompressible Reynolds-averaged Navier-Stokes equations with $\varepsilon{-SST}$ turbulence model are adopted for the investigation of the flow fields between the square cylinder and the ground. When the grounds moves, the diminish of the shear layer intensity on the ground promotes the interaction between the lower and the upper separated shear layer of the cylinder. Hence vortex shedding occurs at the lower gap height than stationary ground. In the moving ground, the secondary shedding frequency disappears due to the absence of the separation bubble on the ground which exists in the stationary ground. In addition, the shedding frequency and aerodynamic coefficients in the moving ground become higher than those of the stationary ground.

• 한국공간정보시스템학회:학술대회논문집
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• 2005.05a
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• pp.287-291
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• 2005

LiDAR 자료로부터 3차원 공간 정보체계를 구축하기 위하여 LiDAR 포인트를 지면과 비지면 포인트로 분리하고 비지면 포인트를 각각의 개체(건물, 수목, 기타 인공 구조물 등)별로 분리하는 과정이 필수적이다. 그러나 LiDAR 자료는 불규칙한 분포의, 방대한 양의 포인트로 구성되어 있어 이를 처리하기 위한 특별한 형태의 자료 구조 체계의 구축이 필요하다. 본 연구에서는 유사한 고도를 갖는 인접한 포인트들로 클래스를 형성하여, 새로운 포인트에 대하여 기존 클래스 포인트들과의 인접성 및 고도 유사성을 검토함으로써 분류를 수행하였다. 이를 위하여 원 LiDAR 자료 구조를 이용하였으며 결과적으로 지면과 비지면의 분리 및 각 비지면 개체간의 분리를 동시에 수행할 수 있었다.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.25 no.1
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• pp.55-62
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• 2007

Recent advances in airborne LiDAR technology allow rapid and inexpensive measurements of topography over large areas. The generation of DTM/DEM is essential to numerous applications such as the fields of civil engineering, environment, city planning and flood modeling. The demand for LiDAR data is increasing due to the reduced cost for DTM generation and the increased reliability, precision and completeness. In order to generate DTM, measurements from non-ground features such as building and vegetation have to be classified and removed. In this paper, a segmented morphology filter was developed to detect non-ground LiDAR measurements. First, segments LiDAR point clouds based on the elevation. Secondly classifies those protruding segments into non-ground points. Those non-ground points such as building and vegetation are removed, while ground points are preserved for DTM generation. For experiments, data sets used in Comparison of Filters (ISPRS, 2003) depicting urban and rural areas were selected. The experimental results show that the proposed filter can remove most of the non-ground points effectively with less commission and omission errors.

• Proceedings of the ESK Conference
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• 1998.04a
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• pp.117-123
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• 1998

본 연구는 하중운반 보행시 지면반력에 미치는 하중운반체계의 효과에 관한 생체역 학적 연구로써 지면반력기, EMG system등을 이용하여 동역학적인 분석을 하였다. 피실험자는 2명이며, 무부하시와 하중운반시 지면반력의 동역학적인 변화, 근육의 활동전위를 분석하였다. 분석한 결과는 아래와 같다. 1. 20kgw, 30kgw의 하중운반 체계에서 비효율적인 보행동작으로 나타났으며, 30kgw의 운반체계는 지면에 큰 충격을 주는 것으로 나타났다. 2. 비복근, 전경골근, 내측광근, 외측광근의 활동전위는 부하의 증가에 따라 크게 나타았으며, 전경골근의 경우는 20kgw의 등 뒤쪽 부하시 활동전위가 감소되었다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.6
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• pp.8-14
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• 2005

Understanding of the flow past a bluff body close to a moving ground is very important in automobile and aeronautical fields because of aerodynamic characteristic and instability induced by unsteady vortex shedding. The passive control method that mounted the vertical and horizontal plates at the lower surface of the cylinder is studied to suppress the unsteady oscillation motion. When the grounds moves, the diminish of the shear layer on the ground promotes the interaction between the lower and the upper separated shear layers of the cylinder, hence vortex shedding occurs at the lower gap height than the stationary ground.

• Journal of the Society of Naval Architects of Korea
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• v.39 no.3
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• pp.28-40
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• 2002

Turbulent flows around two-dimensional wing sections in ground effect are analysed by incompressible RANS equations and a finite difference method. The Baldwin-Lomax algebraic turbulence model is used to simulate high Reynolds number flows. The main purpose of this study is to clarify the two-dimensional ground effect and its flow characteristics due to different ground boundary conditions, i.e., moving and fixed bottom boundary. As a first step, to validate the present numerical code, the computational result of Clark-Y(t/C 11.7%) is compared with published numerical results and experimental data. Then, NACA4412 section in ground effect is calculated for various ground clearances with two bottom boundary conditions. According to the computational results, the difference in the lift and moment simulated with the two bottom boundary conditions is negligible, but the drag force simulated by the fixed bottom is to some extent smaller than that by the moving bottom. Therefore, it can be concluded that the drag force measured in a wind tunnel with the fixed bottom could be smaller than that with the moving bottom.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.3
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• pp.57-63
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• 2002

지면효과를 받는 와류면의 2차원 비정상 전개를 이산와류법을 사용하여 연구하였다. 와류면이 말리는 정확한 형상을 얻기 위하여, 두 개의 평활기법을 비교하였다. 타원형 하중분포를 가지는 지면가까이에 있는 날개의 후류말림에 대하여 본 연구 방법을 적용하였다. 날개가 지면가까이 비행할 때, 지면효과로 인하여 와류가 날개길이방향으로 이동하였으며 날개익단부근에서 와류면의 늘림운동이 발생하였다.

• Aerospace Engineering and Technology
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• v.10 no.2
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• pp.74-81
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• 2011

A numerical simulation is performed to study the ground effect of a rotating rotor blade on a whirl tower using unstructured overset mesh. The aerodynamic change of the rotor blade by the structure around the whirl tower is also considered. The calculated results showed good agreement with the experiment for the hover performance. The ground effect of the rotor blade is investigated by comparing with the calculated results for the out of ground condition and the results of an analytic model.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.5
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• pp.369-374
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• 2007

Unsteady aerodynamic characteristics of the wing with flaperon flying over nonplanar ground surface are investigated using a boundary-element method. The time-stepping method is used to simulate the wake shape according to the motion of the wing and flaperon over the surface or in the channel. The aerodynamic coefficient according to the periodic motion of the flaperon is shown as the shape of loop. The rolling moment coefficient of the wing flying in the channel is same as that of the wing flying over the ground surface. The variation range of pitching moment is wider when the wing flies in the channel than over the ground surface. The present method can provide various aerodynamic derivatives to secure the stability of superhigh speed vehicle flying over nonplanar ground surface using the present method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.659-665
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• 2010

This paper proposes a control algorithm for quadruped robots moving on irregularly sloped uneven surfaces. Since the body balance of a quadruped robot is controlled by the forces acting on its feet during touchdown, the ground reaction force (GRF) is controlled for stable running. The desired GRF for each foot is generated on the basis of the desired galloping pattern; this GRF is then compared with the actual contact force. The difference between the two forces is used to modify the foot trajectory. The desired force is realized by considering a combination of the rate change of the angular and linear momenta at flight. Then, the amplitude of the GRF to be applied at each foot in order to achieve the desired linear and angular momenta is determined by fuzzy logic. Dynamic simulations of galloping motion were performed using RecurDyn; these simulations show that the proposed control method can be used to achieve stable galloping for a quadruped robot on irregularly sloped uneven surfaces.