• 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.

• Aerospace Engineering and Technology
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• v.6 no.1
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• pp.14-18
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• 2007

The ground effect on tilt-rotor UAV is analyzed by simulating the hovering UAV for various altitudes. Ground effect increases pressure beneath the UAV body and generates additional lifting force. The ground effect diminishes at altitude 3m and hovering UAV generates constant lifting force above 3m.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.8
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• pp.670-676
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• 2007

A comparative study on ground boundary conditions for the airfoil in ground effect has been carried out. The objective of the present study is to clarify effects of the ground boundary conditions so that it will be helpful to analyse results of wind tunnel tests using the fixed ground board or the image method. A low Mach number preconditioned Navier-Stokes solver using the overlap grid method has been applied. It has been turned out that results with the symmetric boundary condition are almost the same to those with the moving boundary condition. Results with the fixed ground boundary show discrepancy to those with the moving boundary condition when flow separation on the ground board takes place.

• 기계와재료
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• v.23 no.1
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• pp.60-69
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• 2011

지면 변화 트레드밀 기기는 경사도 변화가 가능하며 안전사고를 예방하는 안전장치, 노인의 보행속도에 적합한 속도를 구현할 수 있는 자동 속도 구현장치, 기존 트레드밀에서 구현하지 못하는 다양한 지면 조건을 현실화할 수 있는 재질의 바닥 및 가상현실 컨텐츠와 연동하여 속도 조절이 가능한 지능형 조절장치로 구성된다. 때문에 가상의 외부 환경이 3D로 구현된 컨텐츠와 연동하여 노인들이 걷기 운동을 즐길 수 있도록 구현 가능한 것이 특징이다. 본 고에서는 노인 및 장애인들에게 적합한 속도 구현과 안전사고 예방 및 다양한 지면 조건을 구현한다는 장점이 있는 지면 변화 트레드밀 기기에 대해 소개하였다.

• Proceedings of the Korean Information Science Society Conference
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• 2011.06c
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• pp.440-442
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• 2011

본 논문에서는 객체 검출을 위한 지면가정에 기반한 스테레오 시차영상의 획득방법을 제안한다 지면과 좌우 영상간의 호모그라피를 사용하여 정합비용을 정의하고 지면기준의 시차에 대해서 4방향의 정합비용을 집계하여 시차를 결정한다. 또한 획득된 시차영상에서 나타나는 정합오류들은 중간값 필터와 연결성분 분석을 통하여 제거하고 이를 이진화하여 객체의 검출에 활용한다. 영상평면과 평행한 평면을 기준으로한 기존의 시차정합방법과는 달리 지면보다 아래에 대한 정합 비용이 고려되지 않으며 시차영상으로부터 거리 영상을 획득하여 처리하는 과정을 거치기 전에 객체를 검출할 수 있다는 장점이 있다.

• 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.30 no.4
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• pp.10-17
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• 2002

A study on the dynamic ground effect on three-dimensional wings is done using an indirect boundary element method(unsteady panel method). An integral equation is obtained by applying Green's theorem on all surfaces of the fluid domain. Constant strength dipole and source panels arc distributed on a wing's surface. The wake sheet is represented by constant strength dipoles. At each time step, a row of wake panels is assumed to be convected from the trailing edge of the wing. The tip vortex behind wings in dynamic ground effect moves outward. The amplitudes of the aerodynamic coefficients for the wings in dynamic ground effect are augmented much more comparing to the case in static ground effect.

• Journal of Aerospace System Engineering
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• v.10 no.4
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• pp.11-16
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• 2016

In this paper, an experimental study on the aerodynamic characteristics of a variable span wing flying inside a channel guideway is accomplished using wind tunnel testing. A variable span wing with a NACA 0012 airfoil section was fabricated and actuated using a linear servo motor. The aerodynamic effects of 1) wing aspect ratio, 2) ground effect, and 3) the gap between the wingtip and the wing fence were investigated. It was found that both ground effect and wing fence gap increased lift. Also, the wing fence gap does not significantly affect drag. Therefore, it was found that a variable span mechanism can be used as an effective high lift device when flap use is limited.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.44 no.11
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• pp.42-47
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• 2007

In this paper, influence of lossy ground and gap variation between lossy ground and UWB antenna on impulse propagation in time domain for impulse ground penetrating radar (GPR) is numerically and experimentally investigated. For this study, a novel planar UWB fat dipole antenna is developed. First, influence of lossy ground and gap variation between lossy ground and UWB antenna is simulated. For verification, a test field of sand and wet clay soil is built and using the developed dipole antenna, transmission behavior is investigated at the test field. With an aid of IDFT (inverse discrete Fourier transform), time domain impulse response for transmission coefficient measured and simulated in frequency domain is obtained. Measurement and simulation show that the frequency of maximum transmission coefficient and transmission coefficient are increased with higher dielectric constant and larger gap distance. In time domain, it is shown that for higher dielectric constant, the amplitude of the received signal in time domain is higher and reflected signals are seriously modified. Also, it is found that variation of gap between antenna and ground surface makes timing of peak value changed.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.10
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• pp.4598-4603
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• 2012

The purpose of this study is to compare and evaluate the balance and muscle activity after having performed balance exercise at different ground conditions. The subjects were divided into 3 groups; Sand Group(SG)(N=30) and Balance Form group(BFG)(N=30), Hard Ground Group(HGG)(N=30). The period of intervention was for six weeks. EMG for Tibialis anterior(TA), Soleus(So), Biceps femoris(BF) muscle activity, Air-balance system 3D were used as evaluation tools for this study. the change of balance ability and TA, So muscle activity was greater in the SG, BFG than HGG which may imply that sand can be used for the balance exercise like any other ground.