• The Journal of Korea Robotics Society
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• v.11 no.2
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• pp.83-91
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• 2016

Most of outdoor mobile robots have a suspension on each wheel in order to relieve the shock by ground obstacles and to improve the driving stability. Typically, in the actual operations, the suspensions have been used under a given set of conditions as all the damping and spring coefficients of the suspensions are fixed. However, it is necessary to readjust the coefficients of the suspensions according to surface conditions that may cause the unstable shaking of a robot body at high speed driving. Therefore, this paper is focused on the mobility analysis of an outdoor robot when the coefficients of suspensions (in particular, damping coefficients) are changed while driving on an uneven road surface. In this paper, a semi-active suspension with twelve damping coefficient levels was used and a small sized vehicle with the suspensions was employed to analyze the mobility dependent on a change of the damping coefficient. And the mobility was evaluated through driving experiments on a bumped slope.

• The Korean Journal of Mycology
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• v.46 no.2
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• pp.122-133
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• 2018

The Seonamsa temple is located on steep terrain surrounded by forests and valleys, and is a place that the temple is scared of biological damage because it has high humidity and low wind levels. Therefore, we investigated a concentration and diversity of airborne fungi in indoor and outdoor by collecting air each season. The outdoor fungal load was far higher in spring ($276CFU/m^3$), autumn ($196CFU/m^3$), summer ($128CFU/m^3$) than in winter ($24CFU/m^3$). The lowest located Jijangjeon and upper located Wontongjeon showed the highest distribution of $337.4CFU/m^3$ in summer and $333.4CFU/m^3$ in autumn, respectively. Summer is the season with large variations in the concentration of airborne fungi between indoor and outdoor, a concentration of airborne fungi in indoor was maximum three times higher than these in outdoor with $128CFU/m^3$. Although the most fungi were collected in spring, fungal diversity was richer in summer and autumn with 28 genera 45 species and 25 genera 47 species, respectively. In particular, the concentration of airborne fungi was the most highest in all sampling sites in autumn, of which Ascomycota members accounted for 86% and Cladosporium genus was dominated. The most kind of Penicillium (16 species) was mainly distributed in indoor air in summer, autumn and winter.

• The Journal of Korea Robotics Society
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• v.2 no.4
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• pp.353-360
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• 2007

This paper proposes the trot gait pattern generation and online control methods for a quadruped robot to carry heavy loads and to move fast on uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to be operated outdoor environment with the static and dynamic mobility. The efficiency and performance of the proposed method are verified through computer simulations and experiments using qRT-1/-2. In the experiments, qRT-2 which has two front legs driven by hydraulic linear actuators and two rear casters is used. The robot can trot at the speed up to 1.3 m/s on even surface, walk up and down the 20 degree inclines, and walk at 0.7 m/s on uneven surface. Also it can carry over 100 kg totally including 40 kg payload.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.6
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• pp.733-742
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• 2017

LADARs are used for important sensors in various applications, for example, terrain information sensors in self driving cars, safety sensors for factory automation, and 3D map constructions. This study develop important component technologies to improve the performance of a LADAR system under development in Korea. The component technologies include diode temperature regulation, reducing distance error in outdoor environment, and signal processing technique for better detection of distant objects. This paper explains the suggested component technologies and experimental results of the developed LADAR system. Also, the developed system is operated and tested an a single axis driving platform to acquire 3D information from 2D LADAR.

• Proceedings of the Korea Information Processing Society Conference
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• 2002.11a
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• pp.467-470
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• 2002

3D 게임 산업이 발전하고 여러 사용자가 온라인 상에서 즐길 수 있도록 대형화되면서 그 규모 또한 대형화되고 있다. 본 논문은 대규모 실외용 지형을 생성하기에 적합하도록 계층화된 지형 구조를 소개하고 있으며, 기존의 지형 CLOD 알고리즘을 개선하여 넓고 구조화된 지형의 렌더링 속도 문제를 해결하였다. 이를 통하여 대규모 온라인 게임의 지명 구성 시 발생하는 지형 최적화 문제를 해결하고 실시간으로 게임을 진행할 수 있다.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1189-1195
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• 2014

This paper addresses a Moving Target Indication (MTI) algorithm which can be used for small Unmanned Aerial Vehicles (UAVs) equipped with image sensors. MTI is a system (or an algorithm) which detects moving objects. The principle of the MTI algorithm is to analyze the difference between successive image data. It is difficult to detect moving objects in the images recorded from dynamic cameras attached to moving platforms such as UAVs flying at low altitudes over a variety of terrain, since the acquired images have two motion components: 'camera motion' and 'object motion'. Therefore, the motion of independent objects can be obtained after the camera motion is compensated thoroughly via proper manipulations. In this study, the camera motion effects are removed by using wiener filter-based image registration, one of the non-parametric methods. In addition, an image pyramid structure is adopted to reduce the computational complexity for UAVs. We demonstrate the effectiveness of our method with experimental results on outdoor video sequences.

• The Journal of Korea Robotics Society
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• v.8 no.4
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• pp.283-291
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• 2013

Methods for measuring or estimating of ground shape by a laser range finder and a vision sensor(exteroceptive sensors) have critical weakness in terms that these methods need prior database built to distinguish acquired data as unique surface condition for driving. Also, ground information by exteroceptive sensors does not reflect the deflection of ground surface caused by the movement of UGVs. Thereby, UGVs have some difficulties regarding to finding optimal driving conditions for maximum maneuverability. Therefore, this paper proposes a method of recognizing exact and precise ground shape using Inertial Measurement Unit(IMU) as a proprioceptive sensor. In this paper, firstly this method recognizes attitude of a robot in real-time using IMU and compensates attitude data of a robot with angle errors through analysis of vehicle dynamics. This method is verified by outdoor driving experiments of a real mobile robot.

• Journal of Applied Reliability
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• v.14 no.2
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• pp.97-102
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• 2014

Radar is an object-detection system that uses radio waves to determine the range, altitude, direction, or speed of objects. High power amplifier Module is the most critical part of the high-power radar transmitter systems. It can be used to detect aircraft, ships, spacecraft, guided missiles, motor vehicles, weather formations, and terrain. Research related to radar has been conducted in various fields according to improvement of the communication technology. But only performance-originated technology development has been dashed; study concerning environment duality and safety concerning reliability are still insufficient. In general, radar module is exposed to the outside, on the means of moving or fixed in a certain place. It should be guaranteed sufficient immunity for a variety of environmental stresses that can occur in the outdoor. HALT is a great process used for quickly finding failure mechanisms in a hardware design and product. By applying various kinds and extreme level of stresses, we can find the operating limits of products. In thesis, we conducted HALT test of the high power amplifier modules which used in military and automotive radar. After the test, we analyzed environmental weaknesses of high power amplifier modules using conventional construction data.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.4
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• pp.275-284
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• 2017

As the 3D Greenery system is known to improve the urban environment, it works as new alternative for eco-friendly building and warrants further study for application to the domestic field. This study aimed to apply the design components for eco-friendly composition by investigating the spatial characteristics of the 3D Greenery System reflected in interior and exterior of buildings and to analyze the organization and design elements of domestic and foreign cases. The results showed that instances of the Greenery System tended to be a large scale and high-density development in order to expand various exterior spaces. Although its early forms were often found in such public facilities as exhibition and education purpose, cases of multi-unit dwelling have been growing. Allowing apartment residents to prefer intimate space by providing various such spaces for residential units and offering independent green spaces would induce diverse residents' lifestyles rather than monotonous design. The analysis also indicated that community space composed of various outdoor spaces and atmosphere would change life patterns of multi-housing and establish a real neighborhood through social interaction. Moreover, further investigation of the design patterns of outdoor space arrangement is needed since the Greenery system actively reflects the environmental characteristics of building sites and clearly shows a tendency to utilize natural terrain and slope in building shapes.

• Journal of the Korean Institute of Landscape Architecture
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• v.46 no.3
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• pp.14-26
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• 2018

The Biotope Area Ratio (BAR) is a quantitative pre-planning index for sustainable development and an integrated indicator for the balanced development of buildings and outdoor spaces. However, it has been pointed out that there are problems in operations management: errors in area calculation, insufficiency in the underground soil condition and depth, reduction in biotope area after construction, and functional failure as a pre-planning index. To address these problems, this study proposes implementing LIM. Since the weights of the BAR are mainly decided by the underground soil condition and depth with land cover types, the study focused on the terrain and pavements. The model should conform to BIM guidelines and standards provided by government agencies and professional organizations. Thus, the scope and Level Of Detail (LOD) of the model were defined, and the method to build a model with BIM software was developed. An apartment complex on sloping ground was selected as a case study, a 3D terrain modeled, paving libraries created with property information on the BAR, and a LIM model completed for the site. Then the BAR was calculated and construction documents were created with the BAR table and pavement details. As results of the study, it was found that the application of the criteria on the BAR and calculation became accurate, and the efficiency of design tasks was improved by LIM. It also enabled the performance of evidence-based design on the terrain and underground structures. To adopt LIM, it is necessary to create and distribute LIM library manuals or templates, and build library content that comply with KBIMS standards. The government policy must also have practitioners submit BIM models in the certification system. Since it is expected that the criteria on planting types in the BAR will be expanded, further research is needed to build and utilize the information model for planting materials.