• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.2
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• pp.171-179
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• 2010

A fundamental technology of UGV(Unmanned Ground Vehicle) to perform a given mission with success in various environment is a path planning method which generates a safe and optimal path to the goal. In this paper, we suggest a local path-planning method of UGV based on the binary map using world model data which is gathered from terrain perception sensors. In specially, we present three core algorithms such as shortest path computation algorithm, path optimization algorithm and path smoothing algorithm those are used in the each composition module of LPP component. A simulation is conducted with M&S(Modeling & Simulation) system in order to verify the performance of each core algorithm and the performance of LPP component with scenarios.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.451-459
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• 2011

Fundamentally, there are 5 systems are needed for autonomous navigation of unmanned ground vehicle: Localization, environment perception, path planning, motion planning and vehicle control. Path planning and motion planning are accomplished based on result of the environment perception process. Thus, high reliability of localization and the environment perception will be a criterion that makes a judgment overall autonomous navigation. In this paper, via map matching using vehicle dynamic model and LIDAR sensors, replace high price localization system to new one, and have researched an algorithm that lead to robust autonomous navigation. Finally, all results are verified via actual unmanned ground vehicle tests.

• Earthquakes and Structures
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• v.3 no.3_4
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• pp.435-455
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• 2012

An impact on the ground surface may represent several phenomena, such as a crash of an airplane or an explosion or the passage of a train. In order to analyze and design structures and equipment to resist such a type of shocks, the response spectra for an impact on the ground must be given. We investigated the half-space motions due to impact using the finite element method. We performed extensive parametric analyses to define a suitable finite element model and arrive at displacement time histories and response spectra at varying distances from the impact point. The principal scope of our study has been to derive response spectra which: (a) provide insight and illustrate in detail the half-space response to an impact load, (b) can be readily used for the analysis of structures resting on a ground subjected to an impact and (c) are a new family of results for the impact problem and can serve as reference for future research.

• Journal of Korean Society of Rural Planning
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• v.9 no.4 s.21
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• pp.35-41
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• 2003

The purpose of this study is on identifying the function of ground temperature arrangement of village grove. Case study was accomplished at Hacho village grove in Jinan-gun, Jeonbuk province. Hacho village grove was the largest grove of all and most formal grove in Jinan region. So ground temperature of outside and inside of Hacho village grove were measured from March to October in 2001. And comparative review about difference between outside and inside of village grove was accomplished. Our ancestors, in spite of orient and occident, have made a settlement in consideration of climatic conditions. We have to team from past pattern and add modern scientific technology. So traditional wisdom and wise planning process must be considered in order to create qualitative residential environment in present through natural elements. It is identified that in winter, the inner side ground temperature is higher than outside one of that and in summer, in contrary, the inner side one of that is lower than outside one of that. So it is identified that Macho village grove breaks winds and reduce the heating energy in winter, it reduces ground temperature and reduces cooling energy very well in summer. It is identified that village grove reduce ground temperature in summer better than any other season. It is identified that in summer, the effect of maintaining constant temperature is also better than my other season. So it is identified that village grove stabilize most changeable outside temperature in inside of that.

• Journal of the Architectural Institute of Korea Planning & Design
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• v.35 no.11
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• pp.13-24
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• 2019

The history of tall buildings begins in 1853with the development of elevators. After the Industrial Revolution of the 18th century, the development of high-rise buildings will be carried out in earnest as a means to efficiently use the limited land of cities. The development, which began around Chicago, extended over a long period of time to Asia, maximizing the high competition. However, in the 2000s, not only was it high due to the development of construction and digital technology, but it also became competitive in eco-friendly elements and unstructured forms. High-rise building plans that have gained elemental and morphological diversity are completed by the interrelationships of various plans. Among them, it is important that the core plan has a reasonable approach from the initial planning stage as the basis for the vertical copper plan linking vertically-intensive functions. The cores should be designed to be clear and adequately responsive to changes in the shape of the building. This study aims to provide designers with a reasonable understanding of core planning by identifying core characteristics of irregular high-rise. In particular, we want to analyze the shape of the ground layer core and the relationship between the area and components of the ground layer core. The analysis results are as follows, classified according to the type or use of the building. Of the atypical forms composed of double bending, the TAPER-Curve and TWIST forms are the most distributed, and the plane and core shapes of the ground floor are the most commonly used. Based on the analysis of the validity of the ground floor cores by shape of the cores, the most commonly used forms for core shapes in the planning of the atypical high-rise are square, circular and Oval, and the most efficient oval cores and relatively inefficient ones when planned.

• Bulletin of the Korean Space Science Society
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• 2004.10b
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• pp.300-303
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• 2004

KOMPSAT-2 satellite mission operations and control system has been developed by ETRI. The system functional architecture, analysis and design, implementation, and tests are presented in this paper.

• ETRI Journal
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• v.25 no.5
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• pp.387-400
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• 2003

Since its launching on 21 December 1999, the Korea Multi-Purpose Satellite-I (KOMPSAT-I) has been successfully operated by the Mission Control Element (MCE), which was developed by the ETRI. Most of the major functions of the MCE have been successfully demonstrated and verified during the three years of the mission life of the satellite. This paper presents the operational performances of the various functions in MAPS. We show the performance and analysis of orbit determinations using ground-based tracking data and GPS navigation solutions. We present four instances of the orbit maneuvers that guided the spacecraft form injection orbit into the nominal on-orbit. We include the ground-based attitude determination using telemetry data and the attitude maneuvers for imaging mission. The event prediction, mission scheduling, and command planning functions in MAPS subsequently generate the spacecraft mission operations and command plan. The fuel accounting and the realtime ground track display also support the spacecraft mission operations.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.211-217
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• 2014

This paper addresses an algorithm of path planning for autonomous driving of a ground vehicle in waypoint navigation. The proposed algorithm is flexible in utilization under a large GPS positioning error and generates collision-free multiple paths while pursuing minimum traveling time. An optimal path reduces inefficient steering by minimizing lateral changes in generated waypoints along a path. Simulation results compare the proposed algorithm with the A* algorithm by manipulation of the steering wheel and traveling time, and show that the proposed algorithm realizes real-time obstacle avoidance by quick processing of path generation, and minimum time traveling by producing paths with small lateral changes while overcoming the very irregular positioning error from the GPS.

• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.5
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• pp.583-589
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• 2013

In this paper, we proposed a system that efficiently provides support maps which includes the grid based terrain analysis information. To do this, we use the FDB which is defined as a GIS database that contains features with attributes attached to the features. The FDB is composed of a number of features and feature classes. In order to create support maps, it is necessary to classify feature classes that are associated with each support map and to search them in a grid map. The proposed system use a ontology model to classify semantically feature classes and the quad-tree data structure to find them in a grid map quickly. Therefore, our system is expected to be utilized for global path planning of UGV. In this paper, we show the possibility through an experimental implementation.

• International Journal of Aeronautical and Space Sciences
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• v.8 no.1
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• pp.54-65
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• 2007

Parameter optimization technique is applied to planning UAVs(Unmanned Aerial Vehicles) path under artificial enemy radar threats. The ground enemy radar threats are characterized in terms of RCS(Radar Cross Section) parameter which is a measure of exposure to the radar threats. Mathematical model of the RCS parameter is constructed by a simple mathematical function in the three-dimensional space. The RCS model is directly linked to the UAVs attitude angles in generating a desired trajectory by reducing the RCS parameter. The RCS parameter is explicitly included in a performance index for optimization. The resultant UAVs trajectory satisfies geometrical boundary conditions while minimizing a weighted combination of the flight time and the measure of ground radar threat expressed in RCS.