• 한국정밀공학회지
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• 제17권9호
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• pp.133-144
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• 2000

The dynamic walking planning and the inverse dynamics of the biped robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian corrdinates then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot the holonomic constraints are added or deleted on the equations of motion. the number of these constraints can be changed by types of walking patterns with three modes. In order for the dynamic walking to be stabilizable optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• 로봇학회논문지
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• 제4권3호
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• pp.233-242
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• 2009

This paper briefly reviews the path planning methods that are applicable to the autonomous mobile robots for the military. Two distinct path search algorithms, $A^*$ and $D^*$ that are most popular and flexible in public applications, among those reviewed are coded and analyzed in terms of combat environment assessment factors called METT+TC for the area of operations. The results imply that it is important to consider the characteristics of defense acquisition process and the specific requirements of defense operation so that the successful technology development of the Robot products is directly linked to the defense procurement of Robot products.

• 한국군사과학기술학회지
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• 제12권5호
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• pp.549-556
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• 2009

One of the basic technology for implementing the autonomy of UGV(Unmanned Ground Vehicle) is a path planning algorithm using obstacle and raw terrain information which are gathered from perception sensors such as stereo camera and laser scanner. In this paper, we propose a generation method of DVGM(Directional Velocity Grid Map) which have traverse speed of UGV for the five heading directions except the rear one. The fuzzy system is designed to generate a resonable traveling speed for DVGM from current patch to the next one by using terrain slope, roughness and obstacle information extracted from raw world model data. A simulation is conducted with world model data sampled from real terrain so as to verify the performance of proposed fuzzy inference system.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2002년도 봄 학술발표회 논문집
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• pp.263-270
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• 2002

During deep excavation, changes in the state of stress in the ground mass around the excavation and subsequent ground losses inevitably occur. These changes in the stress and ground losses are reflected on surrounding ground in the form of ground movements, which eventually Impose strains onto nearby structures through translation, rotation, distortion, and possibly damage. A substantial portion of the cost of deep excavations in urban environments is, therefore, devoted to prevent ground movements. Prediction of ground movements and assessment of the risk of damage to adjacent structures has become an essential part of the planning, design, and construction of a deep excavation project in the urban environments. This paper presents excavation-induced ground movement characteristics as well as important issues related to excavation-induced building damage assessment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.381-382
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• 2011

• 수산경영론집
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• 제22권2호
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• pp.1-17
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• 1991

• 한국군사과학기술학회지
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• 제27권2호
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• pp.177-188
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• 2024

The strategic UAV for theater level ISR(Intelligence, Surveillance and Reconnaissance) mission typically has numerous ground targets over area of responsibility(AOR) or area of operation(AO). It is necessary to automatically incorporate these multitude of ground targets into mission planning process in order to collect ISR images before actual flight mission. In addition, weather information such as wind direction and/or velocity may have significant impacts on the qualities of collected sensor images, especially in SAR(Synthetic Aperture Radar) images. Thus weather factors in the operation altitude should also be considered in the mission planning stage. In this study, we propose a novel mission planning scheme based on target scheduling and deviation correction method incorporating weather factors.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2001년도 봄 학술발표회 논문집
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• pp.493-500
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• 2001

The construction of bored tunnels in soft ground inevitably causes ground movements. In the urban environment these may be of particular significance, because of their influence on buildings, other tunnels and services. The prediction of ground movements and the assessment of the potential effects on the structures is therefore an essential aspect of planning, design and construction of a tunnelling project in the urban environment. In this study, to minimize the effect of tunnelling-Induced ground movements on the adjacent structures, a system for tile settlement risk management was developed. The GIS based risk assessment system for adjacent structures developed in this study consists of several modules such as building information module, settlement evaluation module, potential risk assessment module for adjacent structures, and analysis module for monitoring data. This system focuses on controlling and managing construction processes that may lead to settlement In the surrounding buildings and can contribute to producing the optimum technical and economic design.

• 농촌계획
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• 제22권2호
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• pp.57-65
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• 2016

Landscape elements of historical and cultural value and elements that have negative impact on landscape due to reckless development teem in rural area. Due to this, local government has established a visual landscape plan. The purpose of this study is to analyze the process and content of domestic rural landscape planning process and to suggest improvements for it. For that, this study measure guideline of Ministry of Agriculture, Food and Rural Affairs against guideline of Ministry of Land, Infrastructure and Transport. To analyze the landscape planning guideline of australia which is similar to domestic rural landscape planning process, and to compare both guidelines. The results of this study are as follow. The stage of landscape resource survey and assessment progressed systematically, but it was not practical because for the lack of survey and assessment method. Therefore, it should be suggested for the survey and assessment technique. The rural landscape plan, established in master planning stage, do not necessarily reflect local government's landscape management on the ground of abstract technic of landscape management. For this sake, to develop evaluation method for development of landscape element seems necessary.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2006년도 춘계학술발표회 논문집
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• pp.469-473
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• 2006

In general, a classification process between ground data and non-ground data, which include building objects, is required prior to producing a DEM for a certain surface reconstruction from LiDAR data in which the DEM can be produced from the ground data, and certain objects like buildings can be reconstructed using non-ground data. Thus, an exact classification between ground and non-ground data from LiDAR data is the most important factor in the ground reconstruction process using LiDAR data. In particular, building objects can be largely used as digital maps, orthophotos, and urban planning regarding the object in the ground and become an essential to providing three dimensional information for certain urban areas. In this study, an entropy theory, which has been used as a standard of disorder or uncertainty for data used in the information theory, is used to apply a more objective and generalized method in the recognition and segmentation of buildings from raw LiDAR data. In particular, a method that directly uses the raw LiDAR data, which is a type of point shape vector data, without any changes, to a type of normal lattices was proposed, and the existing algorithm that segments LiDAR data into ground and non-ground data as a binarization manner was improved. In addition, this study proposes a generalized building extraction method that excludes precedent information for buildings and topographies and subsidiary materials, which have different data sources.