• Journal of Korea Multimedia Society
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• v.23 no.8
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• pp.1088-1098
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• 2020

This paper proposes an obstacle avoidance method using a depth polar grid. Depth information is a crucial factor for determining the safe path for collision-free navigation of unmanned aerial vehicles (UAVs) as it can perceive the distance to the obstacles effectively. However, the existing depth-camera-based approaches for obstacle avoidance require computational y expensive path planning algorithms. We propose a simple navigation method using the polar-grid of the depth information obtained from the camera with narrow field-of-view(FOV). The effectiveness of the approach was validated by a series of experiments using software-in-the-loop simulation in a realistic outdoor environment. The experimental results show that the proposed approach successfully avoids obstacles using a single depth camera with limited FOV.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1076-1079
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• 2003

The vector field histogram(VFH) uses a two-dimensional Cartesian histogram grid as a world model. The VFH method subsequently employs a two-stage data-reduction process in order to compute the desired control commands for the vehicle. In the first stage the histogram grid is reduced to a one dimensional polar histogram that is constructed around the robot's momentary location. Each sector in the polar histogram contains a value representing the polar obstacle density in that direction. In the second stage, the algorithm selects the most suitable sector from among all polar histogram sectors with a low polar obstacle density, and the steering of the robot is aligned with that direction. We applied this algorithm to our simulation program and tested..

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.23-26
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• 2003

The vector field histogram(VFH) uses a two-dimensional Cartesian histogram grid as a world model. The VFH method subsequently employs a two-stage data-reduction process in order to compute the desired control commands for the vehicle. In the first stage the histogram grid is reduced to a one dimensional polar histogram that is constructed around the robot's momentary location. Each sector in the polar histogram contains a value representing the polar obstacle density in that direction. In the second stage, the algorithm selects the most suitable sector from among all polar histogram sectors with a low polar obstacle density, and the steering of the robot is aligned with that direction. We applied this algorithm to our four-legged robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.05a
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• pp.277-277
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• 2004

로봇의 실시간 장애물 회피 방법은 연구되어 왔고 실행되어 왔다. 이러한 방법을 vector field histogram(VFH)라 하며 이러한 방법은 알려져 있지 않는 장애물의 발견과 장애물과의 충돌을 피하는 동시에 목표점으로의 로봇의 이동을 위한 알고리즘이다. The vector field histogram(VFH)방법은 world model로 이차원 Cartesian histogram grid를 이용하였다. VFH 방법은 Vehicle을 원하는 데로 컨트롤하기 위한 과정으로 두 단계 데이터 줄이는 과정이다. Histogram grid 의 첫 번째 단계는 로봇의 순간위치를 구성하기 위한 일 차원 polar histogram에 포함된 각 섹터의 값은 polar obstacle density(POD)로 방향을 표시한다.(중략)

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.2
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• pp.69-79
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• 1994

The conventional machine vision system which has uniform rectangular grid requires tremendous amount of computation for processing and analysing an image especially in 2-D image transfermations such as scaling, rotation and 3-D reconvery problem typical in robot application environment. In this study, the imaging system with nonuiformly distributed image sensors simulating human visual system, referred to as Ploar Exponential Grid(PEG), is compared with the existing conventional uniform rectangular grid system in terms of image resolution and computational complexity. By mimicking the geometric structure of the PEG sensor cell, we obtained PEG-like images using computer simulation. With the images obtained from the simulation, image resolution of the two systems are compared and some basic image processing tasks such as image scaling and rotation are implemented based on the PEG sensor system to examine its performance. Furthermore Fourier transform of PEG image is described and implemented in image analysis point of view. Also, the range and heading-angle measurement errors usually encountered in 3-D coordinates recovery with stereo camera system are claculated based on the PEG sensor system and compared with those obtained from the uniform rectangular grid system. In fact, the PEC imaging system not only reduces the computational requirements but also has scale and rotational invariance property in Fourier spectrum. Hence the PEG system has more suitable image coordinate system for image scaling, rotation, and image recognition problem. The range and heading-angle measurement errors with PEG system are less than those of uniform rectangular rectangular grid system in practical measurement range.

• Journal of Advanced Marine Engineering and Technology
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• v.24 no.1
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• pp.127-133
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• 2000

A numerical study of the flow of incompressible fluid in a polar cavity is presented. Irregular grids is proposed by applying the interior division principle to the variables on polar coordinate grid formation. Stability analysis and the pressure correction method of SOLA algorithms were discussed in detail on cylindrical coordinates. The results present that unsteady flow behavior appears over $Re=3{\times}10^4$ on polar cavities but nearly steady state at $Re=10^4$. Furthermore, with increasing Reynolds numbers, vortices behaviors indicate more complicated flow phenomena and more severe temporal fluctuation of total kinetic energy and time variation of velocity components at arbitrary pick-up points are detected in case of $Re=5{\times}10^4$.

• Atmosphere
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• v.26 no.2
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• pp.277-288
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• 2016

Polar lows are intense mesoscale cyclones that mainly occur over the sea in polar regions. Owing to their small spatial scale of a diameter less than 1000 km, simulating polar lows is a challenging task. At King Sejong station in West Antartica, polar lows are often observed. Despite the recent significant climatic changes observed over West Antarctica, adequate validation of regional simulations of extreme weather events such as polar lows are rare for this region. To address this gap, simulation results from a recent version of the Polar Weather Research and Forecasting model (Polar WRF) covering Antartic Peninsula at a high horizontal resolution of 3 km are validated against near-surface meteorological observations. We selected a case of high wind speed event on 7 January 2013 recorded at Automatic Meteorological Observation Station (AMOS) in King Sejong station, Antarctica. It is revealed by in situ observations, numerical weather prediction, and reanalysis fields that the synoptic and mesoscale environment of the strong wind event was due to the passage of a strong mesoscale polar low of center pressure 950 hPa. Verifying model results from 3 km grid resolution simulation against AMOS observation showed that high skill in simulating wind speed and surface pressure with a bias of $-1.1m\;s^{-1}$ and -1.2 hPa, respectively. Our evaluation suggests that the Polar WRF can be used as a useful dynamic downscaling tool for the simulation of Antartic weather systems and the near-surface meteorological instruments installed in King Sejong station can provide invaluable data for polar low studies over West Antartica.

• 한국가시화정보학회:학술대회논문집
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• 2004.12a
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• pp.81-90
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• 2004

A zonal embedded grid technique has been developed for computation of the two-dimensional Navier-Stokes equations with cylindrical coordinates. The fundamental idea of the zonal embedded grid technique is that the number of azimuthal grids can be made small near the origin of the coordinates so that the grid size is more uniformly distributed over the domain than with the conventional regular-grid system. The code developed using this technique combined with the explicit, finite-volume method was then applied to calculation of the spin-up flows within a semi-circular cylinder. It was shown that the numerical results were in good agreement with the experimental results both qualitatively and quantitatively.

• Ocean and Polar Research
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• v.23 no.2
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• pp.173-179
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• 2001

Parallel supercomputing is now a must for oceanographic numerical modelers. Most of today's parallel numerical schemes use synchronous algorithms, where some processors that have finished their tasks earlier than others must wait at synchronization points for correct computation. Hence, the load balancing is a crucial factor, however, it is, in general, difficult to achieve on heterogeneous workstation clusters. We devise an asynchronous algorithm that reduces the idle times of faster processors, and discuss application of the algorithm to some grid problems and implementation on a workstation cluster using Message Passing Interface (MPI).

• Atmosphere
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• v.26 no.4
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• pp.617-633
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• 2016

Jangbogo station is located in Terra Nova Bay over the East Antarctica, which is often affected by individual storms moving along nearby storm tracks and a katabatic flow from the continental interior towards the coast. A numerical simulation for two strong wind events of maximum instantaneous wind speed ($41.17m\;s^{-1}$) and daily mean wind speed ($23.92m\;s^{-1}$) at Jangbogo station are conducted using the polar-optimized version of Weather Research and Forecasting model (Polar WRF). Verifying model results from 3 km grid resolution simulation against AWS observation at Jangbogo station, the case of maximum instantaneous wind speed is relatively simulated well with high skill in wind with a bias of $-3.3m\;s^{-1}$ and standard deviation of $5.4m\;s^{-1}$. The case of maximum daily mean wind speed showed comparatively lower accuracy for the simulation of wind speed with a bias of -7.0 m/s and standard deviation of $8.6m\;s^{-1}$. From the analysis, it is revealed that the each case has different origins for strong wind. The highest maximum instantaneous wind case is caused by the approach of the strong synoptic low pressure system moving toward Terra Nova Bay from North and the other daily wind maximum speed case is mainly caused by the katabatic flow from the interiors of Terra Nova Bay towards the coast. Our evaluation suggests that the Polar WRF can be used as a useful dynamic downscaling tool for the simulation and investigation of high wind events at Jangbogo station. However, additional efforts in utilizing the high resolution terrain is required to reduce the simulation error of high wind mainly caused by katabatic flow, which is received a lot of influence of the surrounding terrain.