• Journal of IKEEE
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• v.25 no.3
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• pp.437-444
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• 2021

In this paper, we propose an autonomous driving algorithm that allows a robot to explore various terrains, and implement an application that can monitor the robot's movement path during terrain search. The implemented application consists of a status unit that indicates the position, direction, speed, and motion of the mobile robot, a map unit that displays terrain information obtained through terrain search, and a control unit that controls the movement of the mobile robot. In order to control the movement of the robot, only the start and stop of the search/return is commanded by the application, and all driving for the search is performed autonomously. The basic algorithm for terrain search uses an infrared sensor to check for obstacles in the order of left, front, right, and rear, and if there is no obstacle and the path traveled is a dead end, it returns to the previous position and moves in the other direction to continue the search. Repeat the process to explore the terrain.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.1
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• pp.80-87
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• 2009

The purpose of this study is to analyze the MAUP's effect in visibility analysis using GIS. MAUP normally occurs in the process in terrain spatial analysis including visibility analysis. There are two different types of grid data(based on digital map and Digital Terrain Elevation Data) and 10 different types of areal units are made for modeling, such as $5m{\times}5m,\;10m{\times}10m,\;15m{\times}15m,\;20m{\times}20m,\;25m{\times}25m,\;30m{\times}30m,\;35m{\times}35m,\;40m{\times}40m,\;45m{\times}45m,\;50m{\times}50$. By analyzing the result, it was possible to observe varying viewshed areas according to different grid cell sizes and the viewshed area did not varied linearly as expected. From a general point of view, smaller unit data map out the real world in more detail, but the results of modeling do not always reach a good conclusion when data are used in modeling for terrain analysis because of the MAUP' effect. The grid cell sizes of 30m or less seems to be adequate for visibility analysis, including terrain analysis considering vegetation heights.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.5
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• pp.467-475
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• 2012

In this study, the problems were analyzed that derived a different position evaluation results depending on the unit grid size that are applied to the terrain slope analysis conducted to assess the its position and environmental impacts in the prior environment reviewing process of golf course construction projects. For this purpose, the unit grid size were analyzed that can precisely reflect a actual terrain by analyzing the change of a slope percentage according to the change of unit grid size about 12 golf courses is currently in progress of construction work through the environmental consultation or ongoing consultation. And the consultation availability of environmental assessment was reverified by applying the unit grid size derived through this study about a study golf course. In the result of study, the bigger grid size for slope analysis is set, the greatly gradient is changed and the slope ratio of the higher elevation was lowly evaluated in comparison with actual terrain. The analytical result that most closely match the actual terrain was extracted in the case applied $5m{\times}5m$ of the unit grid sizes setting in this study. So, we proposed this study results to the ministry of environment and could be amended the unit grid size of $5m{\times}5m$ as standard for the analysis of slope. Also, if new grid size for site evaluation is applied to the study sites, 4 sites exceed the standard suggested the existing regulations and they are not proper as golf course site in flank of environment.

• ETRI Journal
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• v.15 no.3
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• pp.27-34
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• 1994

There have been traditional approaches to model radio propagation path loss mechanism both theoretically ad empirically. Theoretical approach is simple to explain and effective in certain cases. Empirical approach accommodates the terrain configuration and distance between base station and mobile unit along the propagation path only. In other words, it does not accommodate natural terrain configuration over a specific area. In this paper, we propose a spatial prediction technique for the mobile radio propagation path loss accommodating complete natural terrain configuration over a specific area. Statistical uncertainty analysis is also considered.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.702-708
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• 2013

Underwater TRN (Underwater Terrain Referenced Navigation) estimates an underwater vehicle state by measuring a distance between the vehicle and undersea terrain, and comparing it with the known terrain database. TRN belongs to absolute navigation methods, which are used to compensate a drift error of dead reckoning measurements such as IMU (Inertial Measurement Unit) or DVL (Doppler Velocity Log). However, underwater TRN is different to other absolute methods such as USBL (Ultra-Short Baseline) and LBL (Long Baseline), because TRN is independent of the external environment. As a magnetic-field-based navigation, TRN is a kind of geophysical navigation. This paper develops an EKF (Extended Kalman Filter) formulation for underwater TRN. A filter propagation part is composed by an inertial navigation system, and a filter update is executed with echo-sounder measurement. For large-initial-error cases, an adaptive EKF approach is also presented, to keep the filter be stable. At the end, simulation studies are given to verify the performance of the proposed TRN filter. With simplified sensor and terrain database models, the simulation results show that the underwater TRN could support conventional underwater navigation methods.

• Korean Journal of Remote Sensing
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• v.10 no.2
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• pp.121-132
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• 1994

A GIS based tactical terrain analysis system named ATTAS(Army Tactical Terrain Analysis Software) has been designed and implemented to support the field commanders for enhancing the capabiliy of their unit and efficiency of weapon system. This system is designed to provide computer graphics environment in which the analyst can interactively operate the entire analyzing process such as selecting the area of interest, performing analysis functions, simulating required battlefield operation and display the results. This system can be divided into three major sections; the terrain analysis modules, utilites, and graphic editor. The terrain analysis module inclused surface analysis, line of sight analysis, enemy disposition, 3D display, radar coverage, logistic route analysis, shortest path analysis, atmospheric phenomena prediction, automated IPB (Inteligence preparation of Battlefield), and other applied analysis. A combination of 2D and 3D computer graphics techniques using the X-window system with OSF/Motif in UNIX workstation was adopted as the user interface. The integration technique of remotely sensed images and GIS data such as precision registration, overlay, and on-line editing was developed and implemented. An efficient image and GIS data management technique was also developed and implemented using Oracle Database Management System.

• Journal of the Ergonomics Society of Korea
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• v.35 no.5
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• pp.319-341
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• 2016

Objective:This research analyzed the lower-limb motion in kinetic and kinematic way while walking on various terrains to develop Foot-Ground Contact Detection (FGCD) algorithm using the Inertial Measurement Unit (IMU). Background: To estimate the location of human in GPS-denied environments, it is well known that the lower-limb kinematics based on IMU sensors, and pressure insoles are very useful. IMU is mainly used to solve the lower-limb kinematics, and pressure insole are mainly used to detect the foot-ground contacts in stance phase. However, the use of multiple sensors are not desirable in most cases. Therefore, only IMU based FGCD can be an efficient method. Method: Orientation and acceleration of lower-limb of 10 participants were measured using IMU while walking on flat ground, ascending and descending slope and stairs. And the inertial information showing significant changes at the Heel strike (HS), Full contact (FC), Heel off (HO) and Toe off (TO) was analyzed. Results: The results confirm that pitch angle, rate of pitch angle of foot and shank, and acceleration in x, z directions of the foot are useful in detecting the four different contacts in five different walking terrain. Conclusion: IMU based FGCD Algorithm considering all walking terrain possible in daily life was successfully developed based on all IMU output signals showing significant changes at the four steps of stance phase. Application: The information of the contact between foot and ground can be used for solving lower-limb kinematics to estimating an individual's location and walking speed.

• Journal of the Korean Association of Geographic Information Studies
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• v.6 no.2
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• pp.92-100
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• 2003

Analysis and results of the relationship between the NDVI and terrain element such as elevation, slope, aspect in Chunahn city area are as follows. It does not show the linear relationship between NDVI and analyzed terrain element such as elevation, slope, aspect, etc. and there is a trend such that the deviation of NDVI is decreased as the elevation and slope is increased. It appears that there is trends such that the distribution range of NDVI is discontinuously changed as the elevation and slope is increased. The distribution range of NDVI is discontinuously decreased based on about 50m and 100m borderline in elevation case, and slope $10{\sim}20^{\circ}$ borderline in slope case, respectively. Any special trend is discovered in the relationship between aspect and NDVI.

• Journal of Korea Multimedia Society
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• v.15 no.3
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• pp.398-407
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• 2012

We propose a tree modeling method of expressing realistically and efficiently numerous trees distributed on a broad terrain. This method combines and simplifies the recursive hierarchy of tree branch and branch generation process through self-organizing from buds, allowing users to generate trees that can be used more intuitively and efficiently. With the generation process the leveled structure and the appearance such as branch length, distribution and direction can be controlled interactively by user. In addition, we introduce an environment-adaptive model that allows to grow a number of trees variously by controlling at the same time and we propose an efficient application method of growing environment. For the real-time rendering of the complex tree models distributed on a broad terrain, the rendering process, the LOD(level of detail) for the branch surfaces, and shader instancing are introduced through the GPU(Graphics Processing Unit). Whether the numerous trees are expressed realistically and efficiently on wide terrain by proposed models are confirmed through simulation.

• The Proceeding of the Korean Institute of Electromagnetic Engineering and Science
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• v.4 no.2
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• pp.4-10
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• 1993

In mobile radio communication, propagation paths are time or spacial varying because of the motion of mobile unit. The propagation path loss not only involves frequency and distance but also the antenna height at both the base station and the mobile unit, terrain configuration, and the man made en- vironment. Thhese additional factors make the prediction of propagation path loss of mobile radio signals more difficult. In this paper, it is measured field strenght of mobile radio signals in Daejeon and Seoul area, also calculated local median, 500m sample mean, and stadard deviation. As the result of analysis, it can be seen that propagation path loss of measured data is similiar to predicted field strength, especially local median is dependent upon base antenna height, terrain configuration and the man-made environment. The standard deviation has been noted to lie between 2 and 10 dBuV.