• Proceedings of the Korea Air Pollution Research Association Conference
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• 2004.11a
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• pp.189-190
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• 2004

• 한국지형공간정보학회:학술대회논문집
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• 1996.11b
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• pp.15-23
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• 1996

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.356-360
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• 2015

In this paper, we design and implement a mobile robot with variable structure for tip-over prevention. The mobile robot is designed for the purpose of stable drive and work in outdoor terrain. The outdoor terrain is rough and uneven. In this terrain, the tip-over of the mobile robot can occur while driving and working. Therefore, the structure of the mobile robot must be designed in consideration of stable drive and work. The proposed structure is defined as an X-shape for overall balance of the mobile robot. The shape is designed by using a multi-level structure for reducing the size of the robot. To verify the effectiveness of the proposed design, we analyze the tip-over characteristics according to the height of gravitational center and the extension length of the robot. Finally, we develop a prototype of the mobile robot with variable structure, taking the results of the tip-over analysis into consideration.

• Journal of Environmental Science International
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• v.21 no.2
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• pp.145-152
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• 2012

The mean wind speed and turbulence intensity profiles in the atmospheric boundary layer were extracted from a LIDAR remote sensing campaign in order to apply for CFD validation. After considering the semi-steady state field data requirements to be used for CFD validation, a neutral atmosphere campaign period, in which the main wind direction and the power-law exponent of the wind profile were constantly maintained, was chosen. The campaign site at the Pohang Accelerator Laboratory, surrounded by 40~50m high hills, with an apartment district spread beyond the hills, is to be classified as a semi-complex terrain. Nevertheless, wind speed profiles measured up to 100m above the ground fitted well into a theoretical-experimental logarithmic-law equation. The LIDAR remote-sensing data of the sub-layer of the atmospheric boundary layer has been proven to be superior to the data obtained by conventional extrapolation of the wind profile with 2 or 3 anemometer measurements.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.9 no.6
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• pp.824-832
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• 1998

The significant additional path loss is caused by scattering, diffraction, and attenuation of propagation. Most of the wave propagation models for rural areas mainly have considered the influence of topography but ignored the effects due to land usage. The goal of this paper is development of the field strength prediction program for Cheju which is used the contour map and the effects due to land usage. In oder to classify the propagation path and divide the environment of land, data of the terrain and the land-cover are formed into a pixel. Two-ray model is transformed into equivalent model by the predicted reflection coefficient and the slope of terrain. For non line of sight, the additional loss is determined by quantitative analysis. The result show good accord and the wave propagation model program can be applied to predicted the service region in rural area of Cheju.

• The Journal of Korea Robotics Society
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• v.9 no.2
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• pp.124-131
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• 2014

The robot mechanisms that were previously researched had only been conducted for the purpose of overcoming the obstacles stably at low speed driving and enhancing the stability against high speed circuitous driving, and yet, the mechanism satisfying two purposes. However, in order to stably drive with high speed on rough terrain, there is a need for satisfying both of these purposes, as well as testing the efficiency of the mechanisms at high speed driving. There, this paper simulated some of the passive mechanisms and focused on checking the performances of passive mechanisms through simulations and analyzing each mechanism on the basis of an evaluation index. The simulation was conducted by Adams (The Multi-body Dynamics Simulation Solution) and used various types of passive mechanisms which were introduced in the robotics field. As a result, the study confirmed that passive mechanisms have a number of situations that affect the driving stability on each direction of roll and pitch. Further study is needed about active mechanism.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.34 no.4
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• pp.373-382
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• 2016

In this study, an EKF (Extended Kalman Filter) based database reference navigation using both gravity gradient and terrain data was performed to complement the weakness of using only one type of geophysical DB (Database). Furthermore, a new algorithm which combines the EKF and profile matching was developed to improve the stability and accuracy of the positioning. On the basis of simulations, it was found that the overall navigation performance was improved by the combination of geophysical DBs except the two trajectories in which the divergence of TRN (Terrain Referenced Navigation) occurred. To solve the divergence problem, the profile matching algorithm using the terrain data is combined with the EKF. The results show that all trajectories generate the stable performance with positioning error ranges between 14m to 23m although not all trajectories positioning accuracy is improved. The average positioning error from the combined algorithm for all nine trajectories is about 18 m. For further study, a development of a switching geophysical DB or algorithm between the EKF and the profile matching to improve the navigation performance is suggested.

• 한국신재생에너지학회:학술대회논문집
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• 2008.10a
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• pp.274-277
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• 2008

To evaluate high-resolution wind resources for local and coastal area with complex terrain was attemped to combine the prognostic MM5 mesoscale model with CALMET diagnostic modeling this study. Firstly, MM5 was simulated for 1km resolution, nested fine domain, with FDDA using QuikSCAT seawinds data was employed to improve initial meteorological fields. Wind field and other meteorological variables from MM5 with all vertical levels used as initial guess field for CALMET. And 5 surface and 1 radio sonde observation data is performed objective analysis whole domain cells. Initial and boundary condition are given by 3 hourly RDAPS data of KMA in prognostic MM5 simulation. Geophysical data was used high-resolution terrain elevation and land cover(30 seconds) data from USGS with MM5 simulation. On the other hand SRTM 90m resolution and EGIS 30m landuse was adopted for CALMET diagnostic simulation. The simulation was performed on whole year for 2007. Vertical wind field a hour from CALMET and latest results of MM5 simulation was comparison with wind profiler(KEOP-2007 campaign) data at HAENAM site.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2004.11a
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• pp.275-279
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• 2004

This study was done to detect the topographic and terrain change of the vicinity of the west coast. To make the basic map of the change in topology and terrain, the mosaic images were made using the images from the satellite, which were given the geometric correction based on the GCP (Ground Control Point) and DEM (Digital Elenation Model) data. The accuracy of the images was examined by .empaling them with CCP through 1:25,000's digital map. After that, among the resultant images of the 1970s and 2000s, those of Sihwa, Hwaong and Ansan, the lands reclaimed by drainage were compared to observe the change in the area. From this study, the accuracy of the images of the west coast from satellite could be acquired and the change of the topology and terrain was detected effectively. From the results, it was known that, in case of the land the topological change was not so big due to the development in the reclaimed land or the bare land. In Sihwa, the size of the land was increased 180 $\textrm{km}^2$ and that of the seashore was decreased 110 km. in Hwaong the size was increased 50 $\textrm{km}^2$ and in Ansan the city space was increased 71 $\textrm{km}^2$ due to the formation of the industrial complex.

• Transactions of the Korean Society of Automotive Engineers
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• v.25 no.2
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• pp.227-235
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• 2017

In this paper, a systematic 5-mode(road steering, all-wheel steering, crab steering, reduced swing out mode and independent steering) steering algorithm design process for an all-terrain mobile crane with 5 axles and all steerable wheels is proposed. Steering angles for each steering mode are designed based not only on basic theory but also on vehicle specification, design limitation and requirements. A multi-body dynamic analysis is carried out to investigate the feasibility of the steering algorithm. According to the results, the proposed steering algorithm meets the objective of each steering mode.