• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.669-677
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• 2005

This acticle describes the control method of mobile robots for avoiding slip and turnover on sloped terrain. An inexpensive gyro/vision sensor module is suggested for obtaining the information of terrain at present and future. Using the terrain information and the robot state, the maximum limit velocity of the forward velocity of the robot is defined fur avoiding slip and turnover of the robot. Simultaneously the maximum value of the robot velocity is reflected to an operator in the form of reflective force on a forte feedback joystick. Consequently the operator can recognize the maximum velocity of the robot determined by the terrain information and the robot state. In this point of view, the inconsistency of the robot movement and the user's command caused by the limit velocity of the robot can be compensated by the reflective force. The experimenal results show the effectiveness of the suggested method.

• Korean Journal of Remote Sensing
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• v.18 no.5
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• pp.291-297
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• 2002

Optimal allocation of viewers on a terrain in such a wav that the hidden area would be minimized has many practical applications. However, it is impossible in practical sense to evaluate all the possible allocations. In this paper, we propose an optimal allocation of viewers based on genetic algorithm that enables probabilistic search of huge solution space. An experiment for one and three viewers was performed. The algorithm converges to good solutions. Especially, in one viewer case, the algorithm found the best solution.

• Journal of Korean Society for Geospatial Information Science
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• v.3 no.2 s.6
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• pp.29-42
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• 1995

Route design in topographical plane map brings many problems in efficiency and requires much time and labor by hand Recently, the active studies of efficient route design method using 3-D terrain information are being developed according to increasing concentration on GSIS. In order to analyze terrain information for route design efficiently, this study presents objective and overall datum by applying SQL in construction and analysis of database and the possibility of three-dimensional terrain information analysis, This study generates 3-D base map on topographical map of scale 1:5,000 and acquires terrain information that have various thematic map data; contour, land use, roadway, and drange. This is a study on the application of SQL in route design and construction of the terrain information that linked by graphic datum of completed topographical map and attributed datum of database. As the result of this study, we can produce promptly and efficiently design datum of profile annotation, cross section, and volume computations to the preliminary route for route design and apply this efficient method to route design by understanding visual DTM which is composed of the roadway and the natural scene after design.

• Journal of Korean Society for Geospatial Information Science
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• v.18 no.2
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• pp.63-68
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• 2010

In this study, subject areas with different topographic feature were selected for the purpose of measuring the slope terrain by setting Terrestrial LiDAR in different places. And the slope terrain was analyzed based on three-dimensional raw data obtained through the measurement of slope terrain. With DEM data obtained from five measurement instances with 5mm of scan interval by setting Terrestrial LiDAR on the site 30m away straight from the slope terrain consisting of asphalt, rock, soil, and plants, the slope terrain was analyzed according to topographic feature. In addition, in consideration of changes in setting location that might affect the measured result, this study reviewed the accuracy of measured data obtained from different measurement areas.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1057-1062
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• 2014

This paper proposes a tip-over detection method for a mobile robot using a support inscribed circle defined as an inscribed circle of a support polygon. A support polygon defined by the contact points between the robot and the terrain is often used to analyze the tip-over. For a robot moving on uneven terrain, if the intersection between the extended line of gravity from the robot's COG and the terrain is inside the support polygon, tip-over will not occur. On the contrary, if the intersection is outside, tip-over will occur. The terrain is detected by using an RGB-D sensor. The terrain is locally modeled as a plane, and thus the normal vector can be obtained at each point on the terrain. The support polygon and the terrain's normal vector are used to detect tip-over. However, tip-over cannot be detected in advance since the support polygon is determined depending on the orientation of the robot. Thus, the support polygon is approximated as its inscribed circle to detect the tip-over regardless of the robot's orientation. To verify the effectiveness of the proposed method, the experiments are carried out using a 4-wheeled robot, ERP-42, with the Xtion RGB-D sensor.

• The Transactions of the Korea Information Processing Society
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• v.3 no.1
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• pp.160-166
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• 1996

In 2D and 3D computer graphics, fractal techniques have been applied ter rain models. In general, a specific 3D terrain model such as Cheju or Uleung Island could not beformulated by statistical fractalsowing to the randomeffects. However, by locating the control points on the edges and the surface of a specific terrain such as Cheju Island, a similar shape of the terrain model can be simulated. This paper presents the way of formulating a specific 3D terrain model by the statistical fractals with fixed midpoints.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.10a
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• pp.224-228
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• 2002

To study the trafficability on soft and cohesive benthic terrain, a soil bin is designed and constructed. The information of shear strength of pacific seafloor and the results of dimensional analysis of vehicle-train system are used as basic datum for concept design of soil bin. Cohesive benthic terrain is modeled by means of bentonite-water mixture. The shear strength of the mixture is measured by motorized shear meter. Several facilities are constructed for mixing and evening modeled soil, transporting vehicle model. The shear strength in soil bin is investigated for depth, age and velocity. The result of this study is used as basic information to the experiment, study for development of crawler on benthic terrain.

• International conference on construction engineering and project management
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• 2015.10a
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• pp.669-670
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• 2015

Efficient management of the construction heavy equipment is required to reduce the rate of carbon emissions and on-site accidents. The intelligent excavation system (IES) will improve the construction quality and productivity through information technologies and efficient equipment operation, especially in large earthwork projects. Three-dimensional digitized ground data should be required for identifying the path of heavy equipment and work-site environment. Rapid development of terrain laser scanners (TLS) is more readily to acquire the digital data. This study suggests the '3D ground terrain processing platform (3DGTPP)' including data manipulating module and analyzing module of the scanned data for intelligent earthmoving equipment operation. The processing platform consists of six modules, including scanning, registering, manipulating, analyzing, transmitting, and storing. 3D ground terrain processing platform presented in this study will provide fundamental information for intelligent excavation system (IES), which will increase the efficiency of earthworks and safety of workers in significant.

• Journal of Korean Society of Rural Planning
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• v.11 no.1 s.26
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• pp.9-15
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• 2005

Preservation of geometrical context of terrains in a digitized format is useful in handling and making modification to the data. Digitization of three-dimensional terrain still proves a great challenge due to heavy load of context required to retain details of topological and geometrical information. Methods of simplification, restoration and multi-level terrain generation are often employed to transform the original data into a compressed digital format. However, reduction of the stored data size comes at an expense of loss of details in the original data set. This article reports on an alternative scheme for simplification and restoration of terrain data. The algorithm utilizes the fact that the terrain formation and patterns can be predicted and modeled through the fractal algorithm. This method was used to generate multi-level terrain model based on NGIS digital maps with preserving geometrical context of terrains.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.6
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• pp.2581-2594
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• 2018

The microcell terrain is the most common wireless network terrain in our life. In order to solve wireless network optimization of weak coverage in the microcell terrain, improve call quality and reduce the cost of the premise, power amplifiers in base stations should be adjusted according to user volume. In this paper, characteristics of microcell topography are obtained after analysis. According to the topography characteristics of different microcells, changes in the number of users at different times have been estimated, meanwhile, the number of scatter users are also obtained by monitoring the PCCPCH RSCP and other parameters. Then B-Spline interpolation method has been applied to scatter users to obtain the continuous relationship between the number of users and time. On this basis, power amplification can be chosen according to changes in the number of users. The methods adopted by this paper are also applied in the engineering practice, sampling and interpolation are used to obtain the number of users at all times, so that the power amplification can be adjusted by the number of users in a microcell. Such a method is able to optimize wireless network and achieve a goal of expanding the area of base stations, reduce call drop rate and increase capacity.