Punch Bowl basin is analysed for the earth science and terrain factors such as geology, geophysical features, topography and water systems. The study area is composed of two kinds of rocks : Jurrasic granite in the central part and Precambrian metamorphic complex in the marginal part of she basin. The depth of the base rock is about 20 to 40 meters below the surface at the center of the basin. The process which has formed the basin may be the differential weathering of the rocks. The morphology of the slope of the basin is concave and the slope is about 20° above the nickpoint and about 5° below it. The water system of the region is very poor in drainage pattern.

The multiquadric terrain equation reproduces topography which is much closer to the real one than the digital terrain model. Also, terrain correction calculated by using the multiquadric terrain model shows a better result than that of digital terrain model. The accuracy of terrain correction depends on the accuracy of terrain data. Therefore, determination of the mean elevation of a terrain compartment by taking simple average of the maximum and minimum terrain height is not recommended. To obtain more accurate mean elevation of a compartment, a smaller scale topographic map such as 1:5,000 map is desirable for reading terrain data. But 1:25,000 map can be used for practical use. The pattern size of 250m×250m compartment is appeared to be suitable for near correction(D-F range), and 5㎞×5㎞ size for far correction. The computer program developed in this research can be used in all cases of surface and subsurface gravity surveys.

Climate data were obtained over an eight-year period (July 2013 to June 2021) using an automatic weather observation system (AWS) installed at the foot of Mt. Geumo in Chilgok, Gyeongbuk. Using climate data, the statistical and meteorological characteristics of the local circulation between the Nakdong River and Mt. Geumo were analyzed. This study is based on automatic weather observation system data for Dongyeong, along with comparative climate data from the Korea Meteorological Administration (Chilgok) and the Gumi meteorological observatory. Over the eight- years, mountain and valley winds have occurred 48 times a year on average, with the highest occurring in May and the weakest winds in June and December. When mountain winds occurred, the temperature in the nearby lowland region more strongly decreased than when valley winds blew. However, the potential to use mountain winds to improve urban thermal environments is limited because mountain winds occur infrequently in summer when a drop in nighttime temperature is required.

In this study, a field study was conducted to investigate the relationship between high-resolution remote images and the volumetric moisture, and the number of compaction. Changes in the shape of the surface and soil moisture content were observed and correlated with the number of compactions using roller equipment. As the compaction is repeated, the surface is flattened and the terrain curvature decreases and converges to zero. In particular, the tangential curvature changes as the number of compactions increase. Due to soil compaction, the vegetation index changed from a positive to a negative value, and most of the test site area was homogenized with a negative index. This suggests a decrease in porosity and an increase in volumetric water content associated with increasing soil compaction. Soil moisture, measured using a frequency domain reflectometry(FDR) sensor, tends to increase proportionately with the number of vibration compactions, but the correlation between the number of compactions and soil moisture is unclear. This study suggests that while it is necessary to consider the reproducibility of the experiments performed, the compaction quality of the soil can be evaluated using high-resolution terrain factors and soil moisture.

본 연구에서는 Cosmic-ray 토양수분량 관측시스템 구축 시 필요한 검증 네트워크 설계 기법 개발에 목적을 두고 유전율식(dielectric constant) 장비인 Frequency Domain Reflectometry (FDR)와 연계하여 Cosmic-ray 검증시스템을 구축·운영하였다. Cosmic-ray 검증시스템 평가에 필요한 시범지역은 기존 계측 장비와의 연계성과 다양한 수문자료의 활용성을 고려하여 설마천 유역에 구축하였다. 시범지역은 Cosmic-ray 장비와 FDR 센서(10개소)로 구축하였으며 2018년 7월부터 현재까지 운영되고 있다. 본 연구에서는 검증시스템의 신뢰도를 높이기 위해 코어법(soil core sampling method)을 통해 산출한 용적수분함량(volumetric water content)을 유전율식 장비와 정기적으로 검증하였다. 연구기간 중 수행한 코어법과 FDR 센서를 검증한 결과, 두 자료의 통계량이 bias=-0.03 m3/m3과 RMSE=0.03 m3/m3의 유의한 값을 보였다. 또한 연구기간 동안 FDR 센서의 시계열 특성은 모든 강우에 정상적으로 반응하였다. 그러나 일부 지점에서는 낙엽 및 캐노피의 차단과 상부사면의 유출 등으로 인해 상이한 특성을 보였다. Cosmic-ray 영향원(influence line) 내 FDR 센서의 대표성 분석은 시간 안정성 해석법(temporal stability analysis, TSA)을 이용하여 토심별(10 cm, 20 cm, 30 cm, 40 cm)로 분석하였다. 10개소에 대한 토심별 토양 수분량의 대표성을 TSA로 분석한 결과, 토심 10 cm에서는 FDR 5, 토심 20 cm에서는 FDR 8, 토심 30 cm에서는 FDR 2, 토심 40 cm에서는 FDR 1에서 가장 우수한 대표 특성을 보였다. 본 연구의 시범지역 운영 기간이 짧다는 한계는 있지만 지금까지의 분석 결과를 토대로 하여 볼 때, Cosmic-ray 관측시스템 구축 시에는 검증 장비로는 유전율식을 활용하고, Cosmic-ray 영향원 내 토양수분량의 대표성 분석은 TSA 방법으로 수행하는 것이 바람직할 것으로 판단된다.

For a mobile robot that travels along a terrain consisting of various geology, information on tire force and friction coefficient between ground and wheel is an important factor. In order to estimate the lateral force between ground and wheel, a lot of information about the model and the surrounding environment of the vehicle is required in conventional method. Therefore, in this paper, we are going to estimate lateral force through simple model (Minimal Argument Lateral Slip Curve, MALSC) using only minimum data with high estimation accuracy and to improve estimation reliability of the friction coefficient by using the estimated lateral force data. Simulation is carried out to analyze the correlation between the longitudinal and transverse friction coefficients and slip angles to design the simplified lateral force estimation model by analysing simulation data and to apply it to the actual field environment. In order to verify the validity of the equation, estimation results are compared with the conventional method through simulation. Also, the results of the lateral force and friction coefficient estimation are compared from both the conventional method and the proposed model through the actual robot running experiments.

지형에 대한 기존의 침식 시뮬레이션은 주로 소규모의 지형 변화에 초점을 맞추고 있다. 이 논문에서는 물에 의한 침식과 열적 침식과정을 결합하여 강의 네트워크와 산들로 이루어진 자 연스러운 대규모의 지형을 형성하는 방법을 제안한다. 물의 흐름에는 shallow water 시뮬레이 션의 파이프 모델을 사용하며, 강물의 줄기가 쉽게 형성되게 하기 위해 속도에 의존하는 침식 을, 강줄기 주변에 V자형 골짜기가 생성되게 하기 위해 열적 침식을 적용한다. 시뮬레이션 결 과 Kc (퇴적물 수용상수)와 Kc (속도의존 침식강도)의 값이 적당한 범위에 있을 때만 목적한 모 양의 지형이 생성되며, 이렇게 생성된 대표적인 자연스러운 모양의 지형을 예시한다. 또한 기존 의 열적 침식 방법의 개선과 Kc가 큰 값일 때 발생하는 문제점을 해결할 방안을 제시한다.

In this study, a digital terrain analysis had been performed for a mountainous watershed having wetlands. In order to consider the impact for wetland in the flow determination algorithm, the Laplace equation is implemented into the upslope accounting algorithm of wetness computation scheme. The computational algorithm of wetland to spatial contribution of downslope area and wetness was also developed to evaluate spatially distributed runoff due to the presence of wetland. Developed schemes were applied to Wangpichun watershed located Chuncuk mountain at Ulzingun, South Korea. Both spatial distribution of wetness and its histogram indicate that the developed scheme provides feasible consideration of wetland impact in spatial hydrologic analysis. The impact of wetland to downslope propagation pattern is also useful to evaluate spatially distributed runoff distribution.

The Characteristics of water catchment terrain on the cut-slopes of general nation road was analyzed. As the water catchment terrain increased the frequency defects on slopes are increased, and it shows a linear increase pattern. As a results of analyzing the location of water catchment terrain, when the intersection line of water catchment terrain located in the slopes the frequency defects were higher then it located top of slopes. also the types of defects were different.

In recent years, meteorological disasters have frequently occurred in rural areas. As a result, there have been growing concerns over the protective measures needed. In order to avoid natural risks and damage, and to strengthen countermeasure to meteorological disasters, local governments needs to be prepared. Therefore, this paper seeks to prevent meteorological disasters through mapping of inundation vulnerability in agricultural land, Chungcheongnam-do. In doing so, this study were considered 5 variables (i.e. precipitation, region of altitude below 50m, region of slope gradient is below 10 degree, distance from river within less 50m) for creating vulnerability map. The precipitation was excluded in five variables. Since, the precipitation which include Daily maximum precipitation, 2-Daily maximum precipitation, summer precipitation was not any correlation among them. The results of analysing four variables, exclusive of precipitation, were showed that the agricultural lands where located in Dangjin, Buyeo, Hongseong and Asan were low correlation of inundation vulnerability by overlapping analysis. Moreover, The correlation analysis was showed low correlation between each factors and the annual average area of agricultural lands’ inundation, whereas, the correlation analysis which was overlapping each factor showed high correlation. In conclusion, in order to create reliable vulnerability map in agricultural lands, Chungcheongnam-do, it must be considered to overlap analysis of the four main factors such region of altitude below 50m, region of slope gradient is below 10 degree, distance from river within less 50m. We suppose that this study’s analysis can help to set the preparedness site of agricultural lands inundation.

고해상도의 지형 데이터는 용량이 크기 때문에 GPU메모리에 데이터 전체를 적재할 수 없다. 따라서 out-of-core기반의 방법이 많이 사용된다. 그러나 보조기억장치의 대역폭 한계로 인하여 실시간으로 지형을 렌더링하기 어렵기 때문에 GPU로 웨이블릿 변환을 수행하여 압축된 DEM 데이터를 전송한 후 압축 해제하여 렌더링 하는 방법이 사용된다. 하지만 이 방법은 텍스처로부터 주기적으로 값을 읽어와 정점을 변환하고 메쉬를 생성해야하므로 비효율적이다. 이 논문에서는 웨이블릿 압축된 근사 계수 값을 정점의 속성으로 저장하고 기하 쉐이더에서 압축을 해제해 지형을 효율적으로 렌더링 하는 기법을 제안한다. 제안하는 방법은 근사 계수 값을 정점의 속성으로 주어 지형 텍스처의 전송량을 줄일 수 있다. 또한 지형 텍스처로부터 별도의 업로드 과정 없이 메쉬의 생성이 가능하므로 오버헤드가 발생하지 않아 효율적인 렌더링이 가능하다.

본 논문에서는 행동경제학에서 주로 사용되는 전망이론을 게임 인공지능 분야에 도입하여 인간의 인지적 특성을 사실적으로 표현하고자 하는 관점에서 NPC의 의사결정 모델을 제안한다. 이를 위하여 효용 이론의 한계로 지적되었던 기준점 설정의 문제, 민감도 체감성, 손실 회피의 특징을 분석하고, 이를 게임 상에서의 NPC 의사결정 모델에 반영한다. 본 논문에서는 제안 모델을 동적 지형분석에 적용하였으며, 실험을 통해 NPC의 다양한 개성 부과 및 창발적인 행위를 유도할 수 있음을 확인하였다.

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.

Existing tunnel and digging and construction of the center tunnel wall construction process was, including constructing additional a 2-Arch Tunnel is disadvantageous the workability and workday. In addition, the central wall (girder) due the complex waterproof, multiple, as leaks and has a structure plan requires proper Maintenance Methods.

Methods for measuring or estimating of ground shape by a laser range finder and a vision sensor(exteroceptive sensors) have critical weakness in terms that these methods need prior database built to distinguish acquired data as unique surface condition for driving. Also, ground information by exteroceptive sensors does not reflect the deflection of ground surface caused by the movement of UGVs. Thereby, UGVs have some difficulties regarding to finding optimal driving conditions for maximum maneuverability. Therefore, this paper proposes a method of recognizing exact and precise ground shape using Inertial Measurement Unit(IMU) as a proprioceptive sensor. In this paper, firstly this method recognizes attitude of a robot in real-time using IMU and compensates attitude data of a robot with angle errors through analysis of vehicle dynamics. This method is verified by outdoor driving experiments of a real mobile robot.

대용량 지형 데이터는 전체를 CPU나 GPU메모리에 적재할 수 없기 때문에 하드디스크와 같은 보조기억장치에서 필요한 부분을 읽어와 렌더링하는 out-of-core기반의 방법이 사용된다. 하지만 out-of-core 기반의 방법은 하드디스크로부터 GPU메모리까지 데이터를 읽어올 때 대역폭한계로 인해 데이터의 전송시간이 길어진다. 이 논문에서는 Direct Compute를 이용하여 대용량 지형 데이터를 GPU에서 웨이블릿 기법으로 압축한 후 계수들을 이미지의 RGBA채널에 대응시켜 저장하고 렌더링 단계에서 이를 압축 해제하여 사용하는 방법을 제안한다. 이 방법은 GPU를 이용하여 압축된 지형 데이터를 빠르게 압축 해제해 사용함으로써 데이터의 전송량을 줄이고 웨이블릿 계산을 병렬적으로 수행하므로 전체 렌더링 시간을 단축할 수 있다.

This paper focuses on development of a testbed for analysis of robot-terrain interaction on rough terrain and also, through one wheel driving experiments using this testbed, prediction of maximum velocity and acceleration of UGV. Firstly, from the review regarding previous researches for terrain modeling, the main variables for measurement are determined. A testbed is developed to measure main variables related to robot-terrain interaction. Experiments are performed on three kinds of rough terrains (grass, gravel, and sand) and traction-slip curves are obtained using the data of the drawbar pull and slip ratio. Traction-slip curves are used to predict driving performance of UGV on rough terrain. Maximum velocity and acceleration of UGVs are predicted by the simple kinematics and dynamics model of two kinds of 4-wheel mobile robots. And also, driving efficiency of UGVs is predicted to reduce energy consumption while traversing rough terrains.

Outdoor mobile robots are faced with various terrain types having different characteristics. To run safely and carry out the mission, mobile robot should recognize terrain types, physical and geometric characteristics and so on. It is essential to control appropriate motion for each terrain characteristics. One way to determine the terrain types is to use non‐contact sensor data such as vision and laser sensor. Another way is to use contact sensor data such as slope of body, vibration and current of motor that are reaction data from the ground to the tire. In this paper, we presented experimental results on terrain classification using contact sensor data. We made a mobile robot for collecting contact sensor data and collected data from four terrains we chose for experimental terrains. Through analysis of the collecting data, we suggested a new method of terrain feature extraction considering physical characteristics and confirmed that the proposed method can classify the four terrains that we chose for experimental terrains. We can also be confirmed that terrain feature extraction method using Fast Fourier Transform (FFT) typically used in previous studies and the proposed method have similar classification performance through back propagation learning algorithm. However, both methods differ in the amount of data including terrain feature information. So we defined an index determined by the amount of terrain feature information and classification error rate. And the index can evaluate classification efficiency. We compared the results of each method through the index. The comparison showed that our method is more efficient than the existing method.

역사기록과 지표조사에서 관찰되는 백두산 분화의 분출물은 북쪽으로 송화강과 동쪽과 서쪽으로 압록강과 두만강 하구에서 화산물질이 발견되고 있다. 즉 유체에 의해 이동되는 화쇄류, 화산이류, 화산성홍수의 영향은 천지를 중심으로 반경 400km의 범위에 해당된다. 그러나 약 1000년 전 분화 당시와 달리 현재는 천지칼테라호의 20억 톤보다 저수량이 큰 다목적댐과 저수지가 건설되어 화산분화 시 예상되는 유체의 흐름은 직간접적으로 인공적인 구조물의 영향을 받을 것으로 판단된다. 이 연구는 지형기복을 근거로 유체의 흐름방향을 산정하였고, 백두산 일원의 댐과 인공호수의 저수용량에 따른 화쇄류, 화산이류, 화산성홍수의 피해범위를 파악하였다. 분출 초기에 급경사를 따라 이동하는 화쇄류는 산지의 경사면을 따라 이동하여 평탄지까지 영향을 미치며, 천지호의 유출에 의한 화산이류는 주요 하천까지 도달할 수 있다. 화산성홍수의 경우 역사기록과는 달리 천지호보다 저수용량이 큰 인공호수까지 영향범위가 제한될 것으로 판단된다.

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.