• Journal of IKEEE
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• v.27 no.1
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• pp.1-11
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• 2023

Path driving tests are necessary for the development of self-driving cars or robots. These tests are being conducted in simulation as well as real environments. In particular, for development using reinforcement learning and deep learning, development through simulators is also being carried out when data of various environments are needed. To this end, it is necessary to utilize not only manually designed paths but also various randomly and automatically designed paths. This test site design can be used for actual construction and manufacturing. In this paper, we introduce a method for randomly generating a driving test path consisting of a combination of arcs and segments. This consists of a method of determining whether there is a collision by obtaining the distance between an arc and a line segment, and an algorithm that deletes part of the path and recreates an appropriate path if it is impossible to continue the path.

• Journal of Drive and Control
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• v.20 no.4
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• pp.27-34
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• 2023

Weeding in orchards is closely associated with productivity and quality. The customary weeding process is both labor-intensive and time-consuming. To solve the problems, there is need for automation of agricultural robots and machines in the agricultural field. On the other hand, orchards have complicated working areas due to narrow spaces between trees and amorphous terrain. Therefore, it is necessary to develop customized robot technology for unmanned weeding work within the department. This study developed a path generation and path control method for unmanned weeding according to the orchard environment. For this, the width of the weeding span, the number of operations, and the width of the weeding robot were used as input parameters for the orchard environment parameters. To generate a weeding path, a weeding robot was operated remotely to obtain GNSS-based location data along the superheated center line, and a driving performance test was performed based on the generated path. From the results of orchard field tests, the RMSE in weeding period sections was measured at 0.029 m, with a maximum error of 0.15 m. In the steering period within row and steering to the next row sections, the RMSE was 0.124 m, and 0.047 m, respectively.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• autumn
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• pp.180-185
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• 2003

The increase of traffic over a bridge has been emerged as one of the most severe problems in view of bridge maintenance, since the load effect caused by the vehicle passage over the bridge has brought out a long-term damage to bridge structure, and it is nearly impossible to maintain operational serviceability of bridge to user's satisfactory level without any concern on bridge maintenance at the phase of completion. Moreover, bridge maintenance operation should be performed by regular inspection over the bridge to prevent structural malfunction or unexpected accidents front breaking out by monitoring on cracks or deformations during service. Therefore, technical breakthrough related to this uninterested field of bridge maintenance leading the public to the turning point of recognition is desperately needed. This study has the aim of development on automated inspection system to lower surface of bridge superstructures to replace the conventional system of bridge inspection with the naked eye, where the monitoring staff is directly on board to refractive or other type of maintenance .vehicles, with which it is expected that we can solve the problems essentially where the results of inspection are varied to change with subjective manlier from monitoring staff, increase stabilities in safety during the inspection, and make contribution to construct data base by providing objective and quantitative data and materials through image processing method over data captured by cameras. By this system it is also expected that objective estimation over the right time of maintenance and reinforcement work will lead enormous decrease in maintenance cost.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2000.11a
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• pp.407-416
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• 2000

국방 부문에 종사하는 관리자들은 국방정보시스템 사업관리에 있어서 최신정보기술에 대한 기본적인 사항은 알고있어야 효율적이고 효과적이며 성공적인 사업관리를 진행할 수 있을 것이다. 국방 부문에 종사하는 관리자들이 저비용 고효율의 국방정보시스템을 건설하고 운영 유지관리 하기 위하여 알아야 할 핵심 및 최신정보기술은 크게 인공지능기술, 멀티미디어 정보화 기술, 가상현실 기술, 시뮬레이션 기술, 텔레프레즌스 기술, 나노테크놀로지 기술, 데이터베이스 기술, 병렬처리 기술, 로봇공학 기술, 소프트웨어 공학에 관련된 기술 등이 있다. 그러나 국방부문에 종사하는 정보통신 전문 인력을 제외한 관리자들이 국방관련 사업관리를 수행하면서 정보기술에 대한 이해 수준이 비교적 낮기 때문에 효율적으로 국방사업을 준비, 계획, 추진하기 어려운 실정이다. 따라서 국방부문에 종사하는 관리자들이 정보기술을 알기 쉽게 이해할 수 있도록 국방부문 핵심지능형정보기술 발전 및 군 활용방안을 이해하기 쉽도록 작성하며 효율적인 사업관리가 이루어질 수 있는 방안을 연구하였다. 본 논문은 국방부문핵심 지능정보기술 식별 및 활용방안을 연구하여 핵심적으로 식별된 사항들을 우리 국방부문의 $C^4$I(지휘, 통제, 통신, 컴퓨터시스템)시스템, 내장형 무기시스템, 각종 교육훈련 정보시스템, 자원관리 정보시스템 등에 어떻게 적용할 것이며 적용시 기대효과는 무엇인가를 제시토록 하여 국방부문에 종사하는 관리자들이 각종 국방사업을 조정, 통제, 확인, 감독, 준비/계획하면서 참고하여 저비용 고효율의 국방관련 각층 사업을 관리할 수 있는 능력을 배양시키도록 연구를 수행하였다. 국방관련 각종 사업을 관리할 수 있는 능력을 배양시키도록 연구를 수행하였다. 국방부문 핵심지능정보기술 발전 및 활용 방안에 포함될 주요 내용을 요약하여 제시하였다.의 경향성을 나타내는 오차 주기(error cyc1e)를 이용함으로써 고객들의 수요의 경향성을 좀 더 세밀한 부분까지 파악할 수 있게 해 준다.ction, secondary electron microscopy, atomic force microscoy, $\alpha$-step, Raman scattering spectroscopu, Fourier transform infrared spectroscopy 및 micro hardness tester를 이용하여 기판 bias 전압이 DLC 박막의 특성에 미치는 영향을 조사하였다. 분석결과 본 연구에서 제작된 DLC 박막은 탄소와 수소만으로 구성되어 있으며, 비정질 상태임을 알 수 있었다. 기판 bias 전압의 증가에 따라 박막의 두께가 감소됨을 알 수 있었고, -150V에서는 박막이 거의 만들어지지 않았으며, -200V에서는 기판 표면이 식각되었다. 이것은 기판 bias 전압과 ECR 플라즈마에 의한 이온충돌 효과 때문으로 판단되며, 150V 이하에서는 증착되는 양보다 re-sputtering 되는 양이 더 많을 것으로 생각된다. 기판 bias 전압을 증가시킬수록 플라즈마에 의한 이온충돌 현상이 두드러져 탄소와 결합하고 있던 수소원자들이 떨어져 나가는 탈수소화 (dehydrogenation) 현상을 확인할 수 있었으며, 이것은 C-H 결합에너지가 C-C 결합이나 C=C 결합보다 약하여 수소 원자가 비교적 해리가 잘되므로 이러한 현상이 일어난다고 판단된다. 결합이 끊어진 탄소 원자들은 다른 탄소원자들과 결합하여 3차원적 cross-link를 형성시켜 나가면서 내부 압축응력을 증가시키는 것으로 알려져 있으며, hardness 시험 결과로 이것을 확인할 수 있었다. 그리고 표면거칠기는 기판 bias 전압을 증가시킬수록 더 smooth 해짐을 확인

• Proceedings of the Korea Water Resources Association Conference
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• 2018.05a
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• pp.86-86
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• 2018

본 연구는 한국의 도시재생과 스마트 물 관리의 정책 분석을 위하여 도시재생과 스마트 물 관리의 등장 배경, 주요 현안 및 연계성을 모색하고 도시재생방안으로서 스마트 물 관리체계의 가능성을 검토하는 것을 목적으로 한다. 1950년대의 도시재건(Urban Reconstruction)과 1970~80년대의 도시재개발(Urban Renewal, Urban Redevelopment) 등의 정비 사업은 물리적 환경정비에 초점을 맞추었다. 그러나 1990년대 환경문제가 세계적 이슈로 등장하면서 교외지역 난개발 문제에 대한 대응책이 필요하게 되었고 도시의 물리 환경적, 산업 경제적, 사회 문화적 측면을 부흥시키는 도시재생 접근법이 출현하였다. 한국 정부는 2017년부터 시작한 '도시재생 뉴딜사업'의 일환으로 스마트 기술을 적용한 도시재생사업을 통해 스마트도시 선도국가 도약과 세계적 흐름에 부합하는 도시성장을 기대하고 있다. 1980년대 초 등장한 스마트 기술은 2000년대 들어와 스마트 도시, 스마트 인프라, 스마트 그리드 등의 분야로 확대, 진보하였다. 물 분야의 스마트 기술은 2009년 스마트워터그리드 이니셔티브(Smart Water Grid Initiative)의 발족과 함께 IBM, CISCO, Intel 등의 IT 기반 물 관리 워킹그룹 형성, Suez, Veolia, Siemens 등 수처리 기업의 스마트워터그리드 분야 진출 모색과 함께 발전하기 시작하였다. 이후 2012년 유엔 스마트 물 관리 포커스 그룹(ITU-T SG 5)의 스마트 물 관리 표준화 연구가 착수되었고 한국은 국토교통부 건설교통기술 연구 개발사업 중 하나로 스마트 물 관리 장기 연구 사업을 시작하였다. 스마트 물 관리는 수자원 및 상하수도 관리의 효율성 제고를 위하여 스마트 미터, 센서, 디지털지도제작 등 ICT를 이용한 차세대 물 관리시스템이라고 정의할 수 있다. 구체적인 대상 분야를 고려한다면 하천수, 우수, 지하수, 하폐수처리수, 해수담수 등 다양한 수자원의 관리, 물의 생산과 수송, 사용한 물의 처리 및 재이용 등 물 관리 전 분야를 포함한다. 그러나 스마트 물 관리의 용어와 개념을 처음으로 도입한 미국 등 선진국과 관련기업들은 스마트 물 관리를 '스마트 워터 미터, 센서, 첨단 모델링, 수문 지도제작, 스마트 관개농업, 자동화 로봇 등 다양한 기술을 통합적으로 운영하는 지능적인 수자원 관리를 위한 정보네트워크'로 정의한다. 일찍이 도시재생으로의 패러다임 전환을 실시한 영국 및 일본과 달리 한국의 도시재생은 개념, 구성요소, 범위, 사업방식 등의 여러 가지 측면에서 아직 형성단계에 있다. 또한 한국의 스마트 물 관리 논의는 개념정립 측면에서 심층적 논의가 거의 부재하였다. 기존의 논의들은 수자원 혹은 상하수도서비스 분야에서의 연구결과와 기술개발성과를 기계적으로 적용하고 확대하는 측면만을 부각시켰다. 그러나 이와 같은 스마트 물 관리에 대한 논의는 정보통신기술과 물 관리 서비스를 단편적으로 연결하고 적용범위를 제한할 수도 있다는 점에서 한계성이 있다. 본 연구는 국내외 문헌검토를 바탕으로 한국의 도시재생과 스마트 물 관리의 정책을 분석하고 지금까지 별개로 간주된 두 개념의 장점을 융합하여 향후 지속가능한 도시개발 사업으로서의 가능성을 검토하고자 한다.

• The Journal of the Acoustical Society of Korea
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• v.38 no.2
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• pp.161-167
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• 2019

In this paper, the performance verification of an around-view sonar and an excavation depth measuring sonar applicable to track-based ROVs (Remotely Operated underwater Vehicles) for heavy duty work is studied. For the performance verification, an experiment is carried out in a water tank and at sea by attaching the around-view sonar and the excavation depth measuring sonar for a heavy work ROV. In the case of the around-view sonar, image sonars are mounted on ROV in four directions (front, back, left and right) and in the case of the excavation depth measuring sonar, the same kind of MBES (Multi Beam Echo Sounder) is mounted on the front of the ROV. The result of an operation test of the ROV equipped with these sonars shows that the sonar systems are rarely affected by high turbidity due to sedimentation during the operation. In the case of the around-view sonar, it is possible to see rock formation, gravel and sandbank 30 m ahead of the ROV. It is confirmed that the excavation depth can be measured after the ROV has performed the excavation. This experiment demonstrates that the ROV can improve the efficiency of the work by utilizing the around-view sonar and the excavation depth measuring sonar.

• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.7
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• pp.980-991
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• 2023

To prevent accidents near the quay caused by a ship, ports are generally designed and constructed through navigation and berthing safety assessment. However, unpredictable accidents such as ship collisions with the quay or personal accidents caused by ropes still occur sometimes during the ship berthing or mooring process. Automatic mooring systems, which are equipped with an attachment mechanism composed of robotic manipulators and vacuum pads, are designed for rapid and safe mooring of ships. This paper deals with a displacement and velocity measurement system for the automatic mooring device, which is essential for the position and speed control of the vacuum pads. To design a suitable system for an automatic mooring device, we first analyze the sensor's performance and outdoor environmental characteristics. Based on the analysis results, we describe the configuration and design methods of a displacement and velocity measurement system for application in outdoor environments. Additionally, several algorithms for detecting the sensor's state and estimating a ship's velocity are developed. The proposed method is verified through some experiments for displacement and speed measurement targeted at a moving object with constant speed.

• Korean Journal of Construction Engineering and Management
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• v.5 no.5 s.21
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• pp.183-192
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• 2004

Even in Korea the number of steel structure buildings that allow internal space and easy change of their layouts in accordance with the purpose of buildings and box-type steel bridges constructed with thick plates with thickness in a rage just from a few $\beta$AE to \$100\beta$AE is increasing these days and therefore, domestic fabrication and processing technology of members for steel structures is being improved at a pace faster than in the past to meet the growing requirements of consumers for high reliability on quality control on the related steel structures. However, most domestic fabricators os steel structures who are turning out their steel products in accordance with the designs prepared by engineering companies in their respective works for the sake of cost cut more than anything else, hesitating to introduce any advanced new technology into themselves. In the case of the steel structure design application for small and mid-size buildings in particular, it is quite meaningful not only for those who are involved in steel structure business, but also for the people working at construction work fields to review the result of the study on the connections of steel structure members deigned to obtain superb quality of steel structures within short period for steel fabrication and erection at fields in economical ways, as there is a glowing tendency seeking standardization of connection of steel structure members as well as whole structure together with the development on design of construction system of buildings including their exterior and interior decoration materials, manufacture of the related members and fabrication technique structure. This paper has been prepared with the aim to review the peculiar characteristics of buildings constructed with the main frames of steel structures and actual cases of the change made ing the connections between steel structure columns and between columns and girder members in order to reduce the work period necessary for fabrication and erection of steel structures at the maximum as well as the some examples of steel structures fabricated through automatic welding by robots for box-type columns in addition to the description of the problems found in the course of fabricating those steel structures, suggesting possible counter-measures to solve them.

• Journal of the Society of Disaster Information
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• v.16 no.1
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• pp.163-177
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• 2020

Purpose: While it is very important to maintain facilities recently, the introduction and its application of high technology in the facility maintenance industry has increased. It is necessary for high technology to secure reliability through the verification and certification system of diagnostic equipment to have an effective impact in the field, but there is difference between the industry's perspective and realistic level of technology apart from social demand for the system of the system. This paper dealt with the introduction of a verification and certification system for rational facility diagnostic equipment with the opinion survey on managers about the current situation. Method: Survey is carried out targeting managers in the maintenance and construction regarding the necessity and urgency of introducing a verification and certification system to promote the introduction and its application of high technology of diagnostic equipment and facility inspection. Also, the introduction to a verification and certification system was reviewed for advanced facility diagnostic equipment through foreign research about similar systems and comparative analysis of similar systems related to the certification of 21 domestic equipment. Result: It showed that, regarding the application of high technology, it is necessary for most managers to introduce high technology such as drones, robots, etc., in the maintenance industry, and when high technology is introduced, it will have a considerable effect in the field. On the other hand, the current technology level in Korea is relatively low, so it turned out to take a certain amount of time for the application of technology. Also, it was found that the management of reliable facility diagnostic equipment will be possible through the introduction of the verification and certification system for facility diagnosis equipment. Meanwhile, the survey is conducted on similar systems about foreign and domestic diagnosis and measuring equipment, etc., but there is no system to verify and certify equipment applied with high technology directly to facility diagnosis maintenance. However, because Japan has a system of verifying the performance of diagnostic equipment and South Korea has 21 similar inspection and diagnostic equipment certification systems among 186 certification systems, it is considered to be possible to design systems which utilize them. Conclusion: According to the managers' opinion, it seems that the introduction of the system supporting the application of 4th industrial technology for the equipment and the use of the equipment with high reliability has sufficient validity. However, because our high technology level is undervalued compared to the urgency, the system for checking high technology facilities and certifying diagnostic equipment should be to be implemented in form of escalation considering technical use and verification level. Apart from the introduction of the verification and certification system, it is necessary for special investment, support and efforts to promote advanced facility diagnostic equipment.