• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.38 no.2
• /
• pp.137-148
• /
• 2014

A multi-rotor is an autonomous flying robot with multiple rotors. Depending on the number of the rotors, multi-rotors are categorized as tri-, quad-, hexa-, and octo-rotor. Given their rapid maneuverability and vertical take-off and landing capabilities, multi-rotors can be used in various applications such as surveillance and reconnaissance in hostile urban areas surrounded by high-rise buildings. In this paper, the unified dynamic model of each tri-, quad-, hexa-, and octo-rotor are presented. Then, based on derived mathematical equations, the operation and control techniques of each multi-rotor are derived and analyzed. For verifying and validating the proposed models, operation and control technique simulations are carried out.

• Journal of the Korea Society for Simulation
• /
• v.28 no.1
• /
• pp.23-39
• /
• 2019

The use of drone-bots is demanded in times regarding the reduction of military force, the spread of the life-oriented thought, and the use of innovative technology in the defense through the fourth industrial revolution. Especially, the drone's surveillance and reconnaissance are expected to play a big role in the future battlefield. However, there are not many cases in which the concept of operation is studied scientifically. In this study, We propose search algorithms for reconnaissance drone through simulation analysis. In the simulation, the drone and target move linearly in continuous space, and the target is moving adopting the Random-walk concept to reflect the uncertainty of the battlefield. The research investigates the effectiveness of existing search methods such as Parallel and Spiral Search. We analyze the probabilistic analysis for detector radius and the speed on the detection probability. In particular, the new detection algorithms those can be used when an enemy moves toward a specific goal, PS (Probability Search) and HS (Hamiltonian Search), are introduced. The results of this study will have applicability on planning the path for the reconnaissance operations using drone-bots.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2021.06a
• /
• pp.39-39
• /
• 2021

기상재해를 극소화하기 위해서는 그 원인이 되는 기상현상의 규모와 거동을 명확히 감시하고 분석하여 신뢰성 있는 예측정보가 제공되어야 한다. 최근 위험기상 발생빈도가 증가하여 초단기 및 위험기상 예보의 정확도 향상을 위한 고품질 레이더 정보 활용 연구가 활발하게 진행되고 있다. 레이더는 전자파를 이용하여 강우의 양과 분포, 이동특성을 관측하는 장비로써 우리나라는 초단기적 위험기상 대응능력 향상을 추진하기 위한 목적으로 첨단 성능의 이중편파레이더 관측망을 구축하고 있다. 국내 기상관측용 레이더는 기상예보(기상청), 홍수예보(환경부), 군 작전 기상지원(국방부) 등으로 각 기관이 개별적으로 설치운영 하고 있다. 본 연구에서는 관계부처에서 운영하고 있는 레이더의 합성장을 이용하여 강수장의 상관성을 기반으로 이류(advection) 특성을 도출하였다. 정확도 있는 이류특성을 도출하기 위하여 시간해상도는 10분을 적용하였으며 가우시안 필터링 기법을 적용하여 강수장 상관분석을 수행하였다. 호우와 태풍을 대상으로 강수장의 이류패턴을 추출하여 강수장의 이동방향 및 속도를 고려한 강수량 예측기법의 적용성을 평가하였다. 본 연구 결과는 격자형 강수예측정보를 제공하여 AI 홍수예보 및 수치예보 모델의 초기조건 입력 등에 활용되어 기후변동성에 따른 대국민 안전 실현을 확보하는데 기후변화 대응전략의 핵심기술로 활용될 수 있을 것으로 판단된다. 덧붙어, 4차 산업혁명에 따른 수문기상 빅 데이터(big data) 통합 플랫폼을 구축하여 고해상도 홍수대응 기술 및 GIS 및 모바일 시스템을 연계한 실시간 기후재해 예·경보가 가능할 것으로 사료된다.

• Journal of Korea Entertainment Industry Association
• /
• v.10 no.4
• /
• pp.303-310
• /
• 2016

Due to population explosion and develop of the industry, expressways, national roads and railways has been developed a lot. But it increased the disconnection of the ecosystem. The phenomenon of wild animals' habitat simplification has been increased. The damage appeared in succession because of the harmful wild animal. Our country is making efforts relief of some affected farming household's financial compensation. But the affected populations can't sleep at night or they are suffering in their basic life because of this kind of night patrol. This research is based on the study of wild animal's ecosystem and their habits, generate and regenerate supersonic waves and infrasound, prevent wild animal's approach to some extent and stop the approximation effectively, focusing on develop a quadcopter about discrete pulses system.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.49 no.9
• /
• pp.328-334
• /
• 2012

Continuous fetal heart beat monitoring has assisted clinicians in assuring fetal well-being during antepartum and intrapartum. Fetal heart rate (FHR) is an important parameter of fetal health during pregnancy. The Doppler ultrasound is one of very useful methods that can non-invasively measure FHR. Although it has been commonly used in clinic, inaccurate heart rate reading has not been completely resolved.. The objective of this study is to improve detection algorithm of FHR from Doppler ultrasound signal with simple method. We modified autocorrelation function to enhance signal periodicity and adopted adaptive window size and shifted for data segment to be analysed. The proposed method was applied to real measured data, and it was verified that beat-to-beat FHR estimation result was comparable with the reference fetal ECG data. This simple and effective method is expected to be implemented in the embedded system.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.13 no.9
• /
• pp.4036-4044
• /
• 2012

This study is aimed to investigate the association between web-based visual stress and MBTI personality types. The stressor deriving visual stress is built by 14 vowels out of Korean alphabet as a content and parallel striples as a background on the screen, which is given to each subject during 5min. The dependent variable indicating how much human takes visual stress is the reduction rate of flicker fusion frequency, which is evaluated with visual flicker fusion frequency tester. The independent variables are gender and 8 MBTI personality types(E-I, S-N, T-F, and J-P), and hypotheses are based on human information processing model and previous studies. The results address that the reduction rate is not significantly affected by gender, S-N, and J-P, but E-I and T-F have significant influences on it. The reduction rate in I-type is almost 2 times as much as that in E-type and T-type has the rate 2.2 times more than F-type. This study can be applicable to determine the adequate personnel for jobs requiring less sensibility to visual stressors in areas that human error may lead to critical damages to an overall system.

• Journal of Korea Multimedia Society
• /
• v.10 no.11
• /
• pp.1367-1383
• /
• 2007

A sensor network consists of a network of sensors that can perform computation and also communicate with each other through wireless communication. Some important characteristics of sensor networks are that the network should be self administered and the power efficiency should be greatly considered due to the fact that it uses battery power. In sensor networks, when large amounts of various stream data is produced and multiple queries need to be processed simultaneously, the power efficiency should be maximized. This work proposes a technique to create an index on multiple monitoring queries so that the multi-query processing performance could be increased and the memory and power could be efficiently used. The proposed SMILE tree modifies and combines the ideas of spatial indexing techniques such as k-d trees and R+-trees. The k-d tree can divide the dimensions at each level, while the R+-tree improves the R-tree by dividing the space into a hierarchical manner and reduces the overlapping areas. By applying the SMILE tree on multiple queries and using it on stream data in sensor networks, the response time for finding an indexed query takes in some cases 50% of the time taken for a linear search to find the query.

• Journal of Korea Multimedia Society
• /
• v.13 no.3
• /
• pp.417-429
• /
• 2010

Though background subtraction has been widely studied for last decades, it is still a poorly solved problem especially when it meets real environments. In this paper, we first address some common problems for background subtraction that occur in real environments and then those problems are resolved by improving an existing GMM-based background modeling method. First, to achieve low computations, fixed point operations are used. Because background model usually does not require high precision of variables, we can reduce the computation time while maintaining its accuracy by adopting fixed point operations rather than floating point operations. Secondly, to avoid erroneous backgrounds that are induced by high pedestrian traffic, static levels of pixels are examined using shot-time statistics of pixel history. By using a lower learning rate for non-static pixels, we can preserve valid backgrounds even for busy scenes where foregrounds dominate. Finally, to adapt rapid illumination changes, we estimated the intensity change between two consecutive frames as a linear transform and compensated learned background models according to the estimated transform. By applying the fixed point operation to existing GMM-based method, it was able to reduce the computation time to about 30% of the original processing time. Also, experiments on a real video with high pedestrian traffic showed that our proposed method improves the previous background modeling methods by 20% in detection rate and 5~10% in false alarm rate.

• Tunnel and Underground Space
• /
• v.18 no.5
• /
• pp.343-354
• /
• 2008

A new method is suggested herein to measure the virgin earth stresses by means of a borehole. This novel concept is basically a combination of borehole stress relieving and borehole fracturing techniques. The destressing of the borehole is achieved by means of inducing thermal tensile stresses at the borehole periphery by using a cryogenic fluid such as Liquid Nitrogen($LN_2$). The borehole wall eventually develops fractures when the induced thermal stresses exceed the existing compressive stresses at the borehole periphery in addition to the tensile strength of the rock. The above concept is theoretically analyzed for its potential applicability to interpret in situ stress levels from the tensile fracture stresses and the corresponding borehole wall temperatures. Coupled thermo-mechanical numerical simulations are also conducted using FLAC3D, with thermal option, to check the validity of the proposed techniques. From the preliminary theoretical and numerical analysis, the method suggested for the measurement of in situ stresses appears to be capable of accurate estimation of the virgin stresses by monitoring tensile crack formation at a borehole wall and recording the wall temperatures at the time of crack initiation.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.36 no.12B
• /
• pp.1708-1721
• /
• 2011

Recent outbreak of cattle diseases such as foot-and-mouth disease(FMD) requires constant monitoring of burial sites of mass cull of cattles. However, current monitoring system takes environmental samples from burial sites with period of between one and two weeks, which makes it impossible for non-stop management of hazardous bio-waste. Therefore, in this study, we suggest an improved real-time environmental monitoring system for such bio-hazardous sites based on wireless sensor networks, which makes constant surveillance of the FMD burial sites possible. The system consists mainly several wireless environmental monitoring sensors(i.e dust, Co2, VOC, NH3, H2S, temperature, humidity) nodes and GPS location tracking nodes. Through analysis of the relayed of the environmental monitoring data via gateway, the system makes it possible for constant monitoring and quick response for emergency situation of the burial sites. In order to test the effectiveness of the system, we have installed a set of sensor to gas outlets of the burial sites, then collected and analyzed measured bio-sensing data. We have conducted simulated emergency test runs and was able to detect and monitor the foul smell constantly. With our study, we confirm that the preventive measures and quick response of bio environmental accident are possible with the help of a real-time environmental monitoring system.