소형 UAV의 산업 응용을 위한 자동 정밀 착륙에 관한 연구 (A Study on Automatic Precision Landing for Small UAV's Industrial Application)
-
- 융합정보논문지
- /
- 제7권3호
- /
- pp.27-36
- /
- 2017
최근 군수 산업, 해양수산업, 농업, 공업, 서비스 등의 거의 모든 산업 분야에서는 소형 무인항공기를 사람이 접근하기 힘들거나 CCTV가 설치되지 않은 영역에 대해 공중 촬영이나 근접 비행 등에 활용하고 있다. 또한 소형 무인기 촬영 정보를 토대로 감시나 통제, 또는 관리를 효율적으로 수행하기 위한 응용 연구가 활발하게 이루어지고 있다. 일련의 설정된 작업을 부여하고 자동으로 그 임무를 수행하도록 하는 임무 기반 형태의 작업을 수행하기 위해서는 소형 무인항공기가 안정적으로 비행해야 할 뿐만 아니라 일정시간마다 에너지를 충전할 수 있어야 하며, 또한 무인항공기가 임무 종료 후에는 특정 지점에 자동으로 그리고 정밀하게 착륙해야 할 필요가 있다. 이를 위해서는 소형 무인항공기 자체에서 촬영하는 동영상으로부터 착륙 지점에 설치되어 있는 마커를 탐지하고 인식하는 과정을 통해 착륙을 유도하는 자동 정밀 착륙 방법이 필요하며, 본 논문에서는 저가의 범용 소형 무인비행체를 사용함에 있어서 고 사양을 요구하는 다른 여러 가지 인식 기법들을 사용하지 않고 단순한 탬플릿 매칭 기법을 적용하여서도 정밀하고 안정된 자동 착륙이 가능함을 나타내고, 시뮬레이션과 실제 실험을 통해서 수 센티미터 이내의 오차를 보이는 정밀 착륙이 가능하며, 이는 산업 현장에 유용하게 활용될 수 있음을 보이고자 한다.
가정 내에 방송과 총신을 통합하여 제공하기 위한 방법으로서 수동광가입자망(Passive Optical Network)이 제안되고 있다 이를 구현하기 위해 여러 방식들이 연구되고 있는데 크게는 방송과 통신에 각기 다른 파장을 이용하는 방식과, 이들을 시간 다중화 하여 한 개의 과장으로 송신하는 방식으로 나눌 수 있다. 또한 동신에 이용하는 과장의 경우 각 가입자에게 다른 파장을 적용하는 WPON 방식과 모든 가입자에게 한 개의 파장만을 이용하되 시간영역에서 다중화하고 이터넷 프로토콜을 적용하는 EPON 방식으로 구분할 수 있다. WPON의 경우 EPON에 비해 수월하게 광대역 서비스를 할 수 있는 장점이 있으나, 각 가입자 과장의 제어 및 관리가 복잡하며, 고비용을 요구한다. 반면 EPON의 경우 채널의 효율성은 극대화할 수 있으나, 동시 이용자가 많을 경우 전송 속도가 하락한다. 한편, 방송과 통신을 통합한 채널의 특성을 살펴보면 가입자 방향으로의 하향 신호의 양이 중양국 방향으로의 상향 신호의 양에 비해 훨씬 많은 비대칭 구조이다. 따라서 본 연구에서는 이러한 채널 특성에 맞도록 하향 전송에는 WPON의 구조를 이용하고, 상향 전송에는 EPON의 구조를 적용하는 새로운 구조의 광가입자망을 제안하였다. 제안된 구조에 적합한 MPCP (Multi-Point Control Protocol) 프로토콜을 제시하고, 가입자 장치의 여러 종속 신호를 다중화하고 전송할 수 있는 ONU (Optical Network Unit)의 구조를 제안하였다. 또한 이러한 구조를 갖는 W-EPON 테스트베드를 구현하고 전송 시험을 통해 제시된 구조의 적합성을 측정한 결과를 보인다.4 Textual format) 파일을 생성한다. 또한, 콘텐츠 전송 및 저장의 효율성을 위해 이진 포멧인 IPMP화된 MP4 파일을 생성할 수 있다.으로써, 에러 이미지가 가지고 있는 엔트로피에 좀 근접하게 코딩을 할 수 있게 되었다. 이 방법은 실제로 Arithmetic Coder를 이용하는 다른 압축 방법에 그리고 적용할 수 있다. 실험 결과 압축효율은 JPEG-LS보다 약
차세대 전술정보통신체계(TICN)에서 전술이동통신체계는 이동통신가입자처리부(MSAP)에 포함된 전술용 다기능 단말기(TMFT)의 지휘 통제 및 통신 수단을 제공하는 역할을 한다. 차기 이동통신가입자처리부는 고정 지향성 안테나인 LCTR(Low Capacity Trunk radio)과 HCTR(High Capacity Trunk Radio)을 통해 기간망을 구성할 수 있고, WMN(Wireless Mesh Network) 모듈을 통해 무선 메쉬망을 형성하여 상호운용 된다. 즉, 이동 중에 끊김 없는 데이터 송 수신을 지원하기 위해서 MSAP간 WMN 모듈을 사용하여 망을 구성한다. 이러한 환경에서 신뢰성 있는 데이터 전송을 보장하기 위하여 단말 간 상호 인증을 수행하고 데이터를 암호화 할 수 있는 기술이 필요하다. 본 논문에서는 MSAP 단말간 인증서버를 통해 분산적으로 인증을 수행하여 보다 비용과 효율성 측면에서 장점을 갖는 상호 인증기법을 제안한다.
토큰으로 매체 이용 자격을 부여하는 토큰링 시스템은 링 혹은 버스 구조의 LAN에서 매체 이용방법으로 흔히 이용되어 왔으며 이러한 시스템으로 모델링 될 수 있다. 이 시스템은 단순히 프레임을 저장하고 전송 조건에 해당되면 전송을 진행하는 브리지를 이용함으로써 단일 링들이 상호 연결된 멀티 토큰링 시스템으로 시스템 규모를 확장할 수 있다. 본 논문에서는 상호 연결된 토큰링 시스템의 전송성능을 분석하기 위하여 스테이션 큐에 도착하는 프레임들이 Poisson과정이고 각 도착 프레임의 길이가 서로 독립이며 동등한 일반 분포를 갖는 M/G/1 큐잉 시스템을 가정하여, 임의의 프레임이 목적지까지 전달에 영향을 미치는 해석적으로 조사하였다. 프레임 전송 지연시간에 영향을 미치는 요소는 임의의 시간으로 부터 토큰이 전송하는 스테이션까지 오는데 걸리는 시간, 전송 스테이션의 전송 시간부터 스테이션 내의 대상 프레임이 전송되기까지 소요되는 대기시간, 대상 프레임의 길이와 목적지까지 소요되는 시간의 합으로 주어지며, 외부링으로부터 내부링 브리지 큐까지. 그리고 외부링 브리지 큐로부터 목적 스테이션 까지의 시간에 대한 합으로 주어진다. 또한 전송지연시간에 미치는 파라미터들을 변화시킬때 전체 지연시간에 미치는 영향을 조사하였다. 그 결과 프레임 전송 지연시간에 상대적으로 큰 영향을 미치는 요소는 프레임의 평균 도착율이 크고 수신 스테이션이 타 외부링일 비율이 커질때이며, 이는 우선순위 서비스 방식의 이용 여부에 관계없이 지연 시간이 지수적 증가를 나타낸다. 이를 감소시키려면 외부링 스테이션의 수를 줄여 상대적으로 중추링의 스테이션 수를 증가시킴으로써 전체 지연시간을 줄일 수 있다.
In a seminal judgment of November 2002 (Case C-476/98) relating to the compatibility with Community laws of the 'nationality clause' in the 1996 amending protocol to the 1955 U.S.-German Air Services Agreement, the European Court of Justice(ECJ) decided that the provision constituted a measure of an intrinsically discriminatory nature and was thus contrary to the principle of national treatment established under Art. 52 of the EC Treaty. The Court, rejecting bluntly the German government' submissions relying on public policy grounds(Art. 56, EC Treaty), seemed content to declare and rule that the protocol provision requiring a contracting state party to ensure substantial ownership and effective control by its nationals of its designated airlines had violated the requirement of national treatment reserved for other Community Members under the salient Treaty provision. The German counterclaims against the Commission, although tantalizing not only from the perusal of the judgment but from the perspective of international air law, were nonetheless invariably correct and to the point. For such a clause has been justified to defend the 'fundamental interests of society from a serious threat' that may result from granting operating licenses or necessary technical authorizations to an airline company of a third country. Indeed, the nationality clause has been inserted in most of the liberal bilaterals to allow the parties to enforce their own national laws and regulations governing aviation safety and security. Such a clause is not targeted as a device for discriminating against the nationals of any third State. It simply acts as the minimum legal safeguards against aviation risk empowering a party to take legal control of the designated airlines. Unfortunately, the German call for the review of such a foremost objective and rationale underlying the nationality clause landed on the deaf ears of the Court which appeared quite happy not to take stock of the potential implications and consequences in its absence and of the legality under international law of the 'national treatment' requirement of Community laws. Again, while US law limits foreign shareholders to 24.9% of its airlines, the European Community limits non-EC ownership to 49%, precluding any ownership and effective control by foreign nationals of EC airlines, let alone any foreign takeover and merger. Given this, it appears inconsistent and unreasonable for the EC to demand,
The release of administrative information has been the challenge of our age following the maturation of democratic ideology in our society. However, differences of opinion and conflict still exist between the government and private sectors regarding the issue, and it seems that the technical and policy-related insufficiencies of information and record management that actually operate the release of information are the main causes. From the perspective of records management, records or information are variable in their nature, value, and influence during their life span. The most controversial issue is the records and information in the current stage of carrying out business activities. This is because the records and information pertaining to finished business are but evidence to ascertain the past, and have only a limited relationship to the ideal of the 'democratic participation' by citizens in activities of the public sector. The current information release policies are helpless against the 'absence of information,' or incomplete records, but such weakness can be supplemented by enforcing record management policies that make obligatory the recording of all details of business activities. In addition, it is understood that the installation of 'document offices("Jaryogwan")' that can manage each organization's information and records will be an important starting point to integrate the release, management, and preservation of information and records. Nevertheless, it seems that the concept of 'release' in information release policies refers not to free use by all citizens but is limited to the 'provision' of records according to public requests, and the concept of 'confidential' refers not to treating documents with total secrecy but varies according to the particulars of each situation, making the actual practice of information release difficult. To solve such problems, it is absolutely necessary to collect the opinions of various constituents associated with the recorded information in question, and to effectively mediate the collective opinions and the information release requests coming from applicants, to carry out the business more practically. Especially crucial is the management of the process by which the nature and influence of recorded information changes, so that information which has to be confidential at first may become available for inquiry and use over time through appropriate procedures. Such processes are also part of the duties that record management, which is in charge of the entire life span of documents, must perform. All created records will be captured within a record management system, and the record creation data thus collected will be used as a guide for inquiry and usage. With 'document offices(Jaryogwan)' and 'archives' controlling the entire life span of records, the release of information will become simpler and more widespread. It is undesirable to try to control only through information release policies those records the nature of which has changed because, unlike the ones still in the early stages of their life span and can directly influence business activities, their work has finished, and they have become historical records or evidences pointing to the truth of past events. Even in the past, when there existed no formal policy regarding the release of administrative information, the access and use of archival records were permitted. A more active and expanded approach must be taken regarding the 'usage' of archival records. If the key factor regarding 'release' lies in the provision of information, the key factor regarding 'usage' lies in the quality and level of the service provided. The full-scale usage of archival records must be preceded by the release of such records, and accordingly, a thorough analysis of the nature, content, and value of the records and their changes must be implemented to guarantee the release of information before their use is requested. That must become a central task of document offices and "Today's information" will soon become "yesterday's records," and the "reality" of today will become "history" of the past. The policies of information release and record management share information records as their common objective. As they have a mutual relationship that is supplementary and leads toward perfection, the two policies must both be differentiated and integrated with each another. It is hoped that the policies and business activities of record management will soon become normalized and reformed for effective and fair release of information.
현재 육상에서는 유무선 통신의 발전으로 다양한 IT 서비스를 제공받고 있다. 이러한 변화는 육상을 넘어서서 해상에서 항해 중인 선박에서도 다양한 IT 서비스가 제공되어야 하며 육상에서 이용하는 것과 마찬가지로 양방향 디지털 데이터 전송, Web, App 등과 같은 다양한 IT 서비스들의 제공에 대한 요구가 증가될 것으로 예상하고 있다. 하지만 이러한 초고속 정보통신망은 AP(Access Point)와 기지국과 같은 고정된 기반 구조를 바탕으로 네트워크를 구성하는 지상에서는 쉽게 사용할 수 있는 반면 해상에서는 고정된 기반 구조를 이용하여 네트워크를 구성할 수 없다. 그래서 전송 거리가 긴 라디오 통신망 기반의 음성 위주의 통신 서비스를 사용하고 있다. 이러한 라디오 통신망은 낮은 전송 속도로 인해 매우 기본적인 정보만을 제공할 수 있었으며, 효율적인 서비스 제공에 어려움이 있다. 이를 해결하기 위해서 디지털 데이터 상호교환을 위한 추가적인 주파수가 할당되었으며 이 주파수를 사용하여 활용할 수 있는 선박 애드 혹 네트워크인 SANET(ship ad-hoc network)이 제안되었다. SANET은 높은 설치비용과 사용료의 위성 통신을 대신하여 해상에서 IP 기반으로 선박에 다양한 IT 서비스를 제공할 수 있도록 개발되었다. SANET에서는 육상 기지국과 선박의 연결성이 중요하다. 이러한 연결성을 갖기 위해서는 선박은 자신의 IP 주소를 할당 받아 네트워크의 구성원이 되어야 한다. 본 논문에서는 선박 스스로 자신의 IP 주소를 할당 받을 수 있는 SANET-CC(Ship Ad-hoc Network-Cell Connection) 프로토콜을 제안한다. SANET-CC는 중복되지 않는 다수의 IP 주소들을 육상기지국에서 선박들에 이어지는 트리 형태로 네트워크 전반에 전파한다. 선박은 IP 주소를 할당할 수 있는 육상 기지국 또는 나누어진 구역의 M-Ship(Mother Ship)들과 간단한 요청(Request) 및 응답(Response) 메시지 교환을 통해 자신의 IP 주소를 할당한다. 따라서 SANET-CC는 IP 충돌 방지(Duplicate Address Detection) 과정과 선박의 이동에 의해 발생하는 네트워크의 분리나 통합에 따른 처리 과정을 완전히 배제할 수 있다. 본 논문에서는 SANET-CC의 SANET 적용가능성을 검증하기 위해서 다양한 조건의 시뮬레이션을 수행하였으며 기존 연구와 비교 분석을 진행하였다.
The main purpose of the investigation of an accident caused by aircraft is to be prevented the sudden and casual accidents caused by wilful misconduct and fault from pilots, air traffic controllers, hijack, trouble of engine and machinery of aircraft, turbulence during the bad weather, collision between birds and aircraft, near miss flight by aircrafts etc. It is not the purpose of this activity to apportion blame or liability for offender of aircraft accidents. Accidents to aircraft, especially those involving the general public and their property, are a matter of great concern to the aviation community. The system of international regulation exists to improve safety and minimize, as far as possible, the risk of accidents but when they do occur there is a web of systems and procedures to investigate and respond to them. I would like to trace the general line of regulation from an international source in the Chicago Convention of 1944. Article 26 of the Convention lays down the basic principle for the investigation of the aircraft accident. Where there has been an accident to an aircraft of a contracting state which occurs in the territory of another contracting state and which involves death or serious injury or indicates serious technical defect in the aircraft or air navigation facilities, the state in which the accident occurs must institute an inquiry into the circumstances of the accident. That inquiry will be in accordance, in so far as its law permits, with the procedure which may be recommended from time to time by the International Civil Aviation Organization ICAO). There are very general provisions but they state two essential principles: first, in certain circumstances there must be an investigation, and second, who is to be responsible for undertaking that investigation. The latter is an important point to establish otherwise there could be at least two states claiming jurisdiction on the inquiry. The Chicago Convention also provides that the state where the aircraft is registered is to be given the opportunity to appoint observers to be present at the inquiry and the state holding the inquiry must communicate the report and findings in the matter to that other state. It is worth noting that the Chicago Convention (Article 25) also makes provision for assisting aircraft in distress. Each contracting state undertakes to provide such measures of assistance to aircraft in distress in its territory as it may find practicable and to permit (subject to control by its own authorities) the owner of the aircraft or authorities of the state in which the aircraft is registered, to provide such measures of assistance as may be necessitated by circumstances. Significantly, the undertaking can only be given by contracting state but the duty to provide assistance is not limited to aircraft registered in another contracting state, but presumably any aircraft in distress in the territory of the contracting state. Finally, the Convention envisages further regulations (normally to be produced under the auspices of ICAO). In this case the Convention provides that each contracting state, when undertaking a search for missing aircraft, will collaborate in co-ordinated measures which may be recommended from time to time pursuant to the Convention. Since 1944 further international regulations relating to safety and investigation of accidents have been made, both pursuant to Chicago Convention and, in particular, through the vehicle of the ICAO which has, for example, set up an accident and reporting system. By requiring the reporting of certain accidents and incidents it is building up an information service for the benefit of member states. However, Chicago Convention provides that each contracting state undertakes collaborate in securing the highest practicable degree of uniformity in regulations, standards, procedures and organization in relation to aircraft, personnel, airways and auxiliary services in all matters in which such uniformity will facilitate and improve air navigation. To this end, ICAO is to adopt and amend from time to time, as may be necessary, international standards and recommended practices and procedures dealing with, among other things, aircraft in distress and investigation of accidents. Standards and Recommended Practices for Aircraft Accident Injuries were first adopted by the ICAO Council on 11 April 1951 pursuant to Article 37 of the Chicago Convention on International Civil Aviation and were designated as Annex 13 to the Convention. The Standards Recommended Practices were based on Recommendations of the Accident Investigation Division at its first Session in February 1946 which were further developed at the Second Session of the Division in February 1947. The 2nd Edition (1966), 3rd Edition, (1973), 4th Edition (1976), 5th Edition (1979), 6th Edition (1981), 7th Edition (1988), 8th Edition (1992) of the Annex 13 (Aircraft Accident and Incident Investigation) of the Chicago Convention was amended eight times by the ICAO Council since 1966. Annex 13 sets out in detail the international standards and recommended practices to be adopted by contracting states in dealing with a serious accident to an aircraft of a contracting state occurring in the territory of another contracting state, known as the state of occurrence. It provides, principally, that the state in which the aircraft is registered is to be given the opportunity to appoint an accredited representative to be present at the inquiry conducted by the state in which the serious aircraft accident occurs. Article 26 of the Chicago Convention does not indicate what the accredited representative is to do but Annex 13 amplifies his rights and duties. In particular, the accredited representative participates in the inquiry by visiting the scene of the accident, examining the wreckage, questioning witnesses, having full access to all relevant evidence, receiving copies of all pertinent documents and making submissions in respect of the various elements of the inquiry. The main shortcomings of the present system for aircraft accident investigation are that some contracting sates are not applying Annex 13 within its express terms, although they are contracting states. Further, and much more important in practice, there are many countries which apply the letter of Annex 13 in such a way as to sterilise its spirit. This appears to be due to a number of causes often found in combination. Firstly, the requirements of the local law and of the local procedures are interpreted and applied so as preclude a more efficient investigation under Annex 13 in favour of a legalistic and sterile interpretation of its terms. Sometimes this results from a distrust of the motives of persons and bodies wishing to participate or from commercial or related to matters of liability and bodies. These may be political, commercial or related to matters of liability and insurance. Secondly, there is said to be a conscious desire to conduct the investigation in some contracting states in such a way as to absolve from any possibility of blame the authorities or nationals, whether manufacturers, operators or air traffic controllers, of the country in which the inquiry is held. The EEC has also had an input into accidents and investigations. In particular, a directive was issued in December 1980 encouraging the uniformity of standards within the EEC by means of joint co-operation of accident investigation. The sharing of and assisting with technical facilities and information was considered an important means of achieving these goals. It has since been proposed that a European accident investigation committee should be set up by the EEC (Council Directive 80/1266 of 1 December 1980). After I would like to introduce the summary of the legislation examples and system for aircraft accidents investigation of the United States, the United Kingdom, Canada, Germany, The Netherlands, Sweden, Swiss, New Zealand and Japan, and I am going to mention the present system, regulations and aviation act for the aircraft accident investigation in Korea. Furthermore I would like to point out the shortcomings of the present system and regulations and aviation act for the aircraft accident investigation and then I will suggest my personal opinion on the new and dramatic innovation on the system for aircraft accident investigation in Korea. I propose that it is necessary and desirable for us to make a new legislation or to revise the existing aviation act in order to establish the standing and independent Committee of Aircraft Accident Investigation under the Korean Government.
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70