• Title/Summary/Keyword: Attitude Tracking

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A Study on Development of Technology System for Deep-Sea Unmanned Underwater Robot of S. Korea analysed by the Application of Scenario Planning (한국형 수중로봇시스템의 기술개발연구 - 시나리오플래닝 적용으로 -)

  • Lee, Sang-Yun;Yoon, Hong-Joo
    • The Journal of the Korea institute of electronic communication sciences
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    • v.8 no.1
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    • pp.27-40
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    • 2013
  • This study is about development of technology system for an advanced deep-sea unmanned underwater robot of S. Korea analysed by the application of scenario planning. It was developed a 6000m class next-generation deep-sea unmanned underwater vehicle(or robot, UUV) system, soonly ROV 'Hemire' and Depressor 'Henuvy' in 2006 at S. Korea and motion control, adaptive control algolithm, a work-space manipulator control algolithm, especially the underwater inertial-acoustic navigation system robust to initial errors and sensor failures. But there are remained matters on position tracking of the USBL, inertial-acoustic navigation system, attitude sensor, designed sonar sensors. So this study suggest the new idea for settle the matters and then this idea help the development of the underwater inertial-acoustic navigation system robust to initial errors and sensor failures, such as acoustic signal drop-out, by modifying the error covariance of the failed sonar signal when drop-out occurs. As a result, the future policy for deep-sea unmanned underwater robot of S. Korea is to further spur the development of new technology and more improvement of the technology level for deep-sea unmanned underwater robot system with indicator and imaginary wall as external device.

Development of Real-Time Vision Aided Navigation Using EO/IR Image Information of Tactical Unmanned Aerial System in GPS Denied Environment (GPS 취약 환경에서 전술급 무인항공기의 주/야간 영상정보를 기반으로 한 실시간 비행체 위치 보정 시스템 개발)

  • Choi, SeungKie;Cho, ShinJe;Kang, SeungMo;Lee, KilTae;Lee, WonKeun;Jeong, GilSun
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.48 no.6
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    • pp.401-410
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    • 2020
  • In this study, a real-time Tactical UAS position compensation system based on image information developed to compensate for the weakness of location navigation information during GPS signal interference and jamming / spoofing attack is described. The Tactical UAS (KUS-FT) is capable of automatic flight by switching the mode from GPS/INS integrated navigation to DR/AHRS when GPS signal is lost. However, in the case of location navigation, errors accumulate over time due to dead reckoning (DR) using airspeed and azimuth which causes problems such as UAS positioning and data link antenna tracking. To minimize the accumulation of position error, based on the target data of specific region through image sensor, we developed a system that calculates the position using the UAS attitude, EO/IR (Electric Optic/Infra-Red) azimuth and elevation and numerical map data and corrects the calculated position in real-time. In addition, function and performance of the image information based real-time UAS position compensation system has been verified by ground test using GPS simulator and flight test in DR mode.

Determining the Rotation Periods of an Inactive LEO Satellite and the First Korean Space Debris on GEO, KOREASAT 1

  • Choi, Jin;Jo, Jung Hyun;Kim, Myung-Jin;Roh, Dong-Goo;Park, Sun-Youp;Lee, Hee-Jae;Park, Maru;Choi, Young-Jun;Yim, Hong-Suh;Bae, Young-Ho;Park, Young-Sik;Cho, Sungki;Moon, Hong-Kyu;Choi, Eun-Jung;Jang, Hyun-Jung;Park, Jang-Hyun
    • Journal of Astronomy and Space Sciences
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    • v.33 no.2
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    • pp.127-135
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    • 2016
  • Inactive space objects are usually rotating and tumbling as a result of internal or external forces. KOREASAT 1 has been inactive since 2005, and its drift trajectory has been monitored with the optical wide-field patrol network (OWL-Net). However, a quantitative analysis of KOREASAT 1 in regard to the attitude evolution has never been performed. Here, two optical tracking systems were used to acquire raw measurements to analyze the rotation period of two inactive satellites. During the optical campaign in 2013, KOREASAT 1 was observed by a 0.6 m class optical telescope operated by the Korea Astronomy and Space Science Institute (KASI). The rotation period of KOREASAT 1 was analyzed with the light curves from the photometry results. The rotation periods of the low Earth orbit (LEO) satellite ASTRO-H after break-up were detected by OWL-Net on April 7, 2016. We analyzed the magnitude variation of each satellite by differential photometry and made comparisons with the star catalog. The illumination effect caused by the phase angle between the Sun and the target satellite was corrected with the system tool kit (STK) and two line element (TLE) technique. Finally, we determined the rotation period of two inactive satellites on LEO and geostationary Earth orbit (GEO) with light curves from the photometry. The main rotation periods were determined to be 5.2 sec for ASTRO-H and 74 sec for KOREASAT 1.

Conceptual Design of 6U Micro-Satellite System for Optical Images of 3 m GSD (3 m급 광학영상 촬영을 위한 6U 초소형위성 시스템 개념설계)

  • Kim, Geuk-Nam;Park, Sang-Young;Kim, Gi-hwan;Park, Seung-Han;Song, Youngbum;Song, Sung Chan
    • Journal of Aerospace System Engineering
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    • v.16 no.3
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    • pp.105-114
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    • 2022
  • The purpose of this study was to present a conceptual design of the 6U micro-satellite system for optical image of 3 m GSD. An optical camera system with a payload of 3 m GSD image was designed and optimized. The optical system has a diameter of Ø78 mm, length 250 mm, and 1400 mm focal length. The requirement and constraints were configured for the 6U micro-satellite bus system with the payload. Satisfying the requirement and constraints, the subsystems of the 6U bus were designed such as attitude and orbit control, propulsion, command and data handling, electrical power, communication, structures and mechanisms, and thermal control subsystem. The mass budget, power budget, and communication link budget were also confirmed for the 6U micro-satellite comprising the optical payload and the subsystems of bus. To take optical images, a mission operation concept is proposed for the 6U micro-satellite in a low-Earth orbit. A constellation comprising many 6U micro-satellites studied in this paper, can provide with various data for reconnaissance and disaster tracking.

A Model for Constructing Learner Data in AI-based Mathematical Digital Textbooks for Individual Customized Learning (개별 맞춤형 학습을 위한 인공지능(AI) 기반 수학 디지털교과서의 학습자 데이터 구축 모델)

  • Lee, Hwayoung
    • Education of Primary School Mathematics
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    • v.26 no.4
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    • pp.333-348
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    • 2023
  • Clear analysis and diagnosis of various characteristic factors of individual students is the most important in order to realize individual customized teaching and learning, which is considered the most essential function of math artificial intelligence-based digital textbooks. In this study, analysis factors and tools for individual customized learning diagnosis and construction models for data collection and analysis were derived from mathematical AI digital textbooks. To this end, according to the Ministry of Education's recent plan to apply AI digital textbooks, the demand for AI digital textbooks in mathematics, personalized learning and prior research on data for it, and factors for learner analysis in mathematics digital platforms were reviewed. As a result of the study, the researcher summarized the factors for learning analysis as factors for learning readiness, process and performance, achievement, weakness, and propensity analysis as factors for learning duration, problem solving time, concentration, math learning habits, and emotional analysis as factors for confidence, interest, anxiety, learning motivation, value perception, and attitude analysis as factors for learning analysis. In addition, the researcher proposed noon data on the problem, learning progress rate, screen recording data on student activities, event data, eye tracking device, and self-response questionnaires as data collection tools for these factors. Finally, a data collection model was proposed that time-series these factors before, during, and after learning.

System Development for Measuring Group Engagement in the Art Center (공연장에서 다중 몰입도 측정을 위한 시스템 개발)

  • Ryu, Joon Mo;Choi, Il Young;Choi, Lee Kwon;Kim, Jae Kyeong
    • Journal of Intelligence and Information Systems
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    • v.20 no.3
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    • pp.45-58
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    • 2014
  • The Korean Culture Contents spread out to Worldwide, because the Korean wave is sweeping in the world. The contents stand in the middle of the Korean wave that we are used it. Each country is ongoing to keep their Culture industry improve the national brand and High added value. Performing contents is important factor of arousal in the enterprise industry. To improve high arousal confidence of product and positive attitude by populace is one of important factor by advertiser. Culture contents is the same situation. If culture contents have trusted by everyone, they will give information their around to spread word-of-mouth. So, many researcher study to measure for person's arousal analysis by statistical survey, physiological response, body movement and facial expression. First, Statistical survey has a problem that it is not possible to measure each person's arousal real time and we cannot get good survey result after they watched contents. Second, physiological response should be checked with surround because experimenter sets sensors up their chair or space by each of them. Additionally it is difficult to handle provided amount of information with real time from their sensor. Third, body movement is easy to get their movement from camera but it difficult to set up experimental condition, to measure their body language and to get the meaning. Lastly, many researcher study facial expression. They measures facial expression, eye tracking and face posed. Most of previous studies about arousal and interest are mostly limited to reaction of just one person and they have problems with application multi audiences. They have a particular method, for example they need room light surround, but set limits only one person and special environment condition in the laboratory. Also, we need to measure arousal in the contents, but is difficult to define also it is not easy to collect reaction by audiences immediately. Many audience in the theater watch performance. We suggest the system to measure multi-audience's reaction with real-time during performance. We use difference image analysis method for multi-audience but it weaks a dark field. To overcome dark environment during recoding IR camera can get the photo from dark area. In addition we present Multi-Audience Engagement Index (MAEI) to calculate algorithm which sources from sound, audience' movement and eye tracking value. Algorithm calculates audience arousal from the mobile survey, sound value, audience' reaction and audience eye's tracking. It improves accuracy of Multi-Audience Engagement Index, we compare Multi-Audience Engagement Index with mobile survey. And then it send the result to reporting system and proposal an interested persons. Mobile surveys are easy, fast, and visitors' discomfort can be minimized. Also additional information can be provided mobile advantage. Mobile application to communicate with the database, real-time information on visitors' attitudes focused on the content stored. Database can provide different survey every time based on provided information. The example shown in the survey are as follows: Impressive scene, Satisfied, Touched, Interested, Didn't pay attention and so on. The suggested system is combine as 3 parts. The system consist of three parts, External Device, Server and Internal Device. External Device can record multi-Audience in the dark field with IR camera and sound signal. Also we use survey with mobile application and send the data to ERD Server DB. The Server part's contain contents' data, such as each scene's weights value, group audience weights index, camera control program, algorithm and calculate Multi-Audience Engagement Index. Internal Device presents Multi-Audience Engagement Index with Web UI, print and display field monitor. Our system is test-operated by the Mogencelab in the DMC display exhibition hall which is located in the Sangam Dong, Mapo Gu, Seoul. We have still gotten from visitor daily. If we find this system audience arousal factor with this will be very useful to create contents.