• 한국해양공학회지
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• 제34권6호
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• pp.475-480
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• 2020

Underwater operating platforms face difficulties regarding power supply and communications. To overcome these difficulties, this study proposes a hybrid surface and underwater vehicle (HSUV) and presents the development of the platform, control algorithms, and results of field tests. The HSUV is capable of supplying reliable power to the unmanned underwater vehicle (UUV) and obtaining data in real time by using a tether cable between the UUV and the unmanned surface vehicle (USV). The HSUV uses global positioning system (GPS) and ultra-short base line sensors to determine the relative location of the UUV. Way point (WP) and dynamic positioning (DP) algorithms were developed to enable the HSUV to perform unmanned exploration. After reaching the target point using the WP algorithm, the DP algorithm enables USV to maintain position while withstanding environmental disturbances. To ensure the navigation performance at sea, performance tests of GPS, attitude/heading reference system, and side scan sonar were conducted. Based on these results, manual operation, WP, and DP tests were conducted at sea. WP and DP test results and side scan sonar images during the sea trials are presented.

• 한국산학기술학회논문지
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• 제22권3호
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• pp.339-351
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• 2021

본 연구에서는 초, 중, 고 학생의 부모-자녀 간 대화 빈도에 대한 인식 차이에 따른 차별적인 특징을 갖는 유형을 탐색하고, 탐색된 유형에 따라 초, 중, 고 학생의 진로개발역량과 학업적 특성에 차이가 있는지 검증하였다. 이를 위해 초·중등 진로 교육 현황조사(2018) 자료를 활용하였으며, 잠재프로파일분석 방법을 사용하였다. 분석 결과, 초, 중, 고 학생의 부모-자녀 간 대화 빈도에 대한 인식 차이는 초등학생 6개 잠재계층(자녀 학교생활 대화 상, 자녀 상-부모 학교 생활 대화 상, 자녀 하-부모 하, 자녀 상-부모 상, 자녀-부모 학교생활 대화 상, 자녀 하-부모 중), 중학생 6개 잠재계층(자녀 하-부모 하, 자녀 중-부모 중, 자녀 상-부모 하, 자녀 상-부모 중상, 자녀 하-부모 상, 자녀 최상-부모 최상), 고등학생 7개 잠재계층(자녀-부모 학교생활 대화 상, 자녀 상-부모 하, 자녀 중-부모 중, 자녀 중-부모 상, 자녀 하-부모 하, 자녀 상-부모 중상, 자녀 최상-부모 최상)이 존재하는 것으로 확인되었다. 그리고 초, 중, 고 모두 잠재계층에 따라 진로개발역량(자기이해와 사회성, 직업이해, 진로탐색, 진로설계와준비도)과 학업적 특성(자율적 학습 동기, 자기주도학습)에 차이가 있는 것으로 나타났으며, 대체로 부모-자녀 모두 대화 빈도가 높다고 인식한 집단과 부모보다 자녀가 인식한 대화 빈도 수준이 높은 집단의 진로개발역량과 학업적 특성 점수가 높은 것으로 확인되었다. 본 연구는 초, 중, 고 학생은 부모와의 대화 빈도를 부모와 다르게 인식할 수 있으며, 이와 같은 인식의 차이가 진로개발역량과 학업적 특성에 영향을 미칠 수 있음을 시사한다.

• 지구물리와물리탐사
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• 제15권3호
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• pp.144-149
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• 2012

극지연구소는 2010 ~ 2011년 제 24차 남극하계탐사기간 동안 남극 킹조지섬에 3성분 초광대역 지진계를 성공적으로 설치하였다. 미국 IRIS PASSCAL에서 개발한 지진관측시스템을 활용하였으며, 이는 POLENET 지진관측시스템과 완벽히 호환된다. 지진계설치 및 운용의 목적은 크게 두가지로 나누어 지는데, 첫번째로 킹조지섬 주변의 지진 및 빙권관련 신호를 관측하는데 있으며, 두번째로는 극한환경에서의 지진관측장비 성능검사이다. 관측이 성공적으로 수행된다면, 다음 목표로 관측시스템의 추가확보를 통하여 남극반도 라르센 빙붕시스템과 같은 빙붕 주변으로 관측장소를 이동하여 지권과 빙권간 상호작용을 이해하고, 빙권의 움직임등 동역학적인 해석을 위한 연구를 수행하고자 한다. 이 보고서에서 우리는 지진파 배경잡음분석을 통하여 지진관측시스템 성능 및 특성 파악에 관한 내용과 관측시스템 운용관련 정보를 제공하고자 한다.

• 한국통신학회논문지
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• 제40권11호
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• pp.2205-2217
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• 2015

생체모방 라우팅 프로토콜은 동적 환경에서 집단 생명체가 분산 자율적인 방식으로 최적 경로를 찾아가는 원리를 이용하여 네트워크 토폴로지 변화에 따라 오버헤드를 줄이며, 라우팅 성능을 극대화하고, 경로 단절시 빠른 복구가 가능하다. 본 논문에서는 이동 애드혹 네트워크를 위한 생체모방 라우팅 프로토콜을 제안한다. 제안 방식은 추가적인 오버헤드 없이 라우팅 정보를 얻기 위하여 무선 매체의 엿듣기(overhearing) 기능을 사용한다. 엿듣기를 통해 출발지와 목적지 사이의 최단 경로 주변에 페로몬을 확산시키고, 확산된 페로몬을 기반으로 확률적 경로 탐색을 수행하여 출발지와 목적지 간 유용한 대체 경로를 확보한다. 이와 같은 방식으로 제안 프로토콜은 제어 오버헤드를 줄이면서 최신의 라우팅 정보를 획득할 수 있다. 시뮬레이션 결과 제안하는 생체모방 라우팅 프로토콜은 기존 AODV 및 AntHocNet 프로토콜 보다 우수한 라우팅 성능을 보여주면서 AntHocNet 보다 오버헤드를 크게 감소시킨다.

• 로봇학회논문지
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• 제7권4호
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• pp.259-266
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• 2012

In these days, researches about underwater robots have been actively in progress for the purposes of ocean detection and resource exploration. Unlike general underwater robots such as ROV(Remotely Operated Vehicle) and AUV(Autonomous Underwater Vehicle) which have propellers, an articulated underwater robot which is called Crabster has been being developed in KORDI(Korea Ocean Research & Development Institute) with many cooperation organizations since 2010. The robot is expected to be able to walk and swim under the sea with its legs. Among many researching fields of this project, we are focusing on a swimming section. In order to find effective swimming locomotion for the robot, we approached this subject in terms of Biomimetics. As a model of optimized swimming organism in nature, diving beetles were chosen. In the paper, swimming motions of diving beetles were analyzed in viewpoint of robotics for applying them into the swimming motion of the robot. After modeling the kinematics of diving beetle through robotics engineering technique, we obtained swimming patterns of the one of living diving beetles, and then compared them with calculated optimal swimming patterns of a robot leg. As the first trial to compare the locomotion data of legs of the diving beetle with a robot leg, we have sorted two representative swimming patterns such as forwarding and turning. Experimental environment has been set up to get the motion data of diving beetles. The experimental equipment consists of a transparent aquarium and a high speed camera. Various swimming motions of diving beetles were recorded with the camera. After classifying swimming patterns of the diving beetle, we can get angular data of each joint on hind legs by image processing software, Image J. The data were applied to an optimized algorithm for swimming of a robot leg which was designed by robotics engineering technique. Through this procedure, simulated results which show trajectories of a robot leg were compared with trajectories of a leg of a diving beetle in desired directions. As a result, we confirmed considerable similarity in the result of trajectory and joint angles comparison.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2006년도 Proceedings of ISRS 2006 PORSEC Volume I
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• pp.368-371
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• 2006

A coastline is the boundary between land and ocean masses. Knowledge of coastline is essential for autonomous navigation, geographical exploration, coastal erosion monitoring and modelling, water line change, etc. Many methods have been researched to extract coastlines from the synthetic aperture radar (SAR) and optic images. Most methods were based on the intensity contrast between land and sea regions. However, in these methods, a coastline detection task was very difficult because of insufficient intensity contrast and the ambiguity in distinguishing coastline from other object line. In this paper, we propose an efficient method for the delineation of coastline using interferometric coherence values estimated from ERS tandem pair. The proposed method uses the facts that a tandem pair of ERS is acquired from a time interval of an accurate day and that the coherent and incoherent values in coherence map are land and water, respectively. The coherence map was generated from ERS tandem pair, filtered by MAP filter, and divided into land and water by the determination of threshold value that is based on the bimodality of the histogram. Finally, a coastline was detected by delineating the boundary pixels. There was a good visual match between the detected coastline and the manually contoured line. The interferometric coherence map will be helpful to identify land and water regions easily, and can be used to many applications that are related with a coastline.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.551-554
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• 2001

A necessity of remote control robots or various searching robots etc. that accomplish works given instead of human under long distance and extreme environment such as volcano, universe, deep-sea exploration and nuclear power plant etc. is increasing, and so the development and the research regarding these mobile robots are actively progressing. The wheel mobile robot or the track mobile robot have a sufficient energy efficiency under this en, but also have a lot of limits to accomplish works given which are caused from the restriction of mobile ability. Therefore, recently many researches for the walking robot with superior mobility and energy efficiency on the terrain, which is uneven or where obstacles, inclination and stairways exist, have been doing. The research for these walking robots is separated into fields of mechanism and control system, gait research, circumference environment and system condition recognition etc. greatly. It is a research field that the gait research among these is the centralist in actual implementation of walking robot unlike different mobile robots. A research field for gait of walking robot is classified into two parts according to the nature of the stability and the walking speed, static gait or dynamic gait. While the speed of a static gait is lower than that of a dynamic gait, a static gait which moves the robot to maintain a static stability guarantees a superior stability relatively. A dynamic gait, which make the robot walk controlling the instability caused by the gravity during the two leg supporting period and so maintaining the stability of the robot body spontaneously, is suitable for high speed walking but has a relatively low stability and a difficulty in implementation compared with a static gait. The quadruped walking robot has a strong point that can embody these gaits together. In this research, we will develope an autonomous quadruped robot with an asaptibility to the environment by selectry appropriate gait, element such as duty factor, stride, trajectory, etc.

• 한국치위생학회지
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• 제13권6호
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• pp.925-932
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• 2013

Objectives : The purpose of the study is to improve autonomous decision-making ability by analyzing the relationship between autonomy and decision-making ability. Methods : The subjects were 176 dental hygienists in Busan. Self-reported questionnaire was fill out from May 2012 to January 2013. Results : The average of the degree of autonomy was $2.20{\pm}0.29$. Buddhists showed the highest score of $2.37{\pm}0.37$ (p<0.05). Buddhists had the higher education than other religions (p<.05). Clinical decision-making ability was $2.21{\pm}0.25$. Among the subcategories, statistically significant differences (p<.05) was shown by gender, degree of education, and religion in the domain of "Exploration of Choice and Alternatives"; Buddhists showed a higher score in the domains of "Assessment and Re-evaluation of Decisions" and "Review of Values and Goals," with significant difference of p<.05. Autonomy and clinical decision making revealed a positive correlation in the categories "Assessment and Re-evaluation of Decisions" (r=.518, p=.000), "Review of Values and Goals" (r=.610, p=.000), and "Investigation of Information and Synchronization of New Information" (r=.314, p=.000). Conclusions : To improve the performance of dental hygienists, working systems and training will be intensified to develop the autonomy and clinical decision making.

• 한국융합학회논문지
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• 제8권4호
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• pp.9-18
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• 2017

무인항공기는 2000년대 중반부터 탐색, 조사, 매핑, 수색 및 구조 등의 3D 작업에 적극적으로 사용되기 시작했다. 이러한 세계적인 추세에 따라, 무인항공기의 정밀한 제어는 엄청난 응용 산업들의 측면에 있어서 혁명을 가져올 것이다. 논문의 첫 번째 파트에서는 시스템식별 기법을 사용하여 간략화 된 무인항공기의 모델을 이전의 이산시간 선형모델과 비교분석 한다. 두 번째 파트에서는 동적 모델의 세 가지 변수가 배치추정기법과 RLS추정기법을 사용하여 추정된다. 쿼드로터 무인항공기 호버링 기동 시의 각가속도 데이터가 항상 수렴한다고 분석되었다. 또한 실험 및 MATLAB 시뮬레이션의 쿼드로터 무인항공기 비행 데이터에 의하면, 배치추정기법이 RLS추정기법보다 더 정확하다고 판명되었다.

• 대한임베디드공학회논문지
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• 제17권1호
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• pp.33-40
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• 2022

With the recent increase in the development of military drones, they are adopted and used as the combat system of battalion level or higher. However, it is difficult to use drones that can be used in battles below the platoon level due to the current conditions for the formation of units in the Korean military. In this paper, therefore, we developed a program drones equipped with a thermal imaging camera and LiDAR sensor for reconnaissance and exploration that can be applied in battles below the platoon level. Using these drones, we studied the possibility and feasibility of drones for small-scale combats that can find hidden enemies, search for an appropriate detour through image processing and conduct reconnaissance and search for battlefields, hiding and cover-up through image processing. In addition to the purpose of using the proposed drone to search for an enemies lying in ambush in the battlefield, it can be used as a function to check the optimal movement path when a combat unit is moving, or as a function to check the optimal place for cover-up or hiding. In particular, it is possible to check another route other than the route recommended by the program because the features of the terrain can be checked from various viewpoints through 3D modeling. We verified the possiblity of flying by designing and assembling in a form of adding LiDAR and thermal imaging camera module to a drone assembled based on racing drone parts, which are open source hardware, and developed autonomous flight and search functions which can be used even by non-professional drone operators based on open source software, and then installed them to verify their feasibility.