• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.142-151
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• 2022

With the advent of the 4th industrial revolution, autonomous driving technology is being commercialized in various industries. However, research on autonomous driving so far has focused on platforms with wheel-type platform. Research on a tracked platform is at a relatively inadequate step. Since the tracked platform has a different driving and steering method from the wheel-type platform, the existing research cannot be applied as it is. Therefore, a path-tracking algorithm suitable for a tracked platform is required. In this paper, we studied a path-tracking algorithm for a tracked platform based on a GPS sensor. The existing Pure Pursuit algorithm was applied in consideration of the characteristics of the tracked platform. And to compensate for "Cutting Corner", which is a disadvantage of the existing Pure Pursuit algorithm, an algorithm that changes the LAD according to the curvature of the path was developed. In the existing pure pursuit algorithm that used a tracked platform to drive a path including a right-angle turn, the RMS path error in the straight section was 0.1034 m and the RMS error in the turning section was measured to be 0.2787 m. On the other hand, in the variable LAD algorithm, the RMS path error in the straight section was 0.0987 m, and the RMS path error in the turning section was measured to be 0.1396 m. In the turning section, the RMS path error was reduced by 48.8971%. The validity of the algorithm was verified by measuring the path error by tracking the path using a tracked robot platform.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.22 no.1
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• pp.21-27
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• 2022

As society develops and becomes more complex, new and diverse types of disasters such as fine dust and infectious diseases are occurring. However, in the past, there was no PA(Public Address) system that provided accurate information to prepare for such a disaster. In this paper, we propose a public address system that automatically broadcasts an alarm by analyzing polluted air quality data collected from public data and IoT sensors. The warning level varies depending on the air quality, and the information provided by public data may show a significantly different result from the guide area due to various factors such as the distance from the measuring station or the wind direction. To compensate for this, we are going to propose a method for broadcasting by comparing and analyzing data obtained from public data and data from on-site IoT sensors.

• Progress in Superconductivity
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• v.9 no.1
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• pp.23-28
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• 2007

In order to have a superconductive connection between the wire-wound pickup coil and input coil, typically Nb terminal blocks with screw holes are used. Since this connection structure occupies large volume, large stray pickup area can be generated which can pickup external noise fields. Thus, SQUID and connection block are shielded inside a superconducting tube, and this SQUID module is located at some distance from the distal coil of the gradiometer to minimize the distortion or imbalance of uniform background field due to the superconducting module. To operate this conventional SQUID module, we need a higher liquid He level, resulting in shorter refill interval. To make the fabrication of gradiometers simpler and refill interval longer, we developed a novel method of connecting the pickup coil into the input coil. Gradiometer coil wound of 0.125-mm diameter NbTi wires were glued close to the input coil pads of SQUID. The superconductive connection was made using an ultrasonic bonding of annealed 0.025-mm diameter Nb wires, bonded directly on the surface of NbTi wires where insulation layer was stripped out. The reliability of the superconductive bonding was good enough to sustain several thermal cycling. The stray pickup area due to this connection structure is about $0.1\;mm^2$, much smaller than the typical stray pickup area using the conventional screw block method. By using this compact connection structure, the position of the SQUID sensor is only about 20-30 mm from the distal coil of the gradiometer. Based on this compact module, we fabricated a magnetocardiography system having 61 first-order axial gradiometers, and measured MCG signals. The gradiometers have a coil diameter of 20 mm, and the baseline is 70 mm. The 61 axial gradiometer bobbins were distributed in a hexagonal lattice structure with a sensor interval of 26 mm, measuring $dB_z/dz$ component of magnetocardiography signals.

• Journal of the Korean Geotechnical Society
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• v.28 no.5
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• pp.13-25
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• 2012

Ground anchor method is one of the most popular reinforcing technology for slope in Korea. For the health monitoring of slope which is reinforced by permanent anchor for a long period, monitoring of the tension force of ground anchor is very important. However, since electromechanical sensors such as strain gauge and V/W type load cell are also subject to long-term risk as well as suffering from noise during long distance transmission and immunity to electromagnetic interference (EMI), optical FBG sensors embedded tendon was developed to measure strain of 7-wire strand by embedding FBG sensor into the center king cable of 7-wire strand. This FBG sensors embedded tendon has been successfully applied to measuring the short-term anchor force. But to adopt this tendon to long-term monitoring, temperature compensation of the FBG sensors embedded tendon should be done. In this paper, we described how to compensate the effect in compliance with the change of underground temperature during long-term tension force monitoring of ground anchors by using optical fiber sensors (FBG: Fiber Bragg Grating). The model test was carried out to determine the temperature sensitivity coefficient (${\beta}^{\prime}$) of FBG sensors embedded tendon. The determined temperature sensitivity coefficient ${\beta}^{\prime}=2.0{\times}10^{-5}/^{\circ}C$ was verified by comparing the ground temperatures predicted from the proposed sensor using ${\beta}^{\prime}$ with ground temperatures measured from ground thermometer. Finally, temperature compensations were carried out based on ${\beta}^{\prime}$ value and ground temperature measurement from KMA for the tension force monitoring results of tension type and compression type anchors, which had been installed more than 1 year before at the test site. Temperature compensated tension forces are compared with those measured from conventional load cell during the same measuring time. Test results show that determined temperature sensitivity coefficient (${\beta}^{\prime}$) of FBG sensors embedded tendon is valid and proposed temperature compensation method is also appropriate from the fact that the temperature compensated tension forces are not dependent on the change of ground temperature and are consistent with the tension forces measured from the conventional load cell.

• Journal of Korean Society of Steel Construction
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• v.20 no.5
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• pp.609-616
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• 2008

Recently, many ocean bridges that connect land to island or island to island have been constructed along with the improvement of the nation's economy. Long-span bridges can be categorized as suspension bridge, cable-stayed bridge, arch bridge and truss bridge. In this study, correction with respect to construction error can be presented on site through the monitoring of the cable tension change of real structure for four major construction stages so that construction accuracy, including the management of profiles, can be improved. A vibration method, the so-called indirect method that uses the cable's natural frequency changes from the acceleration sensor installed on the cable, is applied in measuring cable tension. In this study, the estimation formula for the effective length of cable with damper is presented by comparing and analyzing between actual measurement and analysis result for the change of the cable's effective length. By the way, it is known that the reliability of estimating cable tension by applying the former method that uses the net distance from damper to anchorage is low. Therefore, for future reference of the maintenance stage, the presented formula for estimating the effective length of cable can be used as a reference for the rational decision-making, such as the re-tensioning and replacement of cable.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.43 no.2 s.308
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• pp.30-39
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• 2006

Iris recognition is that identifies a user based on the unique iris texture patterns which has the functionalities of dilating or contracting pupil region. Iris recognition systems extract the iris pattern in iris image captured by iris recognition camera. Therefore performance of iris recognition is affected by the quality of iris image which includes iris pattern. If iris image is blurred, iris pattern is transformed. It causes FRR(False Rejection Error) to be increased. Optical defocusing is the main factor to make blurred iris images. In conventional iris recognition camera, they use two kinds of focusing methods such as lilted and auto-focusing method. In case of fixed focusing method, the users should repeatedly align their eyes in DOF(Depth of Field), while the iris recognition system acquires good focused is image. Therefore it can give much inconvenience to the users. In case of auto-focusing method, the iris recognition camera moves focus lens with auto-focusing algorithm for capturing the best focused image. However, that needs additional H/W equipment such as distance measuring sensor between users and camera lens, and motor to move focus lens. Therefore the size and cost of iris recognition camera are increased and this kind of camera cannot be used for small sized mobile device. To overcome those problems, we propose method to increase DOF by iris image restoration algorithm based on focus value of iris image. When we tested our proposed algorithm with BM-ET100 made by Panasonic, we could increase operation range from 48-53cm to 46-56cm.

• Korean Journal of Remote Sensing
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• v.31 no.3
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• pp.215-226
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• 2015

Normally, aero photography using UAV uses about 430 MHz bandwidth radio frequency (RF) modem and navigates and remotely controls through the connection between UAV and ground control system. When using the exhausting method, it has communication range of 1-2 km with frequent cross line and since wireless communication sends information using radio wave as a carrier, it has 10 mW of signal strength limitation which gave restraints on life my distance communication. The purpose of research is to use communication technologies such as long-term evolution (LTE) of smart camera, Bluetooth, Wi-Fi and other communication modules and cameras that can transfer data to design and develop automatic shooting system that acquires images to UAV at the necessary locations. We conclude that the android based UAV filming and communication module system can not only film images with just one smart camera but also connects UAV system and ground control system together and also able to obtain real-time 3D location information and 3D position information using UAV system, GPS, a gyroscope, an accelerometer, and magnetic measuring sensor which will allow us to use real-time position of the UAV and correction work through aerial triangulation.

• Journal of the Korean Magnetics Society
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• v.25 no.3
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• pp.83-86
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• 2015

Nowadays the weapon systems are employed air bursting munition (ABM) as smart programmable 40 mm shells which have been developed in order to hit the target with programmed munition that can be air burst after a set distance in the battlefield. In order to improve the accuracy of such a bursting time, by measuring the speed of the munition from the barrel, weapon systems calculate the exact time of flight to the target and then the time information must be inputted to the munition. In this study, we introduce a device capable of detecting a shot at K4 40 mm automatic grenade. The shot is composed of a rotating copper band to convert linear motion into rotary motion when it passes through the barrel, the steel section is exert the effect of fragment and aluminum section to give fuze information. The aluminum section was used to detect munition using eddy current method. To measure muzzle velocity by means of non-contact method, two eddy current probes separated 10 cm was employed. Time interval between two eddy current probe detection times was used as muzzle velocity. The eddy current probe was fabricated U-shape Mn-Zn ferrite core with enamelled copper wire, and 200 kHz alternating current was used to detect inductance change. Measured muzzle velocity using the developed sensor was compared to the Doppler radar system. The difference was smaller than 1%.

• Journal of the Korean Association of Geographic Information Studies
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• v.25 no.2
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• pp.1-17
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• 2022

This study analyzed the PM_2.5 pattern by using data measured for one year from June 2020 to May 2021 by 21 low-cost sensors installed near the Changwon National Industrial Complex in Changwon, Gyeongsangnam-do. For the PM_2.5 pattern, the land use types around the measuring points and meteorological factors such as air temperature and wind speed were considered. The PM_2.5 concentration was high from November to March in winter, and from 1 to 9 in the morning and early in the morning by time zone. The concentration of PM_2.5 was higher as it got closer to the industrial area, but the concentration was lower in the residential area and public facility area. In terms of meteorological factors, the higher the air temperature and wind speed, the lower the concentration of PM_2.5. As a result of this study, it was possible to identify the PM_2.5 patter near Changwon National Industrial Complex. This result will be useful data that can be used in urban and environmental planning to improve air quality including PM_2.5 in urban area in the future.