• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.3
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• pp.405-412
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• 2023

With the development of drone and ICT convergence technology, the use of underwater drones such as leisure underwater drones such as underwater exploration for fishing and industrial drones such as bridge piers is increasing. Existing motor controllers are suitable for aerial drones and these can increase the completeness of underwater drones and their reliability in motor control by developing BLDC motor controllers dedicated to underwater drones. By developing a battery management system (BMS) exclusively for underwater drones, battery stability was ensured by checking the state of charge, checking the state of discharge, adjusting cell balancing, and implementing high/voltage protection functions.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.6_3
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• pp.1325-1332
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• 2023

Recently, much research is being conducted based on point cloud data for the growth of innovations such as construction automation in the transportation field and virtual national space. This data is often measured through remote control in terrain that is difficult for humans to access using devices such as UAVs and UGVs. Drones, one of the UAVs, are mainly used to acquire point cloud data, but photogrammetry using a vision camera, which takes a lot of time to create a point cloud map, is difficult to apply in construction sites where the terrain changes periodically and surveying is difficult. In this paper, we developed a point cloud mapping system by adopting non-repetitive scanning LiDAR and attempted to confirm improvements through field application. For accuracy analysis, a point cloud map was created through a 2 minute 40 second flight and about 30 seconds of software post-processing on a terrain measuring 144.5 × 138.8 m. As a result of comparing the actual measured distance for structures with an average of 4 m, an average error of 4.3 cm was recorded, confirming that the performance was within the error range applicable to the field.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.52-56
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• 2004

Unmanned Aerial Vehicles (UAVs) are remotely piloted or self-piloted aircraft by inputted program in advance or artificial intelligence. In this study Aileron and Elevator are used to control the movement of airplane for horizontal and vertical flights about its longitudinal and lateral axis. In an introduction, the drone was linearly modeled by extracting aerodynamic parameter through flight test and simulation, lift and drag coefficient corresponding to angle of attack, changes of pitching moment coefficient. In the main subject, the flight simulation was performed after constructing hardware using TMS320F2812 from TI company and PID with lateral and longitudinal controller for horizontal and vertical flights. Flying characteristics of two system were estimated and compared through real flight test with hardware equipped algorithm and adaptive algorithm that was applied to consider external factors such as turbulence. In conclusion the control performance of the controller with proposed algorithm was streamlined at lateral and longitudinal controller respectively, we will discuss guidance command to pass way point.

• Proceedings of the Korea Information Processing Society Conference
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• 2016.04a
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• pp.854-857
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• 2016

본 논문에서는 드론의 비행원리와 4족 로봇의 움직임에 관해 설명하고 마커 인식을 이용하여 두 로봇의 도킹 방법을 제시한다. 드론과 4족 로봇이 도킹 되었을 때 로봇의 무게 고려를 하여 설계를 하였고, 구조현장이나 재난극복 및 재난현장 같은 지상에서 이동할 수 없는 현장에 대해 비행과 지상을 이동하며 기동성을 높이고 임무를 수행할 수 있는 로봇을 제작했다.

• International journal of advanced smart convergence
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• v.12 no.1
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• pp.31-40
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• 2023

This asymed drone controller is indispensable for two components: Guidance and Controller. In which the Ministry of Guidance will receive waypoints from which to form an orbit then combine the data with the current location of the vessel, thereby calculating and also supplying the controller to drive the vehicle to follow the outlined trajectory. This article will use the Line Of Sight (LOS) algorithm to design the Guidance and Controller sets. The result as well as the effectiveness of the controller will be shown through matlab/SIMULINK simulation.

• Journal of Advanced Navigation Technology
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• v.21 no.6
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• pp.554-560
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• 2017

Accurate altimetry is required for the reliable flight control of drones or unmanned air vehicles (UAVs), and the radar altimeter is commonly used owing to its accuracy for the ground level. Due to the limitation for size, weight and power consumption, the frequency modulated continuous wave (FMCW) radar is appropriate for drone because it has lower complexity than that of pulse Doppler (PD) radar. Especially, fast-ramp FMCW radar, which transmits linear FM signal during very short period, is generally utilized, because it is robust for the ego-motion of drone. Therefore, we present the design and implementation results of the radar signal processor (RSP) for fast-ramp FMCW radar system. The proposed RSP was designed with Verilog-HDL and implemented with Altera Cyclone-IV FPGA device. Implementation results show that the proposed RSP includes 27,523 logic elements, 15,798 registers and memory of 138Kbits and can measure the altimeter at the rate of 100Hz with the operating frequency of 50MHz.

• Journal of the Korean Geosynthetics Society
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• v.19 no.3
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• pp.1-8
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• 2020

In this study, numerical analysis of debris flow was performed using the SPH (Smoothed Particle Hydrodynamics) technique to analyze the mechanism of debris flow, and the applicability of soil parameters was verified by comparison with previous studies. In addition, after performing aerial photographic survey using a drone, a topographic model was created based on this survey to check the applicability of the site to the valley part of Jagul Mountain basin. And after numerical analysis of debris flow was performed using NFLOW, and the result was compared and analyzed with the existing satellite image based method. As a result of this study, the numerical analysis method using drone image and NFLOW was found to have a higher applicability to predicting the impact of debris flow, because it can reflect the actual topography better than the existing method based on satellite imagery. Therefore, it is considered that this study can be used as basic data to establish the preventive measures for debris flow such as location selection of the eruption control dam.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.11
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• pp.497-505
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• 2018

In a situation where the amount of bulky waste needs to be quantified, a three-dimensional model of the wastes can be constructed using drones. This study constructed a drone-based 3D model with a range of flight parameters and a GCPs survey, analyzed the relationship between the accuracy and time required, and derived a suitable drone application technique to estimate the amount of waste in a short time. Images of waste were photographed using the drone and auto-matching was performed to produce a model using 3D coordinates. The accuracy of the 3D model was evaluated by RMSE calculations. An analysis of the time required and the characteristics of the top 15 models with high accuracy showed that the time required for Model 1, which had the highest accuracy with an RMSE of 0.08, was 954.87 min. The RMSE of the 10th 3D model, which required the shortest time (98.27 min), was 0.15, which is not significantly different from that of the model with the highest accuracy. The most efficient flight parameters were a high overlapping ratio at a flight altitude of 150 m (60-70% overlap and 30-40% sidelap) and the minimum number of GCPs required for image matching was 10.

• Journal of Internet Computing and Services
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• v.22 no.6
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• pp.99-113
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• 2021

In these days, as cyberspace has been recognized as the fifth battlefield area following the land, sea, air, and space, attention has been focused on activities that view cyberspace as an operational and mission domain in earnest. Also, in the 21st century, cyber operations based on cyberspace are being developed as a 4th generation warfare method. In such an environment, the success of the operation is determined by the commander's decision. Therefore, in order to increase the rationality and objectivity of such decision-making, it is necessary to systematically establish and select a course of action (COA). In this study, COA is established by using the method of classifying operational elements necessary for cyber operation, and it is intended to suggest a direction for quantitative evaluation of COA. To this end, we propose a method of composing the COES (Cyber Operational Elements Set), which becomes the COA of operation, and classifying the cyber operational elements identified in the target development process based on the 5W1H Method. In addition, by applying the proposed classification method to the cyber operation elements used in the STUXNET attack case, the COES is formed to establish the attack COAs. Finally, after prioritizing the established COA, quantitative evaluation of the policy was performed to select the optimal COA.

• Proceedings of the Korea Information Processing Society Conference
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• 2016.04a
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• pp.851-853
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• 2016

본 논문은 물류 작업을 위한 지상 보행이 가능한 드론의 제어기를 개선시키기 위한 방법 중 하나로 비선형 자세제어기를 적용한 결과를 보여준다. 로봇은 물류 작업을 위하여 설계되었는데, 페이로드의 변화에 따라서 모델 파라미터가 변하기 때문에 특별한 제어기가 필요하다. 따라서 기존 연구에서 제안되었던 비선형 적응제어기를 채택하여 실험 모델에 적용시켰다. 실험은 실내에서 진행되었고 초기 조건에서 30초 간 자세 안정화 명령의 응답 특성을 확인하는 방식으로 진행되었고, 제어기의 실효성과 안정성을 입증했다.