• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.6
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• pp.385-391
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• 2022

This paper presents to develop a path planning algorithm combining gradient descent-based path planning (GBPP) and particle swarm optimization (PSO) for considering prohibited flight areas, terrain information, and characteristics of fixed-wing unmmaned aerial vehicle (UAV) in 3D space. Path can be generated fast using GBPP, but it is often happened that an unsafe path can be generated by converging to a local minimum depending on the initial path. Bio-inspired swarm intelligence algorithms, such as Genetic algorithm (GA) and PSO, can avoid the local minima problem by sampling several paths. However, if the number of optimal variable increases due to an increase in the number of UAVs and waypoints, it requires heavy computation time and efforts due to increasing the number of particles accordingly. To solve the disadvantages of the two algorithms, hierarchical path planning algorithm associated with hierarchical particle swarm optimization (HPSO) is developed by defining the initial path, which is the input of GBPP, as two variables including particles variables. Feasibility of the proposed algorithm is verified by software-in-the-loop simulation (SILS) of flight control computer (FCC) for UAVs.

• Journal of Advanced Navigation Technology
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• v.20 no.5
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• pp.401-407
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• 2016

This paper introduces 3-dimensional path planning and guidance including power model for high altitude long endurance (HALE) UAV using solar energy. Dubins curve used in this paper has advantage of being directly available to apply path planning. However, most of the path planning problems using Dubins curve are defined in a two-dimensional plan. So, we used 3-dimensional Dubins path generation algorithm which was studied by Randal W. Beard. The aircraft model which used in this paper does not have an aileron. So we designed lateral controller by using a rudder. And then, we were conducted path tracking simulations by using a nonlinear path tracking algorithm. We generate examples according to altitude conditions. From the path tracking simulation results, we confirm that the path tracking is well on the flight path. Finally, we were modeling the power system of HALE UAVs and conducting path tracking simulation during 48hours. Modeling the amount of power generated by the solar cell through the calculation of the solar energy yield. And, we show the 48hours path tracking simulation results.

• Journal of Korean Society of Water and Wastewater
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• v.32 no.6
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• pp.573-581
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• 2018

The purpose of this study is to evaluate the fixed wing type domestic UAV for monitoring of algae bloom in aquatic environment. The UAV used in this study is operated automatically in-flight using an automatic navigation device, and flies along a path targeting preconfigured GPS coordinates of desired measurement sites input by a flight path controller. The sensors used in this study were Sequoia multi-spectral cameras. The photographed images were processed using orthomosaics, georeferenced digital surface models, and 3D mapping software such as Pix4D. In this study, NDVI(Normalized distribution vegetation index) was used for estimating the concentration of chlorophyll-a in river. Based on the NDVI analysis, the distribution areas of chlorophyll-a could be analyzed. The UAV image was compared with a airborne image at a similar time and place. UAV images were found to be effective for monitoring of chlorophyll-a in river.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.6
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• pp.867-874
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• 2021

The IoT (Internet of Things) technology is rapidly becoming an important consideration in many engineering fields in the current 4th industrial era. In recent years, the concepts of digital shipbuilding and smart factories have been adopted as trends in shipyards. However, there is active interest in research on implementing autonomous driving in autonomous vehicles and airplanes, which is currently available in commercial form in a limited capacity. The present study is regarding the path-tracking performance of a boat to accomplish an autonomous driving mission using a flight controller (FC) and real-time kinematic (RTK) global positioning system (GPS) based on an open-source Ardupilot; an actual sea test is also performed using this system on a calm lake. The boat's mission is to evaluate the maneuverability of the self-driving process to a specific point and returning to the home position. For a given speed, the difference between the preset mission trajectory and actual operational trajectory was analyzed, and a series of studies were conducted on the applicability of the system to ships. In addition, the movements and maneuverability of the OmniX-type hull with four propellers were investigated, and the driving path-tracking performance was observed to increase by a maximum of 48%.

• Journal of Advanced Navigation Technology
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• v.19 no.3
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• pp.175-181
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• 2015

Method establishment needs for recent shortening the flight path, fuel reduction, reduction of the flight delay time, increase of the route capacity like as relieve congested airspace and solving future demand. However, As the existing conventional navigation systems is impossible to be resolved. Hereupon, SBAS has been developed with using the GNSS. ICAO has recommended that SBAS need to be operated with aircraft operation from 2025, korea is also developing KASS in accordance with the recommendation. In this paper, before the 2022 KASS will be completed, KASS can be expected using for flight test and inspection as analyzing KASS flight test and relative specifications.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.3
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• pp.173-180
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• 2022

The operation and transportation environment for an unmanned aerial vehicle will be completely different from those for the conventional air and ground transportation. The requirement for a traffic management system for its safe operation has been emerging. Accordingly, investigation is being conducted to analyze the danger that unmanned aerial vehicle may encounter during the flight and to provide the countermeasure by the simulation. When the drones operate in an urban environment, they may be affected by the wind around the building. Thus it is essential to predict the influence of the gust and analyze the resulting risk. In this paper, a method for evaluating the safety for a flight mission under the gust is suggested. By using the precise 6-degree-of-freedom flight simulation that is capable of simulating the gust condition, possible deviation from the pre-planned flight path in terms of the attitude orientation will be predicted. A method of quantifying the probability of the flight mission failure will also be presented.

• The Journal of Korea Robotics Society
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• v.7 no.1
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• pp.45-56
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• 2012

This paper proposes how to improve the performance of CSS-based indoor localization system. CSS based localization utilizes signal flight time between anchors and tag to estimate distance. From the distances, the 3-dimensional position is calculated through trilateration. However the error in distance caused from multi-path effect transfers to the position error especially in indoor environment. This paper handles a problem of reducing error in raw distance information. And, we propose the new localization method by pattern matching instead of the conventional localization method based on trilateration that is affected heavily on multi-path error. The pattern matching method estimates the position by using the fact that the measured data of near positions possesses a high similarity. In order to gain better performance of localization, we use EKF(Extended Kalman Filter) to fuse the result of CSS based localization and robot model.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2005.03a
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• pp.331-342
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• 2005

This paper presents a non-destructive evaluation (NDE) technique for detecting damages on a jointed steel plate on the basis of the time of flight and wavelet coefficient, obtained from wavelet transforms of Lamb wave signals. Support vector machines (SVMs), which is a tool for pattern classification problems, was applied to the damage estimation. Two kinds of damages were artificially introduced by loosening bolts located in the path of the Lamb waves and those out of the path. The damage cases were used for the establishment of the optimal decision boundaries which divide each damage class's region from the intact class. In this study, the applicability of the SVMs was investigated for the damages in and out of the Lamb wave path. It has been found that the present methods are very efficient in detecting the damages simulated by loose bolts on the jointed steel plate.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.17 no.5 s.108
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• pp.490-499
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• 2006

In this paper, we present the newly developed propagation toss model of a long range maritime communication channel, measured by a ground to air flight test, and discuss its validity compared with the predictive value based on the spherical earth reflection model. To measure the propagation loss, actual flight test was performed in the Yellow Sea and the measurement of receiving signal strength was made for overall test range. As far as the test condition is concerned, it is expected that the receiving signal strength must be interfered with the reflected wave by an island existing around the reflection point. Therefore we introduce some modifications on the conventional spherical earth reflection model by including the effect due to the reflected wave from the island. And then, we compare the path loss measured by flight test with that one analyzed by the spherical earth reflection model accounting for reflected wave of the island. As a result of the comparison, it is verified to predict the path loss accurately by the spherical earth reflection model including the effect due to the reflected wave from an island for a long range ground to air communication.

• Journal of Advanced Navigation Technology
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• v.23 no.6
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• pp.522-525
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• 2019

To overcome the limitation of ground inspection for Navigational Aid, Korea Airport Corporation (KAC) developed a drone system for Navigational Aid inspection. This drone system has the advantage that they can inspect the air radio signal at the perspective of user (aircraft). Since drones have more free flight paths and easier control of flight speeds compared to aircrafts, drones can check sections of suspected airborne radio wave distortions at desired paths and speeds. Recently, with the acceleration of the development around the airport, there is a concern about the deterioration of the quality of radio signal of Navigational Aid. In order to analyze radio distortion of Navigational Aid, a radio wave environmental survey was conducted using drones. When the signal received by each flight path of the drone was measured, the origin of the reflected wave was identified by analyzing the section in which the radio signal was distorted.