• 반도체디스플레이기술학회지
• /
• 제20권3호
• /
• pp.117-119
• /
• 2021

With the development of the industry, the use of drones in specific mission flight is being actively studied. These drones fly a specified path and perform repetitive tasks. if the drone system will detect objects in real time, the performance of these mission flight will increase. In this paper, we implement object detection system and mount GPU acceleration to maximize the efficiency of limited device resources with drone video using Tensorflow Lite which enables in-device inference from a mobile device and Mobile SDK of DJI, a drone manufacture. For performance comparison, the average processing time per frame was measured when object detection was performed using only the CPU and when object detection was performed using the CPU and GPU at the same time.

• 제어로봇시스템학회논문지
• /
• 제20권12호
• /
• pp.1272-1277
• /
• 2014

This article describes a path planning algorithm for fixed-wing UAVs when a real terrain should be considered. Nowadays, many UAVs are required to perform mission flights near given terrain for surveillance, reconnaissance, and infiltration, as well as flight altitude of many UAVs are relatively lower than typical manned aerial vehicles. Therefore, real terrain should be considered in path planning algorithms of fixed-wing UAVs. In this research, we have extended a spline-$RRT^*$ algorithm to three-dimensional planner. The spline-$RRT^*$ algorithm is a $RRT^*$ based algorithm, and it takes spline method to extend the tree structure over the workspace to generate smooth paths without any post-processing. Direction continuity of the resulting path is guaranteed via this spline technique, and it is essential factor for the paths of fixed-wing UAVs. The proposed algorithm confirm collision check during the tree structure extension, so that generated path is both geometrically and dynamically feasible in addition to direction continuity. To decrease degrees of freedom of a random configuration, we designed a function assigning directions to nodes of the graph. As a result, it increases the execution speed of the algorithm efficiently. In order to investigate the performance of the proposed planning algorithm, several simulations are performed under real terrain environment. Simulation results show that this proposed algorithm can be utilized effectively to path planning applications considering real terrain.

• 대한전자공학회논문지SP
• /
• 제37권1호
• /
• pp.27-36
• /
• 2000

본 연구에서는 초음파와 tomography 기법을 기반으로 콘크리트 구조물의 비파괴 시험에 대한 방법론을 정립하고 검증하였다 일반적인 X-ray tomography에서는 물체를 통과하는 파동의 감쇠(attenuation) 데이터에 기초를 두고있는 반면에, 본 연구에서는 time-of-flight(TOF) 데이터를 사용하여 매질의 굴절률(refractive index)을 포괄적으로 표현하는 단층영상을 복원한다 X-ray tomography에서는 측정된 감쇠 데이터를 영상복원(Image reconstruction) 알고리즘에 의해서 처리하며, 파동의 굴절은 고려할 필요가 없다 그러나 초음파는 매질(medium)의 굴절률(refractive index)에 따라 초음파의 경보가 변경되므로 초음파 tomography에서는 초음파 경로의 연산이 선행되어야만 단층영상을 복원할 수 있게 된다 초음파 정보의 연산은 가하광학(Geometrical Optic)에서 사용되는 굴절률과 경로의 관계에 기초를 둔다 영상 복원은 대수학적 접근 방법인 ART (algebraic reconstruction technique) 또는 SIRT(simultaneous iterative reconstruction technique)를 기초로 연산된 초음파의 경로를 따라 선적분한 TOF 값과 측정된 TOF 값의 차이를 기반으로 수행된다 실제 구현에서는 초음파가 직진한다는 가정하에 영상을 복원하고, 이를 기반으로 초음파의 경로를 연산하였다 본 논문에서는 이들 두 과정(경로연산 및 영상복원)의 반복연산을 통하여 영상을 복원하였다. 세안하는 알고리즘을 모의실험으로 평가하였고, 실제 콘크리트 구조물에 적용하여 본 방법론의 무한한 가능성을 입증하였다.

• 한국지능시스템학회논문지
• /
• 제22권2호
• /
• pp.218-224
• /
• 2012

최근에는, 초소형 AUV(Autonomous Underwater Vehicle)의 개발에 대한 요구가 증가하고 있으므로 그 요소 기술의 확보가 시급하다. 요소 기술의 하나로서 국부경로제어의 기존 연구에서는 주로 전방감시소나(Forward Looking Sonar : FLS)의 정보를 활용하고 있는데, FLS의 크기는 초소형 AUV에 적합하지 않으므로 장애물회피소나(Obstacle Avoidance Sonar : OAS)를 이용하는 것이 바람직하다. 요약하면, 초소형 AUV를 위한 OAS 기반의 국부경로제어 시스템은 다음과 같은 문제점들을 가지고 있다. 즉, OAS는 낮은 방위(bearing) 분해능 및 지역적인 거리(range) 정보를 제공하며, 임무시간을 증대하기 위해서 에너지 소비가 적은 시스템을 필요로 한다. 나아가, 구조 및 파라메터 관점에서 용이한 설계 절차를 요구한다. 이 문제를 해결하기 위해서 OAS 빔 모델링을 기반으로 진화 전략(Evolution Strategy : ES) 및 퍼지논리 제어기(Fuzzy Logic Controller : FLC)를 이용하는 지능형 국부경로제어 기법이 제안되었다. 제안된 기법의 성능을 검증하고 특성을 분석하기 위해서 수중비행체(Underwater Flight Vehicle : UFV)의 수평면 침로(course) 제어가 수행되었다. 시뮬레이션 결과는 제안된 기법에 있어서 실제 적용의 가능성과 추가 연구의 필요성을 보여준다.

• 한국BIM학회 논문집
• /
• 제6권1호
• /
• pp.1-8
• /
• 2016

This paper provides a method for generating flight path of Unmanned Aerial Vehicle (UAV) that is intended to be used in visual inspection of dome-type nuclear containment building. The method basically employs 3-D model to extract accurate location coordinates. Two basic route patterns that provide guide lines in defining moving locations were defined for each side wall and dome section of the containment. The route patterns support sequential capturing of images as well. In addition, several simple equations and an algorithm for calculation of the moving location on the route were developed on the basis of 3-D geometric characteristics of the containment building. A prototype computer program has been implemented to validate the proposed method, and a case study shows the method can visualize covering area in 3-D model as well.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2004년도 추계학술대회 논문집
• /
• pp.405-408
• /
• 2004

The sheet parts are formed with dies conventionally. But this conventional forming process is not suited to small volume and varied production for the reason of high cost. For the solution of this problem, a new forming process, which is called CNC incremental sheet forming, is being introduced. This process can form sheet parts without die, and is very well suited to small volume and varied production in space flight and automobile. In this paper, dieless CNC forming system based on a machining center is developed. A special device to grasp and pull the blank sheet built in the machining center and tool path generation S/W from STL file of 3-D model are developed. Several sheet parts are incrementally formed to verify the effectiveness of the developed system.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2008년도 하계종합학술대회
• /
• pp.165-166
• /
• 2008

Bistatic spotlight synthetic aperture radar(BSSAR) with single track configuration uses the transmitter and the receiver which travel along the single track such as the leader-follower. For the BSSAR imaging, we modify the range migration algorithm. In time domain, we make the monostatic SAR using shifting of path, Then, in frequency domain, we compensate the separated distance between the scene center and the flight path using the principle of the stationary phase (PSP).

• 한국소성가공학회:학술대회논문집
• /
• 한국소성가공학회 2004년도 추계학술대회논문집
• /
• pp.184-187
• /
• 2004

The sheet parts are formed with dies conventionally. But this conventional forming process is not suited to small volume and varied production for the reason of high cost. For the solution of this problem, a new forming process, which is called CNC incremental sheet forming, is being introduced. This process can form sheet parts without die, and is very well suited to small volume and varied production in space flight and automobile. In this paper, dieless CNC forming system based on a machining center is developed. A special device to grasp and pull the blank sheet built in the machining center and tool path generation S/W from STL file of 3-D model are developed. Several sheet parts are incrementally formed to verify the effectiveness of the developed system.

• 한국항공운항학회지
• /
• 제2권
• /
• pp.47-56
• /
• 1994

본 연구는 GPS와 노트북 PC를 이용하여 비행경로정보를 얻기 위한 것으로, 이들을 실제 비행기에 장착하여 위치(동경, 북위, 고도), 방위, 속도등의 비행경로정보를 기록하였다. 기록된 자료를 분석한 결과 실제 비행시의 자료들과 일치함을 보였다. GPS와 노트북 PC를 이용한 비행기록장치는 조종훈련생들의 항법교육 및 항법 능력 측정 자료로 이용 될 수 있을 것이다.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1995년도 추계학술대회 논문집
• /
• pp.610-613
• /
• 1995

In addition to propulsive force to a flying vehicle, a rocket propulsion system can provide moments ro rotatate the flying vehicle and thus provide control of the vehicle's attitude and flight path. By controlling the direction of the thrust vectors, it is possible to control a vehicle's pitch, yaw, and roll motions. In this paper, we will introduce general thrust vector control mechanisms.