• 드라이브 ㆍ 컨트롤
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• 제19권4호
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• pp.19-28
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• 2022

This paper introduces an automatic steering system for straight traveling capable of being mounted on drivable agricultural machinery which user can handle it such as a tractor, a transplant, etc. The modular automatic steering device proposed in the paper is composed of RTK GNSS, IMU, HMI, hydraulic valve, and wheel sensor. The path generation method of the automatic steering system is obtained from two location information(latitude and longitude on each point) measured by GNSS in advance. From HMI, a straight path(AB line) can be created by connecting latitude and longitude on each point and the device makes the machine able to follow the path. During traveling along the reference path, it acquires the real time position data every sample time(0.1s), compares the reference with them and calculates the lateral deviation. The values of deviation are used to control the steering angle of the machine using hydraulic valve mounted on the axle of front wheel. In this paper, Pure Pursuit algorithm is applied used in autonomous vehicles frequently. For the analysis of traveling characteristics, field tests were executed about these conditions: velocity of 2, 3, 4km/h which is applied to general agricultural work and ground surface of solid(asphalt) and weak condition(soil) such as farmland. In the case of weak ground state, two experiments were executed about no-load(without work) and load(with work such as plowing). The maximum average deviations were presented 2.44cm, 7.32cm, and 11.34cm during traveling on three ground conditions : asphalt, soil without load and with load(plowing).

• Advances in Energy Research
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• 제4권1호
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• pp.87-106
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• 2016

In this research, optimum design of the combined solar collector, geothermal heat pump and thermal seasonal storage system for heating and cooling a sample greenhouse is studied. In order to optimize the system from technical point of view some new control strategies and functions resulting from important TRNSYS output diagrams are presented. Temperatures of ground, rock bed storage, outlet ground heat exchanger fluid and entering fluid to the evaporator specify our strategies. Optimal heat storage is done with maximum efficiency and minimum loss. Mean seasonal heating and cooling COPs of 4.92 and 7.14 are achieved in series mode as there is no need to start the heat pump sometimes. Furthermore, optimal parallel operation of the storage and the heat pump is studied by applying the same control strategies. Although the aforementioned system has higher mean seasonal heating and cooling COPs (4.96 and 7.18 respectively) and lower initial cost, it requires higher amounts of auxiliary energy either. Soil temperature around ground heat exchanger will also increase up to $1.5^{\circ}C$ after 2 years of operation as a result of seasonal storage. At the end, the optimum combined system is chosen by trade-off between technical and economic issues.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2008년도 International Symposium on Remote Sensing
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• pp.328-331
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• 2008

It is possible to extract qualified ground control points (GCPs) solely from SAR data without published maps. TerraSAR-X is now in orbit and provides valuable data that have one of the highest spatial resolutions among civilian SAR systems. In this study, a sophisticated method for GCP coordinate extraction from TerraSAR-X stripmap mode data with a 3 m resolution was tested and the quality of the extracted GCPs was evaluated. An inverse-geolocation algorithm was applied to obtain GCPs from TerraSAR-X data. SRTM 90m DEM was used as an auxiliary data set for azimuth time correction of the SAR data. Mean values of the distance errors were 0.11 m and -3.96 m with standard deviations of 6.52 m and 5.11 m in easting and northing, respectively. The result is one of the best among GCPs possibly extracted from current civilian remote sensing systems. The extracted GCPs were used for geo-rectification of an IKONOS image, which demonstrated the applicability of the GCPs to geo-rectification of high resolution optic image. The method used in this study can be applied to KOMPSAT-5 for geo-rectification of high-resolution optic images acquired by KOMPSAT-2 or follow-up missions.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2006년도 춘계학술발표회 논문집
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• pp.485-490
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• 2006

In this study, the Digital Surface Models of various spatial resolutions were constructed using LIDAR point data on Digital Photogrammetric System. Then, the accuracies of each DSM's were evaluated using GPS surveying data. And also, observable features were classified and their accuracies were evaluated to verify the availability for Ground Control Point. On Socet Set, Digial Photogrametric System 5 DSM's of which spatial resolutions were 0.15m, 0.5m, 1.0m, 2.5m and 5.0m were constructed and the accuracies of eahc DSM's evaluated in RMSE. The RMSE's of each DSM's were 0.03m, 0.05m, 0.08m, 0.12m and 0,19m. The building feature was observable in DSM's of which spatial resolutions were 0.15m, 0.30m and 0.50m. On the contrary, it could hardly be observed in those of other spatial resolutions. In comparison with the digital map at the scale of 1:1,000, the DSM at the spatial resolution of 0.lim was shifted horizaltally by 0.6m-0.7m of RMSE in each X, Y direction. Therefore, GCP of which horizontal RMSE is better than 1m can be obtained from the DSM at the spatial resolution of 0.15m, of which vertical RMSE is 0.03m-0.19m as the RMSE of DSM. This point cannot be used in aerial triangulation of cartography but can be used for GCP in modeling of satellite image at the moderate resolution.

• 한국지리정보학회지
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• 제23권4호
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• pp.234-252
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• 2020

계측기기만을 이용한 현장 상황대응의 재래적 방식에서 벗어나 온라인 '첨단기술(Hi-Technology)'과 오프라인의 '직관적 경험(Hi-Experience)'을 융합한 하이브리드(Hybrid) 재해관리 기법의 유효성을 검증하였다. 이를 위해 대상 현장에 매설된 상시 계측기 GNSS(RTK) 5대를 지상기준점(Ground Control Point, GCP)으로 사용하였다. 또한, 인근 지점에 크기 불변 특징점(Scale Invariant Feature Transform, SIFT) 4곳을 추출하여 검사점(Control Point, CP)으로 활용하였다. 이를 통해 현장 실측치와 드론기반 3차원 측정 결과치와의 정확도를 각 좌표값의 차이의 평균제곱근오차(Root Mean Square Error)를 이용하여 분석하였다. 결과적으로 드론에 의해 획득된 3차원 수치 모델을 정밀하게 후처리 분석함으로써 피사체의 모든 지형지물이 변위추적의 객체로 활용할 수 있음을 확인할 수 있었다. 포인트 클라우드(Point cloud) 기반의 3-D 수치 영상은 현장 그대로의 모습을 초실감, 고정도 가시화 함으로서 직관적인 경험에 공감할 수 있는 친화적인 솔루션을 제공하며, 단순 신호처리 기반의 계측기기 하드웨어 중심의 재해관리를 탈피해 인명피해/예산 절감 등 비탈면 유지관리에 최적의 플랫폼을 제공할 수 있을 것으로 판단된다. 특히, 특정 위치에 설치된 특정지점(Pin-point) 센서에 의존한 국지적인 정보의 한계를 뛰어넘어 기술생산 중심에서 재난관리의 중심으로 신속하게 전환될 수 있는 매개체가 될 것으로 기대한다.

• 제어로봇시스템학회논문지
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• 제15권8호
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• pp.859-866
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• 2009

The article discusses an issue of estimating the airspeed of an autonomous flying vehicle. Airspeed is the difference between ground speed and wind speed. It is desirable to know any two among the three speeds for navigation, guidance and control of an autonomous vehicle. For example, ground speed and position are used to guide a vehicle to a target point and wind speed and airspeed are used to maximize flight performance such as a gliding range. However, the target vehicle has not an airspeed sensor but a ground speed sensor (GPS/INS). So airspeed or wind speed has to be estimated. Here, airspeed is to be estimated. A vehicle's dynamics and its dynamic parameters are used to estimate airspeed with attitude and angular speed measurements. Kalman filter is used for the estimation. There are also two major sources arousing a robust estimation problem; wind speed and altitude. Wind speed and direction depend on weather conditions. Altitude changes as a vehicle glides down to the ground. For one reference altitude, multiple model Kalman filters are pre-designed based on several reference airspeeds. We call this group of filters as a cluster. Filters of a cluster are activated simultaneously and probabilities are calculated for each filter. The probability indicates how much a filter matches with measurements. The final airspeed estimate is calculated by summing all estimates multiplied by probabilities. As a vehicle glides down to the ground, other clusters that have been designed based on other reference altitudes are activated. Some numerical simulations verify that the proposed method is effective to estimate airspeed.

• Journal of Biosystems Engineering
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• 제38권4호
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• pp.255-263
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• 2013

Purpose: It is not easy to drive a rice-transplanter avoiding underlapped or overlapped transplanting in paddy fields. An automated guidance system for the riding-type rice-transplanter would be necessary to operate the rice-transplanter autonomously or to assist the beginning drivers as a driving aid. Methods: A prototype of guidance system was composed of embedded computers, RTK-GPS, and a power-steering mechanism. Two Kalman filters were adopted to overcome sparse positioning data (1 Hz) from the RTK-GPS. A global Kalman filter estimated the posture of rice-transplanter every one second, and a local Kalman filter calculated the posture from every new estimation of the global Kalman filter with an interval of 200 ms. A PID controller was applied to the row-following mode control. A control method of U-turning mode was developed as well. A stepping motor with a reduction gear set was used to rotate the shaft of steering wheel. Results: Test trials for U-turning and row-following modes were done in a paddy field after some parameters have been tuned at the ground speed range of 0.3 ~ 1.2 m/s. The minimum RMS error of offset was 3.13 cm at the ground speed of 0.3 m/s while the maximum RMS error was 13.01 cm at 1.2 m/s. The offset RMS error tended to increase as the ground speed increased. The target point distance, LT also affected the system performance and PID controller parameters should be adjusted on different ground speeds. Conclusions: A target angle-based PID controller plus stationary steering angle controller made it possible for the rice-transplanter to steer autonomously by following a reference line accurately and even on U-turning mode. However, as condition in paddy fields is very complicated, the system should control the ground speed that prevents it from deviating too much due to ditch and slope.

• Korean Journal of Geomatics
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• 제2권1호
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• pp.31-35
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• 2002

This paper describes an experiment for three-dimensional positioning for a pair of KOMPSAT stereostrips using the ancillary data and a single ground control point. The photogrammetric model for three-dimensional positioning was performed as follows: first, initialization of orbital and attitude parameters derived from ancillary data; second, adjustment of orbital and attitude parameters for the satellite to minimize the ground position error with respect to a GCP using the collinearity condition; third, determination of actual satellite position; and lastly, space intersection. This model was tested for a pair of stereo strips with 0.6 base-to-height ratio and GCPs identified from a 1:5,000 scale digital map. As the result, the satellite position of offset was corrected by only one GCP and the accuracy for the geometric modeling showed 38.89m RMSE.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2008년도 International Symposium on Remote Sensing
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• pp.181-184
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• 2008

The quality of orthoimages mainly depends on the elevation information and exterior orientation (EO) parameters. Since LiDAR data directly provides the elevation information over the earth's surface including buildings and trees, the concept of true orthorectification has been rapidly developed and implemented. If a LiDAR-driven digital surface model (DSM) is used for orthorectification, the displacements caused by trees and buildings are effectively removed when compared with the conventional orthoimages processed with a digital elevation model (DEM). This study sequentially utilized LiDAR data to generate orthorectified digital aerial images. Experimental orthoimages were produced using DTM and DSM. For the preparation of orthorectification, EO components, one of the inputs for orthorectification, were adjusted with the ground control points (GCPs) collected from the LiDAR point data, and the ground points were extracted by a filtering method. The orthoimage generated by DSM corresponded more closely to non-ground LiDAR points than the orthoimage produced by DTM.

• 대한원격탐사학회지
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• 제24권5호
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• pp.463-471
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• 2008

The quality of orthoimages mainly depends on the elevation information and exterior orientation (EO) parameters. Since LiDAR data directly provides the elevation information over the earth's surface including buildings and trees, the concept of true orthorectification has been rapidly developed and implemented. If a LiDAR-driven digital surface model (DSM) is used for orthorectification, the displacements caused by trees and buildings are effectively removed when compared with the conventional orthoimages processed with a digital elevation model (DEM). This study utilized LiDAR data to generate orthorectified digital aerial images. Experimental orthoimages were produced using digital terrain model (DTM) and DSM. For the preparation of orthorectification, EO components, one of the inputs for orthorectification, were adjusted with the ground control points (GCPs) collected from the LiDAR point data, and the ground points were extracted by a filtering method used in a previous research. The orthoimage generated by DSM corresponded more closely to non-ground LiDAR points than the orthoimage produced by DTM.