• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.9
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• pp.681-689
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• 2020

This paper presents methods and results of both flight test examining roll angle estimation performance of slowly rolling munition forced to spin in the air, and fabricating a replica of guided munition. Guided munition was deployed from multi rotor type UAV mother ship whose altitude and velocity was conveyed to it as initial state. Flight test scenario is composed of a sequence of munition drop(deployment), munition spin, roll angle estimation and stabilization. Munition was deployed from mother ship at around 200m high with horizontal velocity of 15m/s, and was made spun using internal reaction wheel. Performance analysis on roll angle estimation is provided in comparison with commercial aerospace graded GPS/INS. Moreover, several mechanisms that rotates munition using reaction wheel, and actual product that realizes one of them are introduced.

• The Journal of Korea Robotics Society
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• v.8 no.1
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• pp.29-36
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• 2013

This paper presents a sensitivity optimization of a MEMS (microelectromechanical systems) gyroscope for a magnet-gyro system. The magnet-gyro system, which is a guidance system for a AGV (automatic or automated guided vehicle), uses a magnet positioning system and a yaw gyroscope. The magnet positioning system measures magnetism of a cylindrical magnet embedded on the floor, and AGV is guided by the motion direction angle calculated with the measured magnetism. If the magnet positioning system does not measure the magnetism, the AGV is guided by using angular velocity measured with the gyroscope. The gyroscope used for the magnet-gyro system is usually MEMS type. Because the MEMS gyroscope is made from the process technology in semiconductor device fabrication, it has small size, low-power and low price. However, the MEMS gyroscope has drift phenomenon caused by noise and calculation error. Precision ADC (analog to digital converter) and accurate sensitivity are needed to minimize the drift phenomenon. Therefore, this paper proposes the method of the sensitivity optimization of the MEMS gyroscope using DEAS (dynamic encoding algorithm for searches). For experiment, we used the AGV mounted with a laser navigation system which is able to measure accurate position of the AGV and compared result by the sensitivity value calculated by the proposed method with result by the sensitivity in specification of the MEMS gyroscope. In experimental results, we verified that the sensitivity value through the proposed method can calculate more accurate motion direction angle of the AGV.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.6
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• pp.755-760
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• 2011

This paper presents a method for improving the positioning accuracy of the laser navigation. As a wireless navigation system, the laser navigation which is more flexible than a wired guidance system is used for the localization and control of an AGV(automatic guided vehicle). However, the laser navigation causes the large positioning error while the AGV turns or moves fast. To solve the problem, we propose the method for improving the positioning accuracy of the laser navigation using particle filter which has robust and reliable performance in non-linear/non-gaussian systems. For the experiment, we use the actual fork-type AGV. The AGV has a gyro, two encoders and a laser navigation. To verify the performance, the proposed method is compared with the laser navigation which is a product. In the experimental result, we verified that the proposed method could improve the positioning accuracy by approximately 66.5%.

• Journal of the Korea Concrete Institute
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• v.23 no.2
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• pp.219-224
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• 2011

In this study, a piezoelectric smart sensor that can be embedded inside of concrete structures is developed to investigate the early stage of concrete curing. A waterproof coating is used to protect the piezoelectric sensor from moistures of concrete mixture. Also, a mortar case is utilized to encapsulate the sensor to protect it from impact loads. To estimate the strength of concrete, a self-sense guided-wave actuated sensing technique is applied. In the guided wave, its velocity is varied according to the mechanical properties of concrete such as modulus of elasticity. Because modulus of elasticity directly affects the strength of concrete, the guidedwave's velocity also affects the concrete strength development. To verify the feasibility of using the proposed approach, the smart sensor was embedded into a 100MPa concrete cylinder and the self-sense guided wave is continuously measured throughout the curing process. The measurements showed that the propagation time (TOF) of the measured guided waves gradually decreased as the curing age increased. Especially, at the early age of the curing process, the variation of the TOF was very significant. Furthermore, the results showed that there is a linear relationship between the TOF of the self-sense guided waves and the strength of concrete existed. It is safe to conclude that the proposed approach can be used very effectively in monitoring of the strength development of high strength concrete structures.

• Journal of Korean Tunnelling and Underground Space Association
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• v.10 no.3
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• pp.221-232
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• 2008

Rock bolts have been installed into rockmass as a main support system. In order to evaluate the rock bolt integrity using non-destructive technique, the transmission method of the guided ultrasonic wave has been successfully performed. For the transmission method, however, the source for the generation o# guided ultrasonic waves should be installed at the end of the steel bar during construction of the rock bolt in the field. The purpose of this study is to suggest a reflection method that the source and the receiver are installed on the head of the steel bar. The reflection method is compared with the transmission method using non-embedded rock bolts and rock bolts embedded in concrete block. In this experiment, the piezo disc element is used as the source and the AE sensor is used as the receiver. The wavelet transform is applied to determine the energy velocity. The experimental studies show that the reflection method produces almost identical value of the transmission method, and the energy velocity increases with the defect ratio. This study suggests that the reflection method of the guided ultrasonic wave may be a suitable method fur the rock bolt integrity evaluation in the field.

• Journal of Broadcast Engineering
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• v.23 no.4
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• pp.474-483
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• 2018

In this paper, we propose a multi-scale high dynamic range (HDR) tone mapping algorithm using guided image filter (GIF). The GIF is used to divide an image into a base layer and a detail layer, then the range of the detail layer is reduced with a compression function to enhance the detail information of the image. However, in most cases, an image includes the detail and edge information in different scales. That is to say, it is difficult to represent all detail features under a certain scale, and a single-scale image decomposition method is not free from artifacts around edges. To solve the problems, the multi-scale image decomposition method is proposed. It utilizes the detail layers of several scale to determine how much edge is preserved. Experiment results show that the proposed algorithm has better image performance in preserving edge compared to conventional algorithm.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2011.06a
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• pp.218-219
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• 2011

This paper focuses on dispatching strategy for AGVs(Automated Guided Vehicle). The goal of AGV dispatching problem is allocating jobs to AGVs to minimizing QC delay and AGV total travel distance. Due to the highly dynamic nature of container terminal environment, the effect of dispatching is hard to predict thus it leads to frequent modification of dispatching results. Given this situation, single rule-based approach is widely used due to its simplicity and small computational cost. However, single rule-based approach has a limitation that cannot guarantee a satisfactory performance for the various performance measures. In this paper, dispatching strategy based on multicriteria heuristics is proposed. Proposed strategy consists of multiple decision criteria. A muti-objective evolutionary algorithm is applied to optimize weights of those criteria. The result of simulation experiment shows that the proposed approach outperforms single rule-based dispatching approaches.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.3
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• pp.367-372
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• 2012

This paper presents a development of an analog type magnetic positioning system and its positioning accuracy improvement using fuzzy inference system. As the magnetic positioning system used on a magnet-gyro guidance system for AGV(automatic guided vehicle), it measures a position of magnet embedded in floor of the work place. The existing product of the magnetic positioning system is very expensive in Korea because it is being sold in a foreign country exclusively. Moreover, the positioning accuracy of the product is low because it uses digital type unipolar hall sensors. Hence, we developed the magnetic positioning system by ourselves and improved the positioning accuracy of the developed magnetic positioning system using fuzzy inference system. For experiment, we used the analog type magnetic positioning system which we have developed, and compared the performance of the proposed method with the performance of the existing positioning method for the magnetic positioning system. In experimental results, we verified that the proposed method improved the positioning accuracy of the magnetic positioning system.

• Journal of Navigation and Port Research
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• v.35 no.6
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• pp.501-507
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• 2011

This paper focuses on dispatching strategy for AGVs(Automated Guided Vehicle). The goal of AGV dispatching is assigning AGVs to requested job to minimizing the delay of QCs and the travel distance of AGVs. Due to the high dynamic nature of container terminal environment, the effect of dispatching is hard to predict thus it leads to frequent modification of dispatching decisions. In this situation, approaches based on a single rule are widely used due to its simplicity and small computational cost. However, these approaches have a limitation that cannot guarantee a satisfactory performance for the various performance measures. In this paper, dispatching strategy based on multicriteria heuristics is proposed. The Proposed strategy consists of multiple decision criteria. A multi-objective evolutionary algorithm is applied to optimize weights of those criteria. The result of simulation experiment shows that the proposed approach outperforms single rule-based dispatching approaches.

• Transactions of the Korean Society of Pressure Vessels and Piping
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• v.16 no.2
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• pp.1-9
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• 2020

Large-scale industrial facility structures continue to deteriorate due to the effects of operating and environmental conditions. The problems of these industrial facilities are potentially causing economic losses, environmental pollution, casualties, and national losses. Accordingly, in order to prevent disaster accidents of large structures in advance, the necessity of diagnosing structures using non-destructive inspection techniques is being highlighted. The defect occurrence, location and defect type of the structure are important parameters for predicting the remaining life of the structure, so continuous defect observation is very important. Recently, many researchers have been actively researching real-time monitoring technology to solve these problems. Structure Health Monitoring Inspection is a technology that can identify and respond to the occurrence of defects in real time, but there is a limit to check the degree of defects and the direction of growth of defects. In order to compensate for the shortcomings of these technologies, the importance of defect imaging techniques is emerging, and in order to find defects in large structures, a method of inspecting a wide range using guided ultrasonic is effective. The work presented here introduces a calculation for the shape factor for evaluation of the damaged area, as well as a variable β parameter technique to correct a damaged shape. Also, we perform research in modeling simulation and an experiment for comparison with a suggested inspection method and verify its validity. The curved structure image obtained by the advanced RAPID algorithm showed a good match between the defect area and the shape.