• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1917-1920
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• 2003

Automatic tracking of a moving object such as a person is a demanding technique especially in surveillance. This paper describes an experimental system for tracking a moving object on the ground by using a visually controlled aerial robot. A blimp is used as the aerial robot in the proposed system because of its locality in motion and its silent nature. The developed blimp is equipped with a camera for taking downward images and four rotors for controlling the progression. Once a camera takes an image of a specified moving object on the ground, the blimp is controlled so that it follows the object by the employment of the visual information. Experimental results show satisfactory performance of the system. Advantages of the present system include that images from the air often enable us to avoid occlusion among objects on the ground and that blimp’s progression is much less restricted in the air than, e.g., a mobile robot running on the ground.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1159_1160
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• 2009

This paper presents the numerical simulation results on the supercodnucting electrodynamic suspension (EDS) simulator according to the variation of the ground conductor. The levitation force of the EDS system is formed by the reaction between the moving magnet and the fixed ground conductor. The possible way to simulate the EDS system were simulated in this paper by using finite element method (FEM). The static type simulator which consists of the fixed magnet, the fixed ground conductor and the ac current supply system. To verify the characteristics of high speed EDS system with the moving type simulator heavy, large and fast moving ground conductor is needed. The static type simulator can get the characteristics of the high speed EDS system by applying equivalent ac current to velocity, therefore it does not need large moving part. The static type EDS simulator, which can consist of an HTS magnet, the fixed ground conductor(s), an AC power supply and the measuring devices, also test the effect of the shape of the ground conductor easily. The plate type ground conductor made stronger levitation force than ring type ground conductor. Although the outer diameter 335 mm ring type ground conductor (Ring3) was larger than the outer diameter 235 mm ground conductor (Ring2), the levitation force by Ring2 was stronger than that by Ring3. From the calculation results on this paper, the consideration of the magnetic flux distribution according to the levitation height should be included in the process of the ground conductor design.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.1479-1486
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• 2000

This paper introduces the improved moving frame acoustic holography (MFAH) method and its application. MFAH allows us to visualize the noise generated by moving noise sources by employing a vertical line array of microphones affixed to the ground. The sound field generated by moving sources is different from that of stationary ones due to the movement of the sources. Therefore the measured sound pressure by the microphone on the ground has to be processed so that it cooperates the effect of the movement. This paper discusses the effect of moving noise sources on the obtained hologram by MFAH. This assures the applicability of MFAH to the visualization of moving sources. This paper also reviews the improved MFAH that can visualize a coherent narrow band noise and a pass-by noise. The practical applicability of the improved MFAH was demonstrated by visualizing tire noise during a pass-by test.

• Interaction and multiscale mechanics
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• v.1 no.1
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• pp.157-175
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• 2008

A brief review of the research works on ground vibrations caused by trains moving in underground tunnels is first given. Then, the finite/infinite element approach for simulating the soil-tunnel interaction system with semi-infinite domain is summarized. The tunnel is assumed to be embedded in a homogeneous half-space or stratified soil medium. The train moving underground is modeled as an infinite harmonic line load. Factors considered in the parametric studies include the soil stratum depth, damping ratio and shear modulus of the soil with or without tunnel, and the thickness of the tunnel lining. As far as ground vibration is concerned, the existence of a concrete tunnel may somewhat compensate for the loss due to excavation of the tunnel. For a soil stratum resting on a bedrock, the resonance peak and frequency of the ground vibrations caused by the underground load can be rather accurately predicted by ignoring the existence of the tunnel. Other important findings drawn from the parametric studies are given in the conclusion.

• Journal of the Society of Naval Architects of Korea
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• v.39 no.3
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• pp.28-40
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• 2002

Turbulent flows around two-dimensional wing sections in ground effect are analysed by incompressible RANS equations and a finite difference method. The Baldwin-Lomax algebraic turbulence model is used to simulate high Reynolds number flows. The main purpose of this study is to clarify the two-dimensional ground effect and its flow characteristics due to different ground boundary conditions, i.e., moving and fixed bottom boundary. As a first step, to validate the present numerical code, the computational result of Clark-Y(t/C 11.7%) is compared with published numerical results and experimental data. Then, NACA4412 section in ground effect is calculated for various ground clearances with two bottom boundary conditions. According to the computational results, the difference in the lift and moment simulated with the two bottom boundary conditions is negligible, but the drag force simulated by the fixed bottom is to some extent smaller than that by the moving bottom. Therefore, it can be concluded that the drag force measured in a wind tunnel with the fixed bottom could be smaller than that with the moving bottom.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.474-477
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• 2005

In tactical theater, it is crucial to detect ground moving targets and to locate them precisely. This problem can be resolved by using SAR (Synthetic Aperture Radar) sensors providing GMTI (Ground Moving Target Indication) capability. In general, to implement a robust GMTI sensor is not simple because of the strong competitions between target signals and clutter signals on the ground, and low speed of moving targets. Contrary to the case that a delay canceller is mostly suitable for ground surveillance radars, DPCA (Displaced Phase Centered Antenna) or STAP (Space Time Adaptive Processing) techniques have been adapted for GMT! function of modem airborne radars. In this paper, anew scheme of DPCA using two passive antennas with vertical separation is proposed, which also provides good clutter cancellation performance. The proposed scheme enables us to scan straight ahead of the carrying platform that is impossible with typical DPCA configuration. Simulations using various conditions have been performed to validate the proposed scheme, and the results are acceptable.

• Korean Journal of Remote Sensing
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• v.22 no.3
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• pp.229-234
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• 2006

In tactical theater, it is crucial to detect ground moving targets and to locate them precisely. This problem can be resolved by using SAR (Synthetic Aperture Radar) sensors providing GMTI (Ground Moving Target Indication) capability. In general, to implement a robust GMTI sensor is not simple because of the strong competitions between target signals and clutter signals from the ground, and low speed of moving targets. Contrary to the case that a delay canceller is mostly suitable for ground surveillance radars, DPCA (Displaced Phase Centered Antenna) or STAP (Space Time Adaptive Processing) techniques have been widely adapted for GMTI function of modern airborne radars. In this paper, a new scheme of DPCA using two passive antennas with vertical separation is proposed, which also provides good clutter cancellation performance. The proposed scheme realizes full azimuth coverage for DPCA operation on an airborne platform, which is impossible with classical DPCA configuration. Simulations using various conditions have been performed to validate the proposed scheme, and the results are acceptable.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.164-164
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• 2000

This paper proposes a moving window technique that extracts lanes and vehicles using the images captured by a CCD camera equipped inside an automobile in real time. For the purpose, first of all the optimal size of moving window is determined based upon speed of the vehicle, road curvature, and camera parameters. Within the moving windows that are dynamically changing, lanes and vehicles are extracted, and the vehicles within the driving lanes are classified as obstacles. Assuming highway driving, there are two sorts of image-objects within the driving lanes: one is ground mark to show the limit speed or some information for driving, and the other is the vehicle as an obstacle. Using characteristics of three-dimension objects, a neural network can be trained to distinguish the vehicle from ground mark. When it is recognized as an obstacle, the distance from the camera to the front vehicle can be calculated with the aids of database that keeps the models of automobiles on the highway. The correctness of this measurement is verified through the experiments comparing with the radar and laser sensor data.

• Journal of Mechanical Science and Technology
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• v.19 no.2
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• pp.674-681
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• 2005

The unsteady evolution of trailing vortex sheets behind wings in close formation flight near the ground is simulated using a discrete vortex method. The ground effect is included by an image method. The method is validated by comparing computed results with other numerical results. For a lifting line with an elliptic loading, the ground has an effect of moving wingtip vortices laterally outward and suppressing the development of vortex evolution. The gap between wings in close formation flight has an effect of moving up wingtip vortices facing each other. For wings flying in parallel, the ground effect causes the wingtip vortices facing each other to move up, and it makes the opposite wing tip vortices to move laterally outward. When there is a relative height between the wings in ground effect, right-hand side wingtip vortices from a mothership move laterally inward.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.14 no.4
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• pp.1-10
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• 2006

A computational study was carried out in order to investigate the ground effect of a circular cylinder in the presence of a moving wall at a Reynolds number of 2.0${\times}$104. The viscous-incompressible Navier-Stokes equations and Spalart-Allmaras turbulent model of the commercial CFD code were adopted for this numerical analysis. The moving wall was set parallel with the freestream, and the speed of motion was equal to the freestream velocity. The gap ratio is defined as the distance ratio between the circular cylinder diameter and the height from the moving wall. The numerical results show that there are the differences among the each of the stages in evidence of the vorticity contours and the polar diagrams of $C_l$ vs. $C_d$. The 4 stages of the gap ratio are defined according to the flow features, whose stages are divided into small, intermediate, large and convergence gap ratios, respectively.