• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.908-911
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• 2004

In this paper, we describe a robust image processing algorithm to recognize the road lane in real-time. For the real-time processing, a detection area is decided by a lane segment of a previous frame and edges are detected on the basis of the lane width. For the robust driving, the global threshold with the Otsu algorithm is used to get a binary image in a frame. Therefore, reliable edges are obtained from the algorithms suggested in this paper in a short time. Lastly, the lane segment is found by hough transform. We made a RC(Radio Control) car equipped with a vision system and verified these algorithms using the RC Car.

• Computers and Concrete
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• v.19 no.1
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• pp.87-98
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• 2017

In recent year, the coat layer drops and the rebar rust of bridge parapets, which caused the structural performance degradation. In order to achieve the comprehensive rehabilitation, ultra high performance cementitious composites is proposed to existing RC parapet rehabilitation. The influence factors of UHPCC rehabilitation includes two parts, i.e., internal factors related with material, such as UHPCC layer thickness, corrosion ratio of rebars, fiber volume fraction, and external factors related with the load, such as impact speeds, impact angles, vehicle mass. The influence of the factors was analyzed in this paper based on the nonlinear finite element. The analysis results of the maximum dynamic deformation and the peak impact load of parapets revealed the influence of the internal factors and the external factors on anti-collision performance and degree degradation. This research may provide a reference for the comprehensive multifunctional rehabilitation of existing bridge parapets.

• Journal of the Korea institute for structural maintenance and inspection
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• v.25 no.6
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• pp.245-253
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• 2021

RC slab bridges account for the largest portion of deteriorated bridges in Korea. However, most RC slabs are not included in the first and second classes of bridges, which are subject to bridge safety management and maintenance. The highest damaged components in highway bridges are the subsidiary facilities including expansion joints and bearings. In particular, leakage through expansion joints causes deterioration and cracks of concrete and exposure of reinforced bars. Therefore, this study analyzed the effect of adhesion damage at expansion joints on the response of the deck in RC slab bridges. When the spacing between the expansion joints at both ends was closely adhered, cracks occurred in the concrete at both ends of the deck due to the resistance rigidity at the expansion joints. Based on the response results, the correlation analysis between displacements in the longitudinal direction of the expansion joint and concrete stress at both ends of the deck for each damage scenario was performed to investigate the effect of the occurrence of damage on the bridge behavior. When expansion joint devices at both sides were damaged, the correlation between displacement and stress showed a low correlation of 0.18 when the vehicles proceeded along all the lanes. Compared with those in the intact state, the deflections of the deck in the damaged case at both sides showed a low correlation of 0.34 to 0.53 while the vehicle passed and 0.17 to 0.43 after the vehicle passed. This means that the occurrence of cracks in the ends of concrete changed the behavior of the deck. Therefore, data-deriven damage detection could be developed to manage the damage to expansion joints that cause damage and deterioration of the deck.

• KIPS Transactions on Software and Data Engineering
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• v.8 no.12
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• pp.507-516
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• 2019

Costs invested in road maintenance and road development are on the rise. However, due to accidents such as portholes and ground subsidence, the risks to the drivers' safety and the material damage caused by accidents are also increasing. Following this trend, we have developed a system that determines road damage, according to the magnitude of vibration generated without directly intervening the driver when driving. In this paper, we implemented the system using a remote control car (RC car) simulator due to the limitation of the environment in which the actual vehicle is not available in the process of developing the system. In addition, we attached a vibration sensor and GPS sensor to the body of the RC car simulator to measure the vibration value and location information generated by the movement of the vehicle in real-time while driving, and transmitting the corresponding data to the server. In this way, we implemented a system that allows external users to check the damage of roads and the maintenance of the repaired roads based on data more easily than the existing systems. By using this system, we can perform early prediction of road breakage and pattern prediction based on the data. Further, for the RC car simulator, commercialization will be possible by combining it with business in other fields that require flatness.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.2
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• pp.455-464
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• 2013

If North Korea continuously remains an isolated nation without social interaction with South Korea, the gaps in the theoretical and technological status in construction technology become greater between North and South Korea. Therefore if interactions between North and South Korea can be made, there will be significant improvement in infrastructure technological performance can be made(i.e., Reinforced Concrete bridges). This study was performed to compare and analyze data related to the design standards of North Korean RC bridges and to execute a structural analysis based on standard design specifications of RC slab bridges. Especially, basic study of analyzing the influences on design truck loads of North and South Korea was conducted for the purpose of predicting the performance of North Korean RC slab bridges and the safety levels of traveling vehicles in advance. It is expected that the results of this study can be used as fundamental data for the set-up of South-North RC bridge specification when South and North Korea enter a stage of cooperation and interaction between South and North Korea are actively pursued to prepare for reunification.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.873-876
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• 2001

Micro-robots using microprocessor are mainly classified as line-tracer, micro-mouse, and war-robot. This paper presents the development of the war-robot mechanism with vehicle-style using RC-servo motors and actuators using 4-bar linkage and infrared sensors. Especially the algorithm of conquering other war-robots is proposed based on the skill of belly-throw of Korean wrestling.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.4
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• pp.399-406
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• 2008

Tracking system is developed to receive both telemetry data and video data which are transmitted by radio frequency for the flight test of high manuvering vehicle. Tracking method of tracking system is the phase comparative monopulse that produce tracking data by measuring the phase difference of signal which is received by four patch antennas. The performance of tracking system is verified by flight test for RC helicopter and rocket.

• JSTS:Journal of Semiconductor Technology and Science
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• v.5 no.4
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• pp.243-248
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• 2005

The UAV (Unmanned Aerial Vehicle) systems like unmanned autonomous helicopters are used in various missions of flight navigation and used to collect the environmental information of the surroundings. To realize the full functionalities of the UAV, the software part becomes a challenging problem. In this paper embedded real-time software architecture for unmanned autonomous helicopter is proposed that guarantee real-time performance of hard-real time tasks and re-configurability of soft-real time and non-real time tasks. The proposed software architecture has four layers: hardware, execution, service agent and remote user interface layer according to the reactiveness level for external events. In addition, the layered separation of concurrent tasks makes different kinds of mission reconfiguration possible in the system. An Unmanned autonomous helicopter system was implemented (Kyosho RC Helicopter) in our lab to test and evaluate the performance of the proposed system.

• Proceedings of the Korea Society for Simulation Conference
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• 2003.06a
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• pp.49-54
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• 2003

일반 항공기의 유형을 고정익기과 회전익기로 구별할 수 있다면, MAV (Micro Air Vehicle)의 경우는 곤충이나 조류들의 날개 짓 (flapping) 비행형태인 ornithopter 형이 추가된다. 1993년 미국 RAND사에 의하여 MAV에 대한 타당성 검토(1)가 시작된 이례로 실로 다양한 실험적 형태의 MAV들이 속속 소개되고 있는 실정이다. MAV는 초소형 무인항공기로 길이는 성인의 손바닥 크기인 2.5 inch 정도이고, 개발비용과 기간이 유인항공기에 비해서는 비교할 수 없을 정도로 적게 소요되며. 동체길이가 2~5m인 일반 무인항공기에 비해서도 상대적으로 유리하다는 장점, 그리고 새로운 소형화 기술들을 평가할 수 있는 매우 훌륭한 시험장치가 될 수 있다는 이유로 항공우주기술 분야는 물론 MEMS나 나노기술 분야에서도 상당한 관심을 갖고 있는 실정이다. MAV의 비행 시뮬레이션 또는 시뮬레이터에 대한 현재까지의 국내외 연구개발 노력(2,3)은 MAV의 기체나 부품기술개발 노력에 비하여 상대적으로 뒤쳐져 있는데, 본 논문은 그 기술적 문제가 무엇인지를 분석하고, MAV비행 시뮬레이터 환경을 통해 수행될 수 있는 효과적인 연구개발 분야는 무엇인지를 조명하고자 한다. 또한, MAV비행 시뮬레이터의 성능 요구사항 도출을 통하여 개념설계를 제시하고, 세종대학교와 (주)모델심이 공동 개발중인 "RC Virtual Flight" 비행 시뮬레이터에 MAV가 어떻게 접목되고 있는지를 소개한다.있는지를 소개한다.

• Journal of Advanced Navigation Technology
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• v.8 no.1
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• pp.19-26
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• 2004

This paper deals with the automatic flight control system for an unmanned target drone which is operated by an army as an anti-air gun shooting training. By automation of unmanned target drone that is manually operated by external pilot, pilot can reduce workload and an army can reduce the budget. Most UAVs which are developed until today use high-cost sensors as AHRS and IMU to measure the attitude, but those are contradictory for the reduction of budget. This paper says the development of low-cost automatic flight control system which makes possible of automatic flight with low-cost sensors. We have developed the integrated automatic flight control system by integrating electricity module, switching module, monitoring module and RC receiver as an one module. We also prove the performance of automatic flight control system by flight test.