• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.28.4-28
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• 2001

This paper proposes an IR camera system that performs the task of removing mines for humanitarian purposes. Because of the high risks involved, it is necessary to conduct mine detection from the most remote endeavoring. By mating use of infrared ray (IR) cameras, scattered mines can be detected from remote locations. In the case of mines buried in the ground, detection is possible if the peripheral temperature difference is large enough between the ground and mine weapon. As one of the world´s advanced nations in sensor technology, Japan should promote surveys and studies for detecting mines safely by using its advanced remote sensing technologies.

• 항공우주시스템공학회지
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• 제4권3호
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• pp.6-16
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• 2010

After the first successful Apollo program, many countries around the world launched their own programs for exploring the moon. This paper surveys various navigation and attitude control systems of several past lunar exploration programs for the purpose of preparing a program for the first Korean lunar probe. For this first we investigate successful programs by introducing the sensors and actuators used for these programs, particularly focusing on those of Clementine and SMART-1 of USA and EU, respectively. Then based on the study, we suggest the necessary components of navigation and attitude control systems suitable for our lunar probe program.

• 한국환경생태학회지
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• 제32권1호
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• pp.39-46
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• 2018

번식기 조류 조사(Breeding Bird surveys)는 생태계 내 군집 구조와 기능 그리고 생물다양성 보전을 위한 중요한 기초 자료를 제공한다. 최근 기후변화 등에 따른 생물다양성이 급변함에 따라 산림성 조류조사 데이터의 정확성 및 공간적인 확대와 시계열적 모니터링을 위해 음향 센서 등의 활용이 요구되고 있다. 본 연구의 목적은 조류 음성을 녹음한 데이터와 현장 조류조사 자료를 비교 분석하여 번식시기 산림성 조류의 군집 다양성 평가에 음향 녹음 센서의 활용 가능성을 파악하는 것이다. 2013년 5월 2일부터 16일까지 현장조사 및 녹음을 실시하였으며, 조사 대상지는 점봉산지역의 곰배령과 조침령, 그리고 소백산지역의 죽령과 고치령 구간으로 총 4개 권역 48개 지역, 186개 지점이었다. 녹음결과를 이용하여 현장조사에 의한 조류군집지수와의 상관관계를 분석한 결과, 녹음에 의한 조류 종의 수와 개체수, 울음소리 횟수는 현장조사에 의한 조류의 종의 수, 개체수와 유의미한 상관관계가 있었지만, 녹음에 의한 조류 종의 수와 음성의 횟수는 현장조사(관측과 청음 병행)에서의 종다양도, 종풍부도와 유의미한 상관관계가 있었지만 종균등도와는 약한 상관관계 혹은 관계가 없음으로 나타났다. 결과적으로 현장에서의 음성녹음 자료를 분석할 경우 조류군집의 종조성과 함께 종다양성을 확인할 수 있었다. 비번식기의 음성녹음에 비하여 번식기의 음성녹음은 녹음결과와 종다양성과의 상관관계에서 보다 신뢰도가 높게 나타났으며 활용가능성이 더 높은 것으로 사료된다.

• Journal of Biosystems Engineering
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• 제40권1호
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• pp.28-34
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• 2015

Purpose: This study aimed to install an RTK-GPS (Real Time Kinematic-Global Positioning System) and IMU (Inertial Measurement Unit) on a tractor used in a farm to measure positions, pasture topography, posture angles, and vibration accelerations, translate the information into maps using the GIS, analyze the characteristics of grass harvesting work, and establish new technologies and construction standards for pasture infrastructure improvement based on the analyzed data. Method: Tractor's roll, pitch, and yaw angles and vibration accelerations along the three axes during grass harvesting were measured and a GIS map prepared from the data. A VRS/RTK-GPS (MS750, Trimble, USA) tractor position measuring system and an IMU (JCS-7401A, JAE, JAPAN) tractor vibration acceleration measuring systems were mounted on top of a tractor and below the operator's seat to obtain acceleration in the direction of progression, transverse acceleration, and vertical acceleration at 10Hz. In addition, information on regions with bad workability was obtained from an operator performing grass harvesting and compared with information on changes in tractor posture angles and vibration acceleration. Results: Roll and pitch angles based on the y-axis, the direction of forward movements of tractor coordinate systems, changed by at least $9-13^{\circ}$ and $8-11^{\circ}$ respectively, leading to changes in working postures in the central and northern parts of the pasture that were designated as regions with bad workability during grass harvesting. These changes were larger than those in other regions. The synthesized vectors of the vibration accelerations along the y-axis, the x-axis (transverse direction), and the z-axis (vertical direction) were higher in the central and northwestern parts of the pasture at 3.0-4.5 m/s2 compared with other regions. Conclusions: The GIS map developed using information on posture angles and vibration accelerations by position in the pasture is considered sufficiently utilizable as data for selection of construction locations for pasture infrastructure improvement.

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.497-502
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• 2015

One of the goals in the field of mobile robotics is the development of personal service robots for the elderly which behave in populated environments. In this paper, we describe a security robot system and ongoing research results that minimize the risk of the elderly and the infirm to access an area to enter restricted areas with high potential for falls, such as stairs, steps, and wet floors. The proposed robot system surveys a potential falling area with an equipped laser scanner sensor. When it detects walking in elderly or infirm patients who in restricted areas, the robot calculates the velocity vector, plans its own path to forestall the patient in order to prevent them from heading to the restricted area and starts to move along the estimated trajectory. The walking human is assumed to be a point-object and projected onto a scanning plane to form a geometrical constraint equation that provides position data of the human based on the kinematics of the mobile robot. While moving, the robot continues these processes in order to adapt to the changing situation. After arriving at an opposite position to the human's walking direction, the robot advises them to change course. The simulation and experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.

• 대한전자공학회논문지TC
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• 제48권2호
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• pp.72-78
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• 2011

물체의 위치정보는 많은 응용분야에 매우 유용한 요소를 제공한다. 현재 GPS가 이를 위하여 일반화되어 있으나, GPS의 실내측위, 비용 및 전력소모 등의 한계성을 극복하기 위해 최근 이동통신 망, 무선 센서 망 및 ad hoc 네트워크를 이용한 무선 측위 기술에 대한 연구가 활발한 진행되고 있다. 따라서 본고에서는 무선망에서 구현이 가능한 대표적인 무선 측위 기술들을 조사하고 이들의 측위 원리와 성능을 연구자료 들을 토대로 분석하였다. 결론적으로, 무선 측위 기술의 선택은 측위환경, 정확도, 소요시간, 계산 양, 구현의 용이성 등의 설계요소로부터 응용분야에 가장 적합한 요소들을 고려하여야 하겠다.

• 로봇학회논문지
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• 제13권3호
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• pp.190-197
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• 2018

Geomagnetic field signals have potential for use in underwater navigation and geophysical surveys. To map underwater geomagnetic fields, we propose a method that exploits an autonomous surface vehicle. In our system, a magnetometer is rigidly attached to the vehicle and not towed by a cable, minimizing the system's size and complexity but requiring a dedicated calibration procedure due to magnetic distortion caused by the vehicle. Conventional 2D methods can be employed for the calibration by assuming the horizontal movement of the magnetometer, whereas the proposed 3D approach can correct for horizontal misalignment of the sensor. Our method does not require a supporting crane system to rotate the vehicle, and calibrates and maps simultaneously by exploiting data obtained from field operation. The proposed method has been verified experimentally in inland waters, generating a magnetic field map of the test area that is of much higher resolution than the public magnetic field data.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2017년도 제48회 춘계학술대회논문집
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• pp.1054-1056
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• 2017

액체로켓엔진의 성능 검증을 위한 시험발사체의 발사가 준비되고 있다. 액체로켓엔진의 비행시험은 막대한 비용과 준비가 필요하고 계측채널의 제한이 있음으로, 발사준비과정의 검사와 비정상상황 파악을 위하여 최적의 계측 계획이 수립되어야 한다. 본 논문은 해외 액체로켓엔진 비행시험 계측관련 자료를 조사하였는데, 근래에 들어 모든 가능한 결함을 지상시험단계에서 확인하여 제거하고자 하는 경향에 따라 비행시험 횟수가 줄고 있고 이에 반하여 비행시험 시 엔진의 측정 항목이 크게 증가하고 높은 측정 정확성을 요구하고 있다. 본 논문은 향후 국내에서 수행될 시험발사체 준비 및 발사 작업에 참고가 될 수 있다.

• 한국주거학회논문집
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• 제24권3호
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• pp.27-35
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• 2013

The purpose of this study is to develop an evaluation system for integrative comfort values of Hanok residence. For this study, a mock-up located in Yongin, Gyeonggi province built by an ongoing governmental research project has been chosen. Then, SSN (Smart Sensor Network) has been utilized for monitoring quantitative factors in the environment and detailed face-to-face surveys have been performed for analyzing qualitative comfort indexes from residents in the experimental settings. Then, this study employs a combined evaluation system using AHP (Analytic Hierarchy Process) established for estimating overall DIC (Degree of Integrative Comfort) of the Hanok residence. As a result, the evaluation system could verify the total comfort indexes of Hanok residence and suggest converged methodologies for establishing value assessment system for traditional residential facilities. The method of DIC suggested in this paper would be examined with current residents in a built mock-up to see its applicability as a comprehensive evaluation model, and it is expected that collected year-round comfort data from the facility would provide more practical information towards future strategies for the Hanok residence.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.465-469
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• 2006

In recent years there has been considerable interest in the construction of super high-rise buildings. From the prior art, various procedures and devices for surveys during and after the phase of erection of a high-rise building are known. High-rise buildings are subject to strong external tilt effects caused, for instance, by wind pressures, unilateral thermal effects by exposure to sunlight, and unilateral loads. Such effects are a particular challenge in the phase of construction of a high-rise building, in as much as the high-rise building under construction is also subject to tilt effects, and will at least temporarily lose its - as a rule exactly vertical - alignment. Yet construction should progress in such a way that the building is aligned as planned, and particularly so in the vertical, when returning into an un-tilted basic state.It is essential that a straight element be constructed that theoretically, even when moving around its design centre point due to varying loads, would have an exactly vertical alignment when all biasing conditions are neutralised. Because of differential raft settlement, differential concrete shortening, and construction tolerances, this ideal situation will rarely be achieved. This paper describes a procedure developed by the authors using GPS observations combined with a network of precision inclination sensor to provide reliable coordinated points at the top of the worldwide highest-rise building under construction in Dubai.