• 한국해양공학회지
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• 제36권1호
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• pp.41-49
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• 2022

With the advancement of intelligent vehicles and unmanned systems, there is a growing interest in underwater surveys using autonomous marine vehicles (AMVs). This study presents an automated planning strategy for a long-term survey mission using a fleet of AMVs consisting of autonomous surface vehicles and autonomous underwater vehicles. Due to the complex nature of the mission, the actions of the vehicle must be of high-level abstraction, which means that the actions indicate not only motion of the vehicle but also symbols and semantics, such as those corresponding to deploy, charge, and survey. For automated planning, the planning domain definition language (PDDL) was employed to construct a mission planner for realizing a powerful and flexible planning system. Despite being able to handle abstract actions, such high-level planners have difficulty in efficiently optimizing numerical objectives such as obtaining the shortest route given multiple destinations. To alleviate this issue, a widely known technique in operations research was additionally employed, which limited the solution space so that the high-level planner could devise efficient plans. For a comprehensive evaluation of the proposed method, various PDDL-based planners with different parameter settings were implemented, and their performances were compared through simulation. The simulation result shows that the proposed method outperformed the baseline solutions by yielding plans that completed the missions more quickly, thereby demonstrating the efficacy of the proposed methodology.

• 한국추진공학회지
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• 제14권6호
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• pp.103-120
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• 2010

우주비행체 궤도기동 및 자세제어용 추력기의 개발역사를 조명하고 성능특성을 분석하며, 발사체의 단별 3축 제어에 관계하는 TVC, Gimbal, 추력기 등의 실재 활용현황을 평가한다. 우주발사체 최종 단은 탑재체의 정확한 궤도투입을 위하여 정밀한 3축 자세제어 시스템을 포함하여야 한다. 하이드라진 추력기는 양호한 성능특성과 높은 신뢰도를 배경으로 현재 운용중인 발사체 자세제어 시스템의 대부분을 점유하고 있다. 중형급 하이드라진 추력기에 대한 국내의 설계개발과 기술축적 현황에 관해서도 간략히 소개한다.

• 한국ITS학회 논문지
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• 제20권5호
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• pp.75-82
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• 2021

국내 2020년 기준 교통사고 건수는 약 23만 건으로, 고속도로는 비반복적 정체와 높은 주행 속도로 인해 다른 도로 대비 교통사고 발생 건수당 사망자수가 2배 이상으로 나타나고 있다. 고속도로의 교통정보는 도로의 중심선을 이용한 노드, 링크를 기준으로 제공하고 있으나 세분화된 속도정보를 주지 못하고 있다. 최근 자율주행차 뿐만 아니라 일반 차량에서도 장애물 모니터링, 위치 측정을 위한 차량용 센서 장착이 일반화되고 있어, 대용량 위치 기반 데이터를 이용한 분석은 처리속도에 따라 실시간 서비스가 가능하다. 본 연구는 대용량 위치기반 개별 차량 정보의 분석을 위한 공간 기반의 맵핑 방법을 제시하였다. 경위도 각각 2개로 분할하는 4진법 기준의 분할 방법을 적용하여 개별 차량의 공간 코드를 생성하여 지오코딩 하는 방법으로 처리 속도를 대폭 증가 시켰다. 공간이 세분됨에 따라 평균속도는 유사하였으나 속도의 표준편차는 점차 감소하였으며 9회 분할 이후는 그 감소 폭이 작아 졌다.

• 천문학논총
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• 제32권1호
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• pp.5-9
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• 2017

This paper provides an overview of the AKARI mission, which was the first Japanese satellite dedicated to infrared astronomy. The AKARI satellite was launched in 2006, and performed both an all-sky survey and pointed observations during its 550 days in the He-cooled mission phases (Phases 1 and 2). After the He ran out, we continued near-infrared observations with mechanical cryocoolers (Phase 3). Due to a failure of its power supply, AKARI was turned off in 2011. The AKARI data are unique in terms of the observed wavelengths as well as the sky coverage, and provide a unique legacy resource for many astronomical studies. Since April 2013, a dedicated new team has been working to refine the AKARI data processing. The goal of this activity is to provide processed datasets for most of the AKARI observations in a Science Ready form, so that more users can utilize the AKARI data in their astronomical research. The data to be released will include revised All-Sky Point Source Catalogues, All-Sky Image Maps, as well as high-sensitivity images and spectra obtained by pointed observations. We expect that the data will be made public by in the Spring of 2016.

• 한국항공우주학회지
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• 제44권8호
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• pp.686-694
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• 2016

과거 냉전시절의 우주개발은 성능이라는 목표에 초점이 맞추어져 있었다. 하지만 냉전 이후 경제성이 우주개발에 있어서 중요한 목표가 되었으며, 이러한 경제성을 확보하기 위한 중요한 수단으로 재사용 발사체에 대한 관심과 연구가 지속적으로 증가하고 있는 실정이다. 본 논문에서는 이와 같이 진행되고 있는 현재 세계 각국의 재사용 발사체 및 미래추진기관에 대한 기술발전 전망과 방향에 대하여 소개하고자 한다.

• Journal of Information Processing Systems
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• 제16권6호
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• pp.1324-1342
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• 2020

Various modified algorithms of rapidly-exploring random tree (RRT) have been previously proposed. However, compared to the RRT algorithm for collision avoidance with global and static obstacles, it is not easy to find a collision avoidance and local path re-planning algorithm for dynamic obstacles based on the RRT algorithm. In this study, we propose boundary-RRT*, a novel-algorithm that can be applied to aerial vehicles for collision avoidance and path re-planning in a three-dimensional environment. The algorithm not only bounds the configuration space, but it also includes an implicit bias for the bounded configuration space. Therefore, it can create a path with a natural curvature without defining a bias function. Furthermore, the exploring space is reduced to a half-torus by combining it with simple right-of-way rules. When defining the distance as a cost, the proposed algorithm through numerical analysis shows that the standard deviation (σ) approaches 0 as the number of samples per unit time increases and the length of epsilon ε (maximum length of an edge in the tree) decreases. This means that a stable waypoint list can be generated using the proposed algorithm. Therefore, by increasing real-time performance through simple calculation and the boundary of the configuration space, the algorithm proved to be suitable for collision avoidance of aerial vehicles and replanning of local paths.

• 한국터널지하공간학회 논문집
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• 제24권6호
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• pp.629-636
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• 2022

국내의 친환경차는 현재 국내 총 등록차량 중 5.8% 비중을 차지하고 있으며, 대표적 친환경 차량 중 하나인 수소차는 정부의 수소 산업 부양 정책을 근간으로 시장에 보급 확대되어 현재 26,719대의 보급량을 기록하며 초년 대비 300배로 성장했다. 따라서, 보급 증가에 따른 수소차에 대한 안전성 검토 및 확보가 다방면에서 확대되어야 하는 시점이다. 본 연구에서는 수소차가 통행하는 반밀폐 공간 중 하나인 도로터널에서 수소차에 의한 제트화염 발생시 내부의 열 피해 영향에 대해 분석하였다. 상용코드인 Fluent를 사용하여 시뮬레이션하였으며, 마제형 터널을 대상으로 상용 수소차의 수소탱크 용량을 고려하여 제트 화염 분사량을 선정하였다. 또한, 제트화염의 방향 및 터널 벽면과의 거리 등을 변수로 하여 연구를 수행하였다. 그 결과로부터 도로 터널 내 제트화염 분출시 방향에 따라 일부 차이가 있으나 차량(분사 노즐) 기준 종방향으로 ±5 m, 인접한 터널 벽면 기준 횡방향 5~7 m 이내에서는 대부분의 구역에서 20 kW/m² 이상의 높은 복사열 방사가 발생되었다.

• International Journal of Aeronautical and Space Sciences
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• 제10권1호
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• pp.30-36
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• 2009

Many formation guidance laws have been proposed for VAV formation flight. Since most autonomous formation flight methods require various active communication links between the vehicles to know motion information of other vehicles, damage to the receiver or the transmitter and communication delay are critical problem to achieve a given formation flight mission. Therefore, in this point of view, the method that does not need an inter-vehicle communication is preferred in the autonomous formation flight. In this paper, we first summarize the formation guidance law without an inter-vehicle communication using feedback linearization and sliding mode control proposed in previous study. We also propose the modified formation guidance law with robust disturbance observer, which can provide significantly better performance than previously mentioned guidance law in case that other vehicles maneuver with large accelerations. The robust disturbance observer can estimate uncertainties generated by acceleration of leader vehicle. By eliminating the uncertainties using the estimated uncertainties, VAVs are able to achieve the tight formation flight. The performance of the proposed approach is validated by numerical simulations.

• International Journal of Aeronautical and Space Sciences
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• 제15권3호
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• pp.241-257
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• 2014

The modern development in design of airships and aerostats has led to unconventional configurations quite different from the classical ellipsoidal and spherical ones. This new class of air-vehicles presents a mass-to-volume ratio that can be considered very similar to the density of the fluid displaced by the vehicle itself, and as a consequence, modeling and simulation should consider the added masses in the equations of motion. The concept of added masses deals with the inertia added to a system, since an accelerating or decelerating body moving into a fluid displaces a volume of the neighboring fluid. The aim of this paper is to provide designers with the added masses matrix for more than twenty Lighter Than Air vehicles with unconventional shapes. Starting from a CAD model of a given shape, by applying a panel-like method, its external surface is properly meshed, using triangular elements. The methodology has been validated by comparing results obtained with data available in literature for a known benchmark shape, and the inaccuracies of predictions agree with the typical precision required in conceptual design. For each configuration, a CAD model and a related added masses matrix are provided, with the purpose of assisting the practitioner in the design and flight simulation of modern airships and scientific balloons.

• Journal of Electrical Engineering and Technology
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• 제13권5호
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• pp.1927-1934
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• 2018

In this paper, we studied the state of charge (SOC) estimation algorithm of a high-capacity lithium secondary battery for electric vehicles (EVs) considering temperature characteristics. Nonlinear characteristics of high-capacity lithium secondary batteries are represented by differential equations in the mathematical form and expressed by the state space equation through battery modeling to extract the characteristic parameters of the lithium secondary battery. Charging and discharging equipment were used to perform characteristic tests for the extraction of parameters of lithium secondary batteries at various temperatures. An extended Kalman filter (EKF) algorithm, a state observer, was used to estimate the state of the battery. The battery capacity and internal resistance of the high-capacity lithium secondary battery were investigated through battery modeling. The proposed modeling was applied to the battery pack for EVs to estimate the state of the battery. We confirmed the feasibility of the proposed study by comparing the estimated SOC values and the SOC values from the experiment. The proposed method using the EKF is expected to be highly applicable in estimating the state of the high-capacity rechargeable lithium battery pack for electric vehicles.