• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2016년도 추계학술대회
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• pp.537-539
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• 2016

최근 드론, 무인 정찰선 등 무인 기술에 대한 관심이 크게 늘었다. 무인 보트는 사람이 직접 탑승하지 않고 무선 전파로 조종이 가능한 보트를 말한다. 무인 보트는 미 해군에서 처음 개발하여 군사용으로 사용되고 있다. 최근에는 취미용, 농약 살포용, 수상 레저용, 탐사용 등 다양한 방면으로 사용이 확대 되었다. 위의 다양한 무인 보트의 역할 중 탐사용 무인 보트의 경우 사람의 시각에 들어오지 않는 사각지대와 같은 곳을 탐사할 수 없다는 장점이 있다. 본 논문에서는 사각지대와 같은 곳도 탐사가 가능한, 실시간 스트리밍을 지원하는 무인 보트를 Raspberry Pi를 이용하여 구현 했다. 수신기의 신호를 입력받아 송신기로 무인 보트의 조작이 가능하고, 스마트폰의 핫스팟 기능을 이용한 Paspberry Pi와 스마트폰의 네트워크 연결, 이를 통해 Raspberry Pi의 Motion을 이용한 실시간 스트리밍이 가능한 무인 보트이다.

• 농촌계획
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• 제30권3호
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• pp.75-84
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• 2024

This study developed the procedure and method for the accuracy assessment of unmanned boat survey data, based on the reservoir water depth data of Misan Reservoir, measured by the manned and unmanned boats in 2009 by Korea Rural Community Corporation. In the first step, this study devised the method to extract the contour map of NGIS data in AutoCAD to generate easily the reservoir boundary map used to set the survey range of reservoir water depth and to test the survey accuracy. The surveyed data coordinate systems of the manned and the unmanned boat were also unified by using ArcGIS for the standards of accuracy assessment. In the accuracy assessment, the spatial correlation coefficient of the grid maps of the two measurement results was 0.95, showing high pattern similarity, although the average error was high at 78cm. To analyze in more detail assessment, this study generated randomly the 3,250m transverse profile route (PR), and then extracted grid values of water depth on the PR. In the results of analysis to the extracted depth data on PR, the error average difference of the unmanned boat measurements was 73.18cm and the standard deviation of the error was 55cm compared to the manned boat. This study set these values as the standard for the correction value by average shift and noise removal of the unmanned boat measurement data. By correcting the unmanned boat measurements with these values, this study has high accuracy results, the reservoir water depth and surface area curve with R² = 0.97 and the water depth and storage volume curve with R² = 0.999.

• 한국농공학회논문집
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• 제52권6호
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• pp.9-17
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• 2010

In this paper, an automatic cruise system of unmanned boat was developed for surveying water depth in reservoir using GIS (geographic information system)-GPS (global positioning system) Technologies. the automatic cruise system consisted of an automatic path generation program (APGP) and an automatic boat control program (ABCP). A grid processing method with $3{\times}3$ roving window in GIS function was used to develop the APGP. For development of the ABCP, GPS and its coordinate calculation technique were introduced. The developed system was tested to verify the applicability for a sample reservoir, Misan reservoir located on Ansan city of Kyunggi province. From the test results, this study found the APGP generated cruise path automatically according to input condition on grid size of 5 m, 10 m, and 20 m, as well as, the ABCP also tracked well the cruise paths with high position accuracy. Another verification result on surveying time for 20 ha of water area also showed that the new system could survey water depth of reservoir quickly, including very high quality of spatial resolution.

• 해양환경안전학회:학술대회논문집
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• 해양환경안전학회 2017년도 공동학술발표회
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• pp.107-107
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• 2017

• Journal of Ship and Ocean Technology
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• 제9권2호
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• pp.1-10
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• 2005

A light-weight cantilever type towing carriage was devised and installed in the towing tank at Seoul National University. Wireless measurement devices were also provided for appropriate data acquisition during high-speed towing tests. With the new carriage system, a series of model tests were performed to investigate the hydrodynamic characteristics of the racing boat in the towing tank and the resistance test results had sufficient accuracy so that they could be used in the development of a high speed planning hull.

• 로봇학회논문지
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• 제11권4호
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• pp.217-225
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• 2016

Dynamic Positioning (DP) is used to automatically maintain the position and heading of a floating structure subjected to environmental disturbances. A DP control system is composed of a motion controller to compute the desired force and moment and a thrust allocator to distribute the computed force and moment to multiple thrusters considering mechanical and operational constraints. Among various thruster configurations, azimuth thrusters or propeller/rudder pairs tend to make the allocation problem difficult to solve, because these types of propulsion systems include nonlinear constraints. In this paper, a dynamic positioning strategy for a twin-thruster ship that is propelled by two azimuthing thrusters is addressed, and a thrust allocation method which does not require a numerical optimization solver is proposed. The applicability of the proposed method is demonstrated with an experiment using an autonomous boat.

• 한국전자통신학회논문지
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• 제15권2호
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• pp.327-334
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• 2020

본 논문에서는 위성으로부터의 전파를 이용해 지상의 위치를 측정하는 글로벌 위성항법시스템(GNSS)과 음향측심기를 같이 사용하여 저수지의 정확한 위치 정보와 수심 정보 데이터를 동시에 획득할 수 있는 무인 조사 시스템을 개발하였다. 이 시스템은 자동 경로 생성 프로그램으로 5m, 10m 및 20m의 그리드 크기에 대한 입력 조건에 따라 자동으로 순항 경로를 생성토록 하였고, 또한 자동으로 정확한 순항 경로를 제어하도록 하였다. 개발된 시스템은 전라남도 순천시 서면에 위치한 용곡(건천) 저수지에서 적용 가능성을 검증하였다. 61.1ha의 전체 저수지 수역 조사 시간에 대한 검증 결과는 새로운 시스템이 매우 높은 품질의 공간 분해능을 포함하여 저수지의 수심을 신속하게 조사할 수 있음을 나타내었다.

• 대한조선학회논문집
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• 제48권1호
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• pp.8-14
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• 2011

RIB(Rigid Inflatable Boat) is widely used for coastal transportation in the commercial use and for ISR(Intelligence, Surveillance, Reconnaissance) in the military use. Since RIB is around 10 meters in length and over 30 knots in speed, its motion characteristics in waves is quite different from a large scale ship. When it turns, large roll occurs and heeling direction is opposite to the large ship's case. Currently, many countries are developing USV(Unmanned Surface Vehicle) of which type is RIB. In order to develop high performance autopilot and way point controller, it is very important to identify RIB's motion characteristics. In this paper, sea trial test results of a 7-meter RIB such as speed, turning, zig-zag, and way point control tests were represented and its resistance and propulsion model was identified by using sea trial data and Savitsky's formula. In addition, the state space model which will be used in the identification of the four-degree-of-freedom dynamics in the next step was formulated and the identification procedure was proposed.

• 대한조선학회논문집
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• 제44권6호
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• pp.572-578
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• 2007

A Rigid Inflatable Boat (RIB) is now widely used for commercial and military purpose. In this paper, it is supposed that seven-meter-class RIB be used as an unmanned target ship for naval training. In order to develop many tactical maneuvering patterns of a target ship, a simple horizontal maneuvering model of a RIB is needed. Therefore, models of speed and yaw rate are constructed as the first-order differential equations based on Lewandowski#s empirical formula for steady turning circle diameter of a conventional planning hull. Some parameters in the models are determined using the results of sea trial tests. Finally, proposed models are validated through the comparison of the simulation result with the sea trial result for a specific scenario. Even though a simple model does not represent the horizontal motion of a RIB precisely, however, it can be used enough to develop tactical trajectory patterns.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2010년 춘계학술발표회 논문집
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• pp.143-144
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• 2010

현재의 수심측량은 고무보트를 타고 사람이 직접 측량하거나 측량선을 이용하여 목표지점을 측정하는 방법 등으로 이루어지고 있다. 기존 측량방법은 환경조건의 제약이 많으며 이와 더불어 다수의 필요인원과 경비의 과다소요 뿐만 아니라 시간적 낭비가 많이 발생하는 비효율적 작업의 형태를 갖추고 있다. 따라서 환경적 제약을 적게 받으면서 적은 인원과 비용으로 단시간 측량이 가능하며 높은 측량 성과를 얻을 수 있는 차세대 수심측량시스템의 필요성이 증가하고 있다. 본 연구는 수심측량의 자동화를 위한 시스템 개발의 기초적 연구로서 유인측량과 무인측량의 각각의 단점을 보완하고 장점을 살리면서 기존측량에 비해 효율성 및 경제성을 높이는 동시에 정밀한 측정데이터를 취득 할 수 있도록 하는 것이다.