• The Journal of the Korea institute of electronic communication sciences
• /
• v.11 no.8
• /
• pp.767-772
• /
• 2016

The purpose of this paper is to develop a gimbal system installed in the UFV(unmanned flight vehicles) for 360 degree VR video. In particular, even if the UFV rotated any direction the camera position is fiexd to minimize the shaking using the gyro sensor and the camera system is stable for taking $360^{\circ}$ panorama VR images.

• Journal of Biosystems Engineering
• /
• v.23 no.3
• /
• pp.291-304
• /
• 1998

A control algorithm fir the unmanned vehicles was developed using image information received through a CCD camera that acquires more powerful information over the wide range of wave-length comparing with other sensors and was applied to a speed-sprayer. The algorithm consisted of straight mode for passing along with middle of two tree-rows and turning mode for changing from a row to another row. In case of turning mode, two marks of colored papers were employed to indicate turning point and to decide turning direction for various orchard situations. The method of analysis and image would be differed according to camera's tilt-angle and position that is set on the speed-sprayer. Hence, it analyzed the point of difference by making camera's up and downward tilt-angle.

• The Bulletin of The Korean Astronomical Society
• /
• v.41 no.1
• /
• pp.52.1-52.1
• /
• 2016

We introduce the characteristics and performance of the 0.25m telescope at Mangpo high school Unmanned Robotic Observatory (MURO) which was established in Yangpyeong-gun, Gyeongi-do, KOREA in 2015 January. MURO system included Astrohaven 2.1m non-rotation fiberglass clamshell dome, Paramount MEII mount, Takahashi CCA 0.25m wide field telescope, FLI PL 16803 4K CCD with 7-positions filter wheel system, all sky camera and point grey wide field camera, IR 4 chanel heat sensor camera for security, DAVIS realtime weather cast, and power controled by ARS system. All control softwares are from off-the-shelf products based on Windows 7 OS to be easily operated and maintained. We expect to perform variety of science programs ranging from supernovae follow-up observation to narrow band imaging survey as well as science class activities at Mangpo high school.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.15 no.3
• /
• pp.545-550
• /
• 2011

This paper introduces an Integrated Vision System that enables us to detect the image of slabs and coils and get the complete three dimensional location data without any other obstacles in the field of unmanned-crane automation system. Existing vision system research tends to be easily influenced by the environment of the work place and therefore cannot give the exact location information. To overcome these weaknesses, this paper suggests laser scanners should be combined with a CCD camera named Integrated Vision System. The suggested system is expected to help improve the unmanned-crane automation system.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1550-1554
• /
• 2004

This paper deals with an unmanned vehicle system configuration using all terrain vehicle. Many research institutes and university study and develop unmanned vehicle system and control algorithm. Now a day, they try to apply unmanned vehicle to use military device and explore space and deep sea. These unmanned vehicles can help us to work is difficult task and approach. In the previous research of unmanned vehicle in our lab, we used 1/10 scale radio control vehicle and composed the unmanned vehicle system using ultrasonic sensors, CCD camera and kinds of sensor for vehicle's motion control. We designed lane detecting algorithm using vision system and obstacle detecting and avoidance algorithm using ultrasonic sensor and infrared ray sensor. As the system is increased, it is hard to compose the system on the 1/10 scale RC car. So we have to choose a new vehicle is bigger than 1/10 scale RC car but it is smaller than real size vehicle. ATV(all terrain vehicle) and real size vehicle have similar structure and its size is smaller. In this research, we make unmanned vehicle using ATV and explain control theory of each component

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2016.10a
• /
• pp.224-226
• /
• 2016

With the technical development and rapid increase of private demand, the new market for unmanned vehicle combined with the characteristics of 'unmanned automation' and 'vehicle' is rapidly growing. Even though the pilot driving is currently allowed in some countries, there is no country that has institutionalized the formal driving of self-driving cars. In case of the existing vehicles, safety incidents are frequently happening due to the frequent malfunction of the rear sensor, blind spot of the rear camera, or drivers' carelessness. Once such minor flaws are complemented, the relevant regulations for the commercialization of self-driving car and small drone could be relieved. Contrary to the ultrasonic and laser sensors used for the existing vehicles, this paper aims to attempt the distance measurement by using the depth sensor. A depth camera calculates the distance data based on the TOF method calculating the time difference by lighting laser or infrared light onto an object or area and then receiving the beam coming back. As this camera can obtain the depth data in the pixel unit of CCD camera, it can be used for collecting depth data in real-time. This paper suggests to solve problems mentioned above by using depth data in real-time and also to design the obstacle avoidance system through distance measurement.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.932-937
• /
• 2003

In this paper, we will explain about the unmanned vehicle control and modeling for combined obstacle avoidance and lane tracking. First, obstacle avoidance is considered as one of the important technologies in the unmanned vehicle. It is consisted by two parts: the first part includes the longitudinal control system for the acceleration and deceleration and the second part is the lateral control system for the steering control. Each system uses to the obstacle avoidance during the vehicle moving. Therefore, we propose the method of vehicle control, modeling and obstacle avoidance. Second, we describe a method of lane tracking by means of vision system. It is important in the unmanned vehicle and mobile robot system. In this paper, we deal with lane tracking and image processing method and it is including lane detection method, image processing algorithm and filtering method.

• Journal of Ocean Engineering and Technology
• /
• v.32 no.6
• /
• pp.511-517
• /
• 2018

This paper proposes a vision-based underwater laser scanner with separate structures for an underwater camera and a line laser projector. Because the two devices can be adaptively placed regardless of the features of the unmanned underwater vehicle (UUV), the scanner has significant advantages in relation to its availability and flexibility. Position calibration between the underwater camera and laser projector guarantees a 3D measuring performance with high accuracy. To verify the proposed underwater laser scanner, a test-bed system was manufactured, which consisted of the laser projector, camera, Pan&Tilt, and Attitude and Heading Reference System (AHRS). A camera-laser calibration test and simple 3D reconstruction test were performed in a water tank and the experimental results are reported.

• Journal of Korea Society of Digital Industry and Information Management
• /
• v.4 no.4
• /
• pp.1-8
• /
• 2008

The USN is important in technique, unmanned observation using wireless network camera, detection technique that use intrusion detection sensor. But these encrypted data transmission and processing technique through sensor network, method of the staff's location recognition and arrangement aren't serviced still as a integrated system in facility security industry. This paper proposed that improve facility management, the staff present recognition and system efficiency using RFID, USN and wireless camera.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.39 no.2
• /
• pp.227-233
• /
• 2015

In this study, an indoor test environment was developed for studying the vision stabilizer of an unmanned vehicle, using a virtual environment and a 6-axis motion simulator. The real driving environment was replaced by a virtual environment based on the Aberdeen Proving Ground bump test course for military tank testing. The vehicle motion was reproduced by a 6-axis motion simulator. Virtual reality driving courses were displayed in front of the vision stabilizer, which was located on the top of the motion simulator. The performance of the stabilizer was investigated by checking the image of the camera, and the pitch and roll angles of the stabilizer captured by the IMU sensor of the camera.