• Journal of Drive and Control
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• v.17 no.4
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• pp.23-30
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• 2020

Driving on irregular and inclined roads using agricultural machinery such as spraying machines or trucks in orchards causes farmer casualties associated with the overturning of agricultural machinery. In addition, the harm to agricultural workers caused by the excessive inhalation of the scattered pesticide frequently occurs during pest control processes. To address these problems, we introduced precision agricultural technology that could selectively spray pesticides only where the fruit is present by recognizing the presence or shape of the fruit in the orchard. In this paper, a 16-channel LIDAR (VLP-16) made of Velodyne was used to identify the shape of fruit trees. Solenoid valves were attached to the end parts of 12 nozzles of the orchard spraying machine for on/off control. The smart spraying machine implemented in this way was mounted on a vehicle capable of autonomous travel and performed selective control depending upon the shape of the fruit trees while traveling in the orchards. This is expected to significantly reduce the amounts of pesticides used in orchards and production costs.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.12
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• pp.971-980
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• 2021

Recently popularized drone technologies have revealed that low-cost small unmanned aerial vehicles(UAVs) can be a significant threat to prevailing power by operating in group or in swarms. Researchers in many countries have tried to utilize integrated swarm unmanned aerial system(SUAS) in the battlefield. Agency for Defense Development also identified four core technologies in developing SUAS: swarm control, swarm network, swarm information, and swarm collaboration, and the authors started researches on swarm control and network technologies in order to be able to operate vehicle platforms as the first stage. This paper introduces design and integration of SUAS consisting of small fixed-wing UAVs, swarm control and network algorithms, a ground control system, and a launcher, with which swarm control and network technologies have been verified by flight tests. 19 fixed-wing UAVs succeeded in swarm flight in the final flight test for the first time as a domestic research.

• Journal of Drive and Control
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• v.19 no.4
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• pp.36-45
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• 2022

The aim of this study was to verify an E-driving system of a 44 kW-class electric tractor using agricultural workload data. Workload data were acquired during field test (plow tillage, rotary tillage, loader operation, field driving, asphalt driving) using a conventional tractor with a load measurement system. These workload data were converted to data of a 44 kW-class tractor based on the load factor of the engine. These data were used to verify the design of the E-driving system of an electric tractor. High-load operations such as plow tillage, rotary tillage, and loader operation could be performed at stage L and stage M. High-speed operation (asphalt driving) could be effectively performed at stage H using a rated rotational speed of the motor. As a result, the E-driving system of the electric tractor was possible to perform all major agricultural operations according to gear stages of range shift. Based on results of this research, we plan to develop an electric tractor equipped with an E-driving system and conduct research on actual vehicle verification in the future.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.6
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• pp.473-480
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• 2021

In this paper, We analyze and present improvements to problems in software quality through Static Analysis for Open Source, which is widely used as the Flight Controller software for small unmanned aerial vehicle drones. MISRA coding rules, which are widely applied based on software quality, have been selected. Static analysis tools were used by LDRA tools certified international tools used in all industries, including automobiles, railways, nuclear power and healthcare, as well as aviation. We have identified some safety-threatening problems across the quality of the software, such as structure of open source modules, analysis of usage data, compliance with coding rules, and quality indicators (complexity and testability), and have presented improvements.

• Journal of Korean Society of Disaster and Security
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• v.16 no.1
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• pp.71-80
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• 2023

Fuel cells are low-carbon power sources that can expand distributed energy system and electric vehicle charging infrastructure when installing fuel cells in gas stations. In order to ensure safety for fuel cells in gas stations, quantitative risk assessments were conducted after deriving accident scenarios based on accident data of domestic and foreign gas stations and fuel cells. It calculates the expected extent of damage from fire and explosion that can occur in reality, not the worst accident scenario, and analyzes the damage impact. The separation distance of more than 9.0 m from a dispenser, 15.5 m from a car under refueling, 4.1 m from the ventilation pipe, 1.1 m from the gas adjustment device prevent the severe damage caused by the expected accident. This study result can be used to deploy fuel cells in gas stations and establish safety measures.

• Journal of Korean Tunnelling and Underground Space Association
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• v.25 no.3
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• pp.245-259
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• 2023

The purpose of this paper is to examine the most recent tunnel scanning systems to obtain insights for the development of non-contact mobile inspection system. Tunnel scanning systems are mostly being developed by adapting two main technologies, namely laser scanning and image scanning systems. Laser scanning system has the advantage of accurately recreating the geometric characteristics of tunnel linings from point cloud. On the other hand, image scanning system employs computer vision to effortlessly identify damage, such as fine cracks and leaks on the tunnel lining surface. The analysis suggests that image scanning system is more suitable for detecting damage on tunnel linings. A camera-based tunnel scanning system under development should include components such as lighting, data storage, power supply, and image-capturing controller synchronized with vehicle speed.

• Journal of the Korean Society of Safety
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• v.38 no.4
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• pp.8-14
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• 2023

This study presents the characteristics of short circuits (SCs) caused by excessive currents in high-voltage cables used in electric vehicles and emphasizes the need to calculate the cross-sectional areas of these cables according to the SC current. Three direct current power supplies were connected in parallel to test the SC characteristics caused by excessive currents, and a timer and a magnetic contactor were used to deliver the conduction time and SC current. A circular infrared-radiation heater was used to test the temperature-dependent SC characteristics, a thermocouple was used to measure the temperature, and a shunt resistor was used to measure the current. As the SC current increased, the fusing time of the cable decreased. Additionally, a high-voltage cable (with an area of 16 mm² ) used in electric vehicles fused when a current (approximately equal to 55 times the allowable current) flowed for 0.2 s (operating time of the protective device). When the SC current is 10 kA, the cable may fuse during the operating time of the protective device, thus creating a fire hazard. In electric vehicles, the size of the SC current increases in proportion to the capacity of the battery. Thus, the cross-sectional areas of the cables used should be calculated accordingly, and cable operations should be properly coordinated with the surrounding protective devices.

• KOREAN JOURNAL OF PACKAGING SCIENCE & TECHNOLOGY
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• v.29 no.2
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• pp.129-138
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• 2023

The proportion of agricultural products handled through the Agricultural Products Processing Center (APC) is also steadily increasing every year, and in the case of Seongju Korean melon, a total of 10 APCs of Nonghyup and farming association corporations are in operation, and the distribution ratio is about 60% based on total production. In this study, Seongju Korean melon was selected as a target to analyze the environment load during carrying (production farm ~ APC) in the production area and the transport environment load during distribution of domestic fruits, and to analyze the environmental load for handling at APC. The vertical average vibration intensity (overall G_rms of 1~250 Hz) of truck transport measured at three transport routes from Seongju Korean melon producer ~ APC, Seongju ~ Seoul and Seongju ~ Jeju was about three times larger than that in the lateral direction and 4.5 times larger than that in the longitudinal direction, respectively. The frequency of occurrence of high-amplitude events (G) in the vertical direction compared to the measuring time was deeply related to pavement conditions in the order of unpaved farm-roads, concretepaved farm-roads, and asphalt-paved main-roads, but overall G_rms for the entire frequency band is believed to have a greater impact on vehicle traveling speed than road conditions. On the other hand, the difference in the size and direction of the vibration intensity measured by the forklift truck's main-body and the attachment (fork carrier) during handling at Seongju Korean melon APC was clear, and the vibration intensity of the forklift truck's main-body was largely affected by the stiffness of the fork and the mast according to the handling weight. Based on the field-data of the transport environment during domestic distribution measured through this study, it is believed that it is possible to develop a lab-based simulation protocol for appropriate packaging design.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.9
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• pp.114-129
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• 1996

This paper describes the whole development phase for the underwater vehicle actuating system with high hydroload torque disturbance. This includes requirement analysis, system modeling, control algorithm design, real time implementation, test and performance evaluations. As for driving control algorithms, fuzzy logic, variable structure and PD(Proportional-Differential) algorithm were designed and implemented on board controller using a single chip microprocessor. Intel 8797. And test and performance evaluation is carried out both single test and wystem integration test. We could confirm the basic performance of actuating system through the single test and gereral developing work of any actuating systems was finished with a single performance test of actuating system without system integration test. But, we suggested that system integration test be needed. System integration test is carried out using G/C HILS(Guidance and Control Hardware-In-the -Loop Simulation) which is constituted flight motion simulator, load simulator, real time host computer and the related subsystems such as inertial navigation system, power supply system and Guidance and Control Computer etc.. The most important practical contribution of this paper is that full system characteristics such as minimal control effort, enhancement of guidance and autopilot performance by the actuating system using G/C HILS technique are investigated. Through full running G/C HILS, in spite of the passing to single tests, some control algorithm resulted in failure as to stability of full system and system time frame.

• Journal of English Language & Literature
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• v.56 no.2
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• pp.329-356
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• 2010

Coleridge's fame as a poet rests on the achievement of the mystery poems, "The Anceint Mariner," "Kubla Khan," and "Christabel." Coleridge's achievement in "Christabel" goes far beyond what previous critics have imagined. Coleridge is one of a handful of great writers who are included as representatives of androgyny. Throughout his life, Coleridge was accustomed to point out feminine qualities within himself. "Christabel" exemplifies the kind of writing contemporary feminist theories call l'écriture féminine. L'écriture féminine is not necessarily the creation of women but may rather be the works of those who refuse to identify with the father and the laws of paternal discourse. "Christabel" becomes Coleridge's most daring symbolic story. "Christabel" appears in its full significance as a vehicle for some profound insights into the dynamics of relationships between men and women, fathers and daughters. Through her deformity, Geraldine is actually the casualty of her father's hatred of women, and is the embodiment of all its anti-virtual aspects. The poem shows no bitterness against women, only compassion and remorse. Coleridge is sympathetically presenting Christabel's suffering as a woman at the hands of an overmastering man. Also, "Christabel" demonstrates woman power as well. In fact, the one person whose tales have any real effect within this narrative is the ambiguous Geraldine. Geraldine excels at story-telling, at making words act for her. Perhaps, despite the appearance of the surface, in which men hold all the cards, it is in fact women, or the feminine, so necessary to procreation and creativity, who hold sway here. This apparent dominion of the feminine derives at least partly from Coleridge's use of the conventions of that feminine genre, the Gothic romance. L'écriture féminine is a concept defined by its divergence from a dominant cultural norm. One may speculate that the fragmentary state of "Christabel" and "Kubla Khan" is in fact congruent with this mode of writing. If these poems imply a theoretical écriture féminine, they are by definition "incomplete," for completeness is a standard of patriarchal language and culture. More perplexing even than the other "mystery poems," "Christabel" is the true fragment of the three.