• Journal of Advanced Navigation Technology
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• v.17 no.6
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• pp.749-756
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• 2013

This paper presents an algorithm concerning the ground altitude measurement using a laser altimeter and an ultrasonic rangefinder for UAV(Unmanned Aerial Vehicle). A simple ground test conducted using the laser altimeter and ultrasonic rangefinder that are used for conducting the low altitude measurement of UAV and identify the characteristics of each sensor. Especially, the disadvantages of the laser altimeter were checked through the ground test. After that who those are participated in this paper planned the algorithm which is complemented by the ultrasonic rangefinder and the experiment was conducted. The laser altimeter and the ultrasonic rangefinder were fused by a loosely coupled method by Kalman filter. The paper shows that stable value of altitude complemented by the ultrasonic rangefinder that covers the laser altimeter's drawbacks can be measured through the ground test.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.64 no.2
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• pp.159-164
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• 2019

Weed control is a crucial practice not only in organic farming, but also in modern agriculture because it can lead to loss in crop yield. In general, weed is distributed in patches heterogeneously in the field. These patches vary in size, shape, and density. Thus, it would be efficient if chemicals are sprayed on these patches rather than spraying uniformly in the field, which can pollute the environment and be cost prohibitive. In this sense, weed detection could be beneficial for sustainable agriculture. Studies have been conducted to detect weed patches in the field using remote sensing technologies, which can be classified into a method using image segmentation based on morphology and a method with vegetative indices based on the wavelength of light. In this study, the latter methodology has been used to detect the weed patches. As a result, it was found that the vegetative indices were easier to operate as it did not need any sophisticated algorithm for differentiating weeds from crop and soil as compared to the former method. Consequently, we demonstrated that the current method of using vegetative index is accurate enough to detect weed patches, and will be useful for farmers to control weeds with minimal use of chemicals and in a more precise manner.

• Journal of Cadastre & Land InformatiX
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• v.51 no.1
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• pp.125-136
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• 2021

Recently, Unmanned Aerial Vehicle utilization and image processing technology for remote sensing have diversified remarkably with Orthophoto and Digital Surface Model. In particular, It uses more application fields such as spatial information analysis and hazardous areas as well as land surveying. This study analyses the accuracy of the coordinate on Orthophoto and DSM height on slope area with high and low differences by using UAV images. As the result of this study, in the case of GCP on 2D orthophoto, the location error was not produced significantly. The vertical position of the DSM showed the highest accuracy when the height difference between GCPs is under 30m(RMSEZ=0.07m). The location of the GCPs was divided into approximately 10m, 20m, 30m, and 40m with analysis for each of the eight points of GCP and inspection points in general. This study expects that producing both horizontal accuracy of Orthophoto and vertical accuracy of DSM using UAV on the sloped area which similar to this research area will help in spatial information fields.

• Journal of Advanced Navigation Technology
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• v.25 no.3
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• pp.211-216
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• 2021

Multiple UAV System has been used for various purposes such as reconnaissance, networking and aerial photography. In such systems, it is essential to form and maintain the formation of multiple UAVs. This paper proposes the algorithm that produces an autonomous distributed control for each vehicle for a flexible formation. This command is a repulsive force in the form of the second-order system by the nearest UAV or mission area. The algorithm uses the relative position/speed through sensing and communication for calculating the command without external intervention. The command allows each UAV to follow the reference distance and fill the mission area as densely as possible without overlapping. We determine the reference distance via optimization technique solving the packing problem. The mission area comprises the desired formation outline and can be set flexibly depending on the mission. Numerical simulation is carried out to verify the performance of the proposed algorithm under a complex and flexible environment. The formation is formed in 26.94 seconds and has a packing density of 71.91%.

• 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.

• The Korea Journal of Herbology
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• v.34 no.2
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• pp.67-74
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• 2019

Objectives : Agastachis herba is a aerial part of Agastache rugosa (Fischer et Meyer) O. Kuntze which has been used as traditional medicines. Methods : The samples were collected using a domestic cultivation of Agastachis Herba. We experiment on essential oil content, the content of ethanol soluble extracts and HPLC profiling. Results : Loss on drying of Agastachis Herba contents of harvest in June ~ July was 4.93~8.26% and contents of harvest in August ~ September was 3.88~5.38%. Ash of Agastachis Herba contents of harvest in June ~ July was 5.07~7.97% and contents of harvest in August ~ September was 4.55~7.61%. Acid-insoluble ash of Agastachis Herba contents of harvest in June ~ July was 0.43~1.62% and contents of harvest in August ~ September was 0.46~1.44%. Essential oil contents of Agastachis Herba contents of harvest in June ~ July was $0.2{\sim}0.4m{\ell}$ and contents of harvest in August ~ September was $0.2{\sim}0.6m{\ell}$. Ethanol soluble extracts of Agastachis Herba contents of harvest in June ~ July was 9.72~20.44% and contents of harvest in August ~ September was 11.00~18.70%. HPLC profiling was detected of tilianin(12.93 min), acacetin(15.84 min) and agastachoside(17.95 min). Conclusion : Agastachis Herba should be harvested from August ~ September, the time of flowering. This is because of the high content of active compounds.

• Journal of Korea Water Resources Association
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• v.45 no.2
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• pp.127-136
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• 2012

River is able to change by various environmental factors. In order to conduct river restoration design, it is necessary to evaluate the stable channel through the analysis of past and present river channels. River evaluation requires various data, such as geometry, hydraulic and hydrology, but there is a lot of difficulty to understand topographical information of river change on time and space due to a lack of past data by domestic conditions. This study was analyzed abandoned channel formation, changes in the vertical-section and cross-section length of rivers, and micro-landform changes etc using an image analysis technique. Purpose of this research is to evaluates the stable channel through a river channel morphology change from past and present river channels image. Mangyoung river was conducted artificial river maintenance through straight channel consolidation form 1920 to 1930 year. In the result river maintenance, mangyoung river length was decreased by 15 km and abandoned channels of six points were made. Since then, weir was continuously increased to control bed slope and use water. Install of weir was to be the reason of changes on channel width, thalweg, vegetated bar, sand bar, water area. Present Mangyoung river show that water area was temporary increased in upper and middle reach because of weir installation. Total sand bar was only decreased in upper channel. The change of vegetated bar and sand bar was slight recently. In this result, Mangyoung river is inferred to reach stabilized channel although there is some difference to the lower reach.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.12
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• pp.1054-1061
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• 2015

Navigation accuracy, integrity, and safety of commercial Unmanned Aerial Vehicle (UAV) is becoming crucial as utilization of UAV in commercial applications is expected to increase. Recently, the concept of Local-Area Differential GNSS (LADGNSS) which can provide navigation accuracy and integrity of UAV was proposed. LADGNSS can provide differential corrections and separation distances for precise and safe operation of the UAV. In order to derive separation distances between UAVs, modeling of Flight Technical Error (FTE) is required. In most cases, FTE for civil aircraft has been assumed to be zero-mean normal distribution. However, this assumption can cause overconservatism especially for UAV, because UAV may use control and navigation equipments in wider performance range and follow more diverse path than standard airway for civil aircraft. In this research, flight experiments were carried out to understand the characteristics of FTE distribution. Also, this paper proposes to use Johnson distribution which can better describe heavy-tailed and skewed FTE data. Futhermore, Kolmogorov-Smirnov and Anderson-Darling tests were conducted to evaluate the goodness of fit of Johnson model.

• Economic and Environmental Geology
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• v.48 no.3
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• pp.205-212
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• 2015

We have verified applicability of UAV(Unmanned Aerial Vehicle) photogrammetry to a mining engineering. The test mine is a smectite mine located at Gyeongju city in Gyeongnam province, Koera. 448 photos over area of $600m{\times}380m$ were taken with overlapped manner using Cannon Mark VI equipped to multicopter DJI S1000, which were processed with AgiSoft Photoscan software to generate orthophoto and DEM model of the study area. photogrammetry data with 10 cm resolution were generated using 6 ground control positions, which were exported to the 3D geological modeling software to make a topographic surface object. Monitoring of amount of ore production and landsliding could be done with less than 1 hours photographing as well as low cost. A direct link between UAV photogrammetry and 3D geological modeling technology might increase productivity of a mine due to appling the topographical surface change immediately according to the mining operation.

• Korean Journal of Environmental Agriculture
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• v.8 no.1
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• pp.17-29
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• 1989

This study was conducted to evaluate the behavior in the water and the impact on aquatic organisms following aerial application of two insecticides in the forest, cyfluthrin and trichlorfon, to control the alder leaf beetle. As active ingredients, 25g of cyfluthrin and 536g of trichlorfon per ha were diluted seperately into 30L of tap water, and applied with a helicopter to the study areas. A model stream study was also conducted in a stream located adjacent to the study area in order to confirm the impact of insecticides on aquatic invertebrates. Cyfluthrin residues in water were $0.62{\mu}g/L$ (1st. application) and $78{\mu}g/L$ (2nd application) immediately after spraying. and decreased, to a non-detectable level after one day, while trichlorfon residue increased to $30.7{\mu}g/L$ one day after spraying and fluctuated for 22th day depending on precipitation after spraying. Cyfluthrin application rapidly increased the number of some drifting aquatic invertebrates during 24-hour period immediately after spraying, but had no effects on the other aquatic organisms such as fish and zooplankton. The largest increase in the number of drifting organisms following application of cyfluthrin was shown by Ephemeroptera, and followed by Trichoptera, Coleoptera, and Diptera. However, trichlorfon little affected the number of drifting aquatic invertebrates and zooplankton population.