• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.4
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• pp.114-130
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• 2022

The purpose of this study was to investigate the possibility of increasing the efficiency of disaster relief rescue operations through collaboration among multiple aerial and ground robots. The robots create 2.5D maps, which are merged into a 2.5D map. The 2.5D map can be handled by a low-specification controller of an aerial robot and is suitable for ground robot navigation. For localization of the aerial robot, a six-degree-of-freedom pose recognition method using VIO was applied. To build a 2.5D map, an image conversion technique was employed. In addition, to merge 2.5D maps, an image similarity calculation technique based on the features on a wall was used. Localization and navigation were performed using a ground robot to evaluate the reliability of the 2.5D map. As a result, it was possible to estimate the location with an average and standard error of less than 0.3 m for the place where the 2.5D map was normally built, and there were only four collisions for the obstacle with the smallest volume. Based on the 2.5D map building and map merging system for the aerial robot used in this study, it is expected that disaster response work efficiency can be improved by combining the advantages of heterogeneous robots.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.7
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• pp.1417-1426
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• 2011

Radiofrequency ablation through cardiac catheterization is one of minimally invasive intervention procedures used in drug resistant arrhythmia treatment. To facilitate more accurate and precise catheter navigation, systems for robotic cardiac catheter navigation have been developed and commercialized. The authors have been developing a novel robotic catheter navigation system. The system is a network-based master-slave configuration 3-DOF (Degree-Of-Freedom) robotic manipulator for operation with conventional cardiac ablation catheter. The catheter manipulation motion is composed of the translation (forward/backward) and the roll movements of the catheter and knob rotation for the catheter tip articulation. The master manipulator comprises an operator handle compartment for the knob and the roll movement input, and a base platform for the translation movement input. The slave manipulator implements a robotic catheter platform in which conventional cardiac catheter is mounted and the 3-DOF motions of the catheter are controlled. The system software that runs on a realtime OS based PC, implements the master-slave motion synchronization control in the robot system. The master-slave motion synchronization performance tested with step, sinusoidal and arbitrarily varying motion commands showed satisfactory results with acceptable level of steady state error. The developed system will be further improved through evaluation of safety and performance in in vitro and in vivo tests.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2014.10a
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• pp.219-221
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• 2014

The objective of this paper is to simulate the dynamic behavior of a floating structure model, using image processing and close-range photogrammetry, instead of the contact sensors. Previously, the movement of structure was presented through the exterior orientation estimation of a single camera by space resection. The inverse resection yields the 6 orientation parameters of the floating structure, with respect to the camera coordinate system. The single camera solution is of interest in applications characterized by restriction in term of costs, unfavorable observation conditions, or synchronization demands when using multiple cameras. This article discusses the theoretical determinations of camera exterior orientation based on Direct Linear Transformation and photogrammetric resection using least squares adjustment. The proposed method was used to monitor the motion of a floating model. The results of six degrees of freedom (6-DOF) by inverse resection show that the appropriate initial values by DLT can be effectually applied in least squares adjustment, to obtain the precision of exterior orientation parameters. Additionally, a comparison between the close-range photogrammetry and total station results was feasibly verified. Therefore, the proposed method can be considered as an efficient solution to simulating the movement of floating structure.

• Journal of Navigation and Port Research
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• v.44 no.5
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• pp.363-374
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• 2020

In the past, various research on the effects of waves generated by ships has been investigated. The most noticeable effect of the waves generated by a passing ship is the increase of the hydrodynamic forces and the unwanted large motion of the moored ship and high mooring forces that occur. Thus, it is crucial to investigate the effect of the waves generated by the passing ship near port on the motion of the moored ship and the tension of the mooring lines. A model test was performed with virtual ship-generated waves in a square tank at CWNU (Changwon National University). The IMU (Inertial Measurement Unit) and Optical-based system were used to measure the 6DOF (Six Degrees of Freedom) motion of the moored floater. Additionally the tension of mooring lines were measured by the tension gauges. The effects of the wave direction and wave height generated by the virtual ship-generated waves on the motion of the moored floater were analyzed.

• Journal of Navigation and Port Research
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• v.33 no.4
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• pp.255-261
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• 2009

Prediction of the stability for ships is very complex in reality. In this paper, risk based approach is applied to predict the probability of capsize for a certified ship, which is effected by the forces of sea especially the wave loading Safety assessment and risk analysis process are also applied for the probabilistic prediction of stability for ships. The probability of shipsencountering different waves at sea is calculated by the existed statistics data and risk based models. Finally, ship capsizing probability is calculated according to single degree of freedom(SDF) rolling differential equation and basin erosion theory of nonlinear dynamics. Calculation results show that the survival probabilities of ship excited by the forces of the seas, especially in the beam seas status, can be predicted by the risk based method.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2006.10a
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• pp.123-128
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• 2006

This paper presents the design of a surveillance night vision system for marine ships. Both a hardware system and software modules for tracking control are developed. In order to control each control axis with compensation for ship motion, the two-degree of freedom(TDF) PID controller is designed and its parameters are tuned using a real-coded genetic algorithm(RCGA). Simulation demonstrates the effectiveness of the proposed system.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.10a
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• pp.125-127
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• 2012

With the progress of electronics and radio communication technology, human enjoys greater freedom in communication. However, EMW (Electro-Magnetic wave) environments have became complicate and more difficult to control. Thus, international organizations, such as the American National Standard Institution (ANSI), Federal Communications Commission (FCC), the Comite Internationale Special des Perturbations Radio electrique (CISPR), etc, have provided standard for controlling the EM wave environments and for the countermeasure of the electromagnetic compatibility (EMC). In this paper, the status of EMW absorber and the goal of smart EMW absorber ifor the future were described. Furthermore, design method of the smart EM wave Absorber with heat radiating function was suggested. The designed smart EM wave Absorber has the absoption ability of more than 5 dB from 2 GHz to 2.45 GHz band, one optimum aperture (hole) size of which was 6 mm, 9 mm in adjacent hole space, and 6.5 mm in thickness, respectivly. Thus, it is repected that these results can be applied to various EMC devices in electronic, communication, and controlling systems.

• Journal of Navigation and Port Research
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• v.27 no.5
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• pp.451-458
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• 2003

A ship with small metacentric height or high speed vessel performs relatively large roll angles in her manoeuvring motion. Roll coupling effect should be taken into consideration for accurate prediction of manoeuvring motion of such a ship. This paper proposes a new mathematical model of ship manoeuvring motion taking coupling effect of roll into consideration. Some kinds of manoeuvring motion are simulated by computer, based upon the proposed model. The simualted results by proposed model here are compared with those by existing model. The proposed model is found to be practical and useful for prediction of manoeuvring motion with roll effect.

• Journal of the Korean Institute of Navigation
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• v.10 no.1
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• pp.81-100
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• 1986

Self-contained portable remote-indicating magnetic compass was designed and tested. Its sensing part consists of main scale disk of rotary encoder with photo-etched 180, oopaque slits and three pairs of light sources and detectors seperated by a transparent index scale, so that any angular deflection of main scale disk against the bowl may be detected optically. The outputs from the sensing part are transformed into digital ship's course indication by electronics unit which consists of operational amplifier, phase discriminator, up-down counter and counting starter circuit. The results from testign the above compass with turntable at variable rate of turn are as following : 1) The main scale disk deflection against the bowl can be detected without any disturbing influence to the freedom of its north-seeking function. 2) The digital indication resolution is found to be $\circ \pm$1 degree. 3) Misrepresenting indication can be avoided by ensuring dimension uniformity and arrangement accuracy of slits on main and index scale disks and by centering pivot in the encoder disk. 4) Indication resolution should be improved by modifying the signal processing and by doubling the number of slits on compass card. 5) Further study should be made on developing non-conductive compass liquid, analogue repeater driving system and more compact processing element.

• International Journal of Aeronautical and Space Sciences
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• v.7 no.2
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• pp.137-144
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• 2006

The objective of this paper is to present trajectory guidance and control system with a dynamic inversion for a small unmanned aerial vehicle (UAV). The UAV model is expressed by fixed-mass rigid-body six-degree-of-freedom equations of motion, which include the detailed aerodynamic coefficients, the engine model and the actuator models that have lags and limits. A trajectory is generated from the given waypoints using cubic spline functions of a flight distance. The commanded values of an angle of attack, a sideslip angle, a bank angle and a thrust, are calculated from guidance forces to trace the flight trajectory. To adapt various waypoint locations, a proportional navigation is combined with the guidance system. By the decision logic, appropriate guidance law is selected. The flight control system to achieve the commands is designed using a dynamic inversion approach. For a dynamic inversion controller we use the two-timescale assumption that separates the fast dynamics, involving the angular rates of the aircraft, from the slow dynamics, which include angle of attack, sideslip angle, and bank angle. Some numerical simulations are conducted to see the performance of the proposed guidance and control system.