• Journal of Korea Water Resources Association
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• v.54 no.12
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• pp.1265-1274
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• 2021

The analysis of hyperspectral characteristics of materials near the South Han River has been conducted using riverside area measurements by drone installed hyperspectral sensors. Each spectrum reflectance of the riverside materials were compared and analyzed which were consisted of grass, concrete, soil, etc. To verify the drone installed hyperspectral measurements, a ground spectrometer was deployed for field measurements and comparisons for the materials. The comparison results showed that the riverside materials had their unique hyperspectral band characteristics, and the field measurements were similar to the remote sensing data. For the classification of the riverside area, the K-means clustering method and SVM classification method were utilized. The supervised SVM method showed accurate classification of the riverside area than the unsupervised K-means method. Using classification and clustering methods, the inherent spectral characteristic for each material was found to classify the riverside materials of hyperspectral images from drones.

• Korean Journal of Agricultural and Forest Meteorology
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• v.25 no.4
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• pp.245-257
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• 2023

The representative crop in the Republic of Korea, rice, is cultivated over extensive areas every year, which resulting in reduced resistance to pests and diseases. One of the major rice diseases, rice blast disease, can lead to a significant decrease in yields when it occurs on a large scale, necessitating early detection and effective control of rice blast disease. Drone-based crop monitoring techniques are valuable for detecting abnormal growth, but frequent image capture for potential rice blast disease occurrences can consume significant labor and resources. The purpose of this study is to early detect rice blast disease using remote sensing data, such as drone and satellite images, along with weather data. Satellite images was helpful in identifying rice cultivation fields. Effective detection of paddy fields was achieved by utilizing vegetation and water indices. Subsequently, air temperature, relative humidity, and number of rainy days were used to calculate the risk of rice blast disease occurrence. An increase in the risk of disease occurrence implies a higher likelihood of disease development, and drone measurements perform at this time. Spectral reflectance changes in the red and near-infrared wavelength regions were observed at the locations where rice blast disease occurred. Clusters with low vegetation index values were observed at locations where rice blast disease occurred, and the time series data for drone images allowed for tracking the spread of the disease from these points. Finally, drone images captured before harvesting was used to generate spatial information on the incidence of rice blast disease in each field.

• Journal of the Korea Society of Computer and Information
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• v.25 no.9
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• pp.81-90
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• 2020

In order to operate multi drone efficiently, existing control methods must be improved, and drones must be able to construct communication networks autonomously. FANET(Flying Ad-Hoc Network), which is being considered as an alternative to solving these problems, is based on ad hoc network technology and can be exposed to a variety of security vulnerabilities. However, due to the limited computational power and memory of FANET nodes, and rapid and frequent changes in network topology, it is not easy to apply the existing security measures to FANET without modification. Thus, this paper proposes lightweight security measures applicable to FANET, which have distinct characteristics from existing ad hoc networks by utilizing PUF technology. The proposed security measures utilize unique values generated by non-replicable PUFs to increase the safety of AODV, FANET's reactive routing protocol, and are resistant to various attacks.

• Proceedings of the Korea Water Resources Association Conference
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• 2021.06a
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• pp.12-12
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• 2021

현행 하도현황조사는 조사망에 따라 조사대상 하천의 하천기본계획 등을 통해 조사지점을 선정하므로 전체 하천구간의 하도특성 파악에 어려움이 있고, 하천기본계획의 수립년도와 현황조사시 기간에 차이가 있을 경우, 하도특성의 경년적 변동성 파악이 어렵다. 최근 이러한 문제점을 극복하기 위하여 하천조사에 인공위성, 드론 등을 활용한 원격탐사방법이 증가하고 있으며, 유역 성과활용도 조사에서도 위성영상자료 활용의 확대요구가 있다. 본 연구는 중랑천을 대상으로 유럽우주국(ESA)의 Sentinel-1을 활용하여 하도현황조사의 기초가 되는 맞춤형 최적화 수체추출기법을 개발하였다. 이를 위하여 중랑천 지역에 대한 50여 장의 Sentinel-1 위성자료를 수집하였고, 하천 중심선에 대한 유클리드 거리를 가중치로 산정하여 K-mean 군집화를 진행하였다. 검증을 위하여 Sentinel-1과 24시간 이내 촬영된 PlanetLab사(社)의 PlanetScope 영상자료로 정확성을 평가하였다. 그 결과 최대 70%에 근접하는 정확도를 보였다. 본 방법은 현존하는 수체추출방법보다 간단하고 신속하게 수체를 추출할 수 있을 것으로 보인다. 추후 딥러닝을 통한 수체 식별을 추가 진행할 예정이며, 정확도를 높일 수 있을 것으로 기대한다.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.37-38
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• 2017

최근 방제 및 예찰과 같은 농작업에 단일 UAV(Unmanned Aerial Vehicle)시스템이 적용되고 있지만, 가반하중과 체공시간 등 기존시스템의 문제가 점차 대두되면서 작업 시간을 보다 단축시키고 작업 효율을 극대화 할 수 있는 농업용 멀티 UAV시스템의 필요성이 증대되고 있다. 본 논문에서는 작업자가 다수의 농업용 UAV를 효과적으로 제어할 수 있는 분산군집제어 알고리즘을 제안하며 알고리즘 검증 및 평가를 위한 시뮬레이터를 소개한다. 분산군집제어는 UAV 제어 계층, VP(Virtual Point) 제어 계층, 원격제어 계층으로 이루어진 3계층 제어구조를 가진다. UAV 제어 계층에서 각 UAV는 point mass로 모델링 되는 VP의 이상적인 경로를 추종하도록 제어한다. VP 제어 계층에서 각 VP는 입력 $p_i(t)=u^c_i+u^o_i+u^{co}_i+u^h_i$-(1)을 받아 제어되는데 여기서, $u^c_i{\in}{\mathbb{R}}^3$는 VP 사이의 충돌방지제어, $u^o_i{\in}{\mathbb{R}}^3$는 장애물과의 충돌방지제어, $u^{co}_i{\in}{\mathbb{R}}^3$는 UAV 상호간의 협조제어, $u^h_i{\in}{\mathbb{R}}^3$는 작업자로부터의 원격제어명령이다. (1)의 제어입력에서 충돌방지제어는 각 $u^i_c:=-{\sum\limits_{j{\in}{\eta}_i}}{\frac {{\partial}{\phi}_{ij}^c({\parallel}p_i-p_j{\parallel})^T}{{\partial}p_i}}$-(2), $u^o_c:=-{\sum\limits_{r{\in}O_i}}{\frac {{\partial}{\phi}_{ir}^o({\parallel}p_i-p^o_r{\parallel})^T}{{\partial}p_i}}$-(3)로 정의되면 ${\phi}^c_{ij}$와 ${\phi}^o_{ir}$는 포텐셜 함수를 나타낸다. 원격제어 계층에서 작업자는 햅틱 인터페이스를 통해 VP의 속도를 제어하게 된다. 이때 스케일변수 ${\lambda}$에 대하여 VP의 원격제어명령은 $u^t_i(t)={\lambda}q(t)$로 정의한다. UAV 시뮬레이터는 리눅스 환경에서 ROS(Robot Operating Systems)를 기반한 3차원 시뮬레이터인 Gazebo상에 구축하였으며, 마스터와 슬레이브 간의 제어 명령은 TCPROS를 통해 서로 주고받는다. UAV는 PX4 기반의 3DR Solo 모델을 사용하였으며 MAVROS를 통해 MAVLink 통신 프로토콜에 접속하여 UAV의 고도, 속도 및 가속도 등의 상태정보를 받을 수 있다. 현재 멀티 드론 시스템을 Gazebo 환경에 구축하였으며, 추후 시뮬레이터 상에 분산군집제어 알고리즘을 구현하여 검증 및 평가를 진행하고자 한다.

• Proceedings of the Korea Water Resources Association Conference
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• 2023.05a
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• pp.54-54
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• 2023

하천유역조사는 관련 법률의 규정에 의해 물관리정책의 수립에 필요한 기초정보를 제공하는 것을 목적으로 기본현황, 이수, 치수 환경생태 등 유역관리에 필요한 주요 조사항목을 대상으로 수행되고 있다. 조사방법 중 원격탐사자료 활용한 조사는 드론 모니터링 영상 및 위성영상자료를 이용해 댐·제방과 같은 치수 시설물의 안전관리, 수질 모니터링, 하천지형조사, 하상변동조사 등에 활용되고 있다. 최근에는 일반 RGB 영상뿐만 아니라 수백개의 분광밴드를 포함한 초분광영상을 이용한 하천조사 연구가 이루어지고 있다. 초분광영상은 분광해상도가 높아 다항목 조사에 활용할 수 있다는 장점이 있지만, 많은 양의 분광정보를 포함하고 있기 때문에 초기 수집 자료의 용량이 너무 크고, 분석을 위한 전처리 과정이 까다롭다는 단점이 있다. 반면, 10개 이하 밴드의 분광정보를 수집하는 다분광영상은 2개 밴드를 이용해 정규식생지수(NDVI)를 즉각적으로 모니터링할 수 있고, 작물의 생육현황 등을 분석할 수 있어 농업 및 산림분야에서 널리 활용되고 있다. 초분광영상을 이용한 수심산정 연구는 최적 밴드비 탐색 기법(OBRA)을 활용해 측정수심과 상관관계가 높은 밴드비를 이용해 수심맵을 구축하는 방식이 활용되어왔다. 본 연구에서는 기존의 초분광영상을 활용한 수심산정기법을 다분광영상에 적용하여 분광밴드수가 축소된(경량화된) 자료를 활용한 수심산정 가능성을 확인하기 위해 동일한 현장에서 초분광과 다분광 두가지 영상을 촬영하였으며, 각각 수심맵을 구축해 하천분야에서 다분광영상의 활용도를 평가하였다. 또한, 기존의 OBRA의 한계를 개선하기 위해 가우시안 혼합 모델(GMM; Gaussian Mixture Model)을 활용해 영상을 군집화하여 수심산정 정확도를 개선하였다.

• The Journal of the Convergence on Culture Technology
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• v.9 no.3
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• pp.263-270
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• 2023

The Ukraine-Russia war is a testing ground for High-Tech weapons and the first full-scale drone warfare. The Ukrainian military has been aggressively deploying a variety of reconnaissance and attack drones on the battlefield, and more recently, FPV drones, also known as racing drones, have been fitted with bombs as a game-changer in small-unit combat. To better understand these FPV drones, this article reviews their definition, aircraft components, and key characteristics, and draws implications from the Ukrainian military's FPV combat experience. In the future, the combination of artificial intelligence and swarming technology will make FPV drones even more lethal. Accordingly, the need to develop FPV drones suitable for the future operational environment on the Korean Peninsula is increasing, and follow-up research is needed to specify fighting methods and optimize related technologies.

• Journal of Korea Multimedia Society
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• v.21 no.8
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• pp.897-908
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• 2018

In this paper, we propose a security framework for a cluster drones network using the MAVLink (Micro Air Vehicle Link) application protocol based on FANET (Flying Ad-hoc Network), which is composed of ad-hoc networks with multiple drones for IoT services such as remote sensing or disaster monitoring. Here, the drones belonging to the cluster construct a FANET network acting as WTRP (Wireless Token Ring Protocol) MAC protocol. Under this network environment, we propose an efficient algorithm applying the Lightweight Encryption Algorithm (LEA) to the CTR (Counter) operation mode of WPA2 (WiFi Protected Access 2) to encrypt the transmitted data through the MAVLink application. And we study how to apply LEA based on CBC (Cipher Block Chaining) operation mode used in WPA2 for message security tag generation. In addition, a modified Diffie-Hellman key exchange method is approached to generate a new key used for encryption and security tag generation. The proposed method and similar methods are compared and analyzed in terms of efficiency.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.1
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• pp.179-185
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• 2017

Communication technologies hold a significant place in the swarm flight of drones for surveillance, inspection of disasters and calamities, entertainment performances, and drone collaborations. A GCS(ground control station) for the control of drone swarms needs its devoted communication method to control a large number of drones at the same time. General drone controllers control drones by connecting transmitters and drones in 1:1. When such an old communication method is employed to control many drones simultaneously, problems can emerge with the control of many transmitter modules connected to a GCS and frequency interference among them. This study implemented a transmitter controller to control many drones simultaneously with a communication chip of 2.4GHz ISM band and a Cortex M4-based board. It also designed a GCS to control many transmitter controllers via a network. The hierarchical method made it possible to control many more drones. In addition, the problem with frequency interference was resolved by implementing a time- and frequency-sharing method, controlling many drones simultaneously, and adding the frequency hopping feature. If PPM and S.BUS protocol features are added to it, it will be compatible with more diverse transmitters and drones.

• Journal of Information Technology Applications and Management
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• v.26 no.1
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• pp.53-64
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• 2019

The purpose of this study is to find out the fast delivery route that several drones return a truck again after departing from it for delivery locations at each cluster while the truck goes through the cluster composed of several delivery locations. The main issue is to reduce the total delivery time composed of the delivery time by relatively slow trucks via clusters and the sum of maximum delivery times by relatively fast drones in each cluster. To solve this problem, we use a three-step heuristic approach. First, we cluster the nearby delivery locations with minimal number of clusters satisfying a constraint of drone flight distance to set delivery paths for drones in each cluster. Second, we set an optimal delivery route for a truck through centers of the clusters using the TSP model. Finally, we find out the moved centers of clusters while maintaining the delivery paths for the truck and drones and satisfying the constraint of drone flight. distance in the two-dimensional region to reduce the total delivery time. In order to analyze the effect of this study model according to the change of the number of delivery locations, we developed a R-based simulation prototype and compared the relative efficiency, and performed paired t-test between TSP model and the cluster-based models. This study showed its excellence through this experimentation.