• Journal of Aerospace System Engineering
• /
• v.13 no.3
• /
• pp.15-22
• /
• 2019

In this paper, a global and local flight path system for autonomous flight of the UAV is proposed. The overall system is based on the ROS robot operating system. The UAV in-built computer detects obstacles through 2-D Lidar and generates real-time local path and global path based on VFH and Modified $RRT^*$-Smart, respectively. Additionally, a movement command is issued based on the generated path on the UAV flight controller. The ground station computer receives the obstacle information and generates a 2-D SLAM map, transmits the destination point to the embedded computer, and manages the state of the UAV. The autonomous UAV flight system of the is verified through a simulator and actual flight.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.34 no.2
• /
• pp.101-111
• /
• 2021

In general, several computational resources are required to perform multiple-loading transient response analyses. In this paper, we present the procedure for multiple-loading transient response analysis using the Krylov subspace model order reduction and Newmark's time integration scheme. We utilized ANSYS MAPDL, Python, and ANSYS ACT to automate the transient response analysis procedure in the ANSYS Workbench environment and studied several engineering numerical examples to demonstrate the feasibility and efficiency of the proposed approach.

• Journal of Sensor Science and Technology
• /
• v.31 no.6
• /
• pp.433-440
• /
• 2022

Recently, owing to global warming, average summer temperatures are increasing and the number of hot days is increasing is increasing, which leads to an increase in heat stroke. In particular, outdoor workers directly exposed to the heat are at higher risk of heat stroke; therefore, preventing heat-related illnesses and managing safety have become important. Although various wearable devices have been developed to prevent heat stroke for outdoor workers, applying various sensors to the safety helmets that workers must wear is an excellent alternative. In this study, we developed a smart helmet that measures various vital signs of the wearer such as body temperature, heart rate, and sweat rate; external environmental signals such as temperature and humidity; and movement signals of the wearer such as roll and pitch angles. The smart helmet can acquire the various data by connecting with a smartphone application. Environmental data can check the status of heat wave advisory, and the individual vital signs can monitor the health of workers. In addition, we developed an algorithm that classifies the risk of heat-related illness as normal and abnormal by inputting a set of vital signs of the wearer using a support vector machine technique, which is a machine learning technique that allows for rapid binary classification with high reliability. Furthermore, the classified results suggest that the safety manager can supervise the prevention of heat stroke by receiving feedback from the control system.

• Journal of IKEEE
• /
• v.27 no.1
• /
• pp.1-11
• /
• 2023

Path driving tests are necessary for the development of self-driving cars or robots. These tests are being conducted in simulation as well as real environments. In particular, for development using reinforcement learning and deep learning, development through simulators is also being carried out when data of various environments are needed. To this end, it is necessary to utilize not only manually designed paths but also various randomly and automatically designed paths. This test site design can be used for actual construction and manufacturing. In this paper, we introduce a method for randomly generating a driving test path consisting of a combination of arcs and segments. This consists of a method of determining whether there is a collision by obtaining the distance between an arc and a line segment, and an algorithm that deletes part of the path and recreates an appropriate path if it is impossible to continue the path.

• Journal of Advanced Navigation Technology
• /
• v.27 no.5
• /
• pp.674-684
• /
• 2023

In this paper, a real-time prediction technique for gravity disturbances is proposed using a multi-layer perceptron (MLP) model. To select a suitable MLP model, 4 models with different network sizes were designed to compare the training accuracy and execution time. The MLP models were trained using the data of vehicle moving along the surface of the sea or land, including their positions and gravity disturbance. The gravity disturbances were calculated using the 2160^th degree and order EGM2008 with SHM. Among the models, MLP4 demonstrated the highest training accuracy. After training, the weights and biases of the 4 models were stored in the embedded computer of the INS to implement the MLP network. MLP4 was found to have the shortest execution time among the 4 models. These research results are expected to contribute to improving the navigation accuracy of INS through gravity disturbance compensation in the future.

• Education of Primary School Mathematics
• /
• v.27 no.1
• /
• pp.57-74
• /
• 2024

This paper analyzed the programming education specialized lessons presented in two types of elementary school mathematics textbooks according to the revised Japanese curriculum in 2017. First, this paper presented in detail how each activity is connected to Korean mathematics areas, what elements of mathematics can be learned through programming education, how each activity is structured, and how the actual programming according to the textbook activities is structured. In Japanese textbooks, geometry and measurement areas were presented the most among Korean mathematics content areas, and mathematical elements such as sequences, rules, and algorithms were most implemented for learning. Digital learning tools that make up actual programming present more elements than those presented in the textbooks and are presented in great detail so that students can do actual programming. Lastly, in blocks, motion, control, and calculation blocks were used a lot. Based on these research results, this study provides implications when conducting programming-related education in Korea.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.47 no.3
• /
• pp.95-103
• /
• 2024

The diversity of smart EV(electric vehicle)-related industries is increasing due to the growth of battery-based eco-friendly electric vehicle component material technology, and labor-intensive industries such as logistics, manufacturing, food, agriculture, and service have invested in and studied automation for a long time. Accordingly, various types of robots such as autonomous mobile robots and collaborative robots are being utilized for each process to improve industrial engineering such as optimization, productivity management, and work management. The technology that should accompany this unmanned automobile industry is unmanned automatic charging technology, and if autonomous mobile robots are manually charged, the utility of autonomous mobile robots will not be maximized. In this paper, we conducted a study on the technology of unmanned charging of autonomous mobile robots using charging terminal docking and undocking technology using an unmanned charging system composed of hardware such as a monocular camera, multi-joint robot, gripper, and server. In an experiment to evaluate the performance of the system, the average charging terminal recognition rate was 98%, and the average charging terminal recognition speed was 0.0099 seconds. In addition, an experiment was conducted to evaluate the docking and undocking success rate of the charging terminal, and the experimental results showed an average success rate of 99%.

• Progress in Medical Physics
• /
• v.25 no.4
• /
• pp.264-270
• /
• 2014

This study developed a portable respiratory training device to improve breathing stability, which is an important element in using the CyberKnife Synchrony respiratory tracking device, one of the typical Stereotactic Radiation Therapy (SRT) devices. It produced an interface for users to be able to select one of two displays, a graph type and a bar type, supported an auditory system that helps them expect next respiration by improving a sense of rhythm of their respiratory period, and provided comfortable respiratory inducement. By targeting 5 applicants and applying individual respiratory period detected through a self-developed program, it acquired signal data of 'guide respiration' that induces breathing through signal data gained from 'free respiration' and an auditory system, and evaluated the usability by comparing deviation average values of respiratory period and respiratory amplitude. It could be identified that respiratory period decreased $55.74{\pm}0.14%$ compared to free respiration, and respiratory amplitude decreased $28.12{\pm}0.10%$ compared to free respiration, which confirmed the consistency and stability of respiratory. SBRT, developed based on these results, using the portable respiratory training device, for liver cancer or lung cancer, is evaluated to be able to help reduce delayed treatment time due to respiratory instability and improve treatment accuracy, and if it could be applied to developing respiratory training applications targeting an android-based portable device in the future, even use convenience and economic efficiency are expected.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.18 no.3
• /
• pp.232-241
• /
• 2017

This paper presents an automated cow-feeding system based on an AGV and screw conveyor for domestic livestock farms, which are becoming larger and more commercialized. The system includes a hopper module for loading pellet-type mixed feed at the top of the system, a transfer module mounted with a screw conveyor to transfer feed from the hopper module to the outlet module, an outlet module composed of belt conveyors, and an electromagnetic guided driving-type AGV. The weight of the loaded feed is measured by a load cell located under the transfer module. The system reads the feed discharge information stored in RFID tags installed in each cowshed cell, and a predetermined amount of feed is discharged while the AGV is moving. A cow-feed test system was constructed to determine the design parameters of the screw conveyor in the transfer module that determine the feeding capacity. These parameters include the screw's outer diameter, the screw shaft outer diameter, and screw pitch. The parameters were applied to the finalized cow-feed system construction. A DSP-based main controller and cow-feeding algorithm for different scenarios were also developed to control the system. Experimental results confirmed that the system could supply a total of 21 kg of feed uniformly at 420 g/s for a cowshed cell which has 7 cows. The driving distance was 5 m and the speed was 0.1 m/s. Thus, the proposed system could be applied to standardized domestic livestock farms.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.14 no.4
• /
• pp.512-516
• /
• 2004

Context-aware computing has been attracting the attention as an approach to alleviating the inconvenience in human-computer interaction. This paper proposes a context-aware system architecture to be implemented on an SoC(System-on-a-Chip). The proposed architecture supports sensor abstraction, notification mechanism for context changes, modular development, easy service composition using if-then rules, and flexible context-aware service implementation. It consists of the communication unit, the processing unit, the blackboard, and the rule-based system unit, where the first three components reside in the microprocessor part of the SoC and the rule-based system unit is implemented in hardware. For the proposed architecture, an SoC system has been designed and tested in an SoC development platform called SystemC and the feasibility of the behavoir modules for the microprocessor part has been evaluated by implementing software modules on the conventional computer platform. This SoC-based context-aware system architecture has been developed to apply to mobile intelligent robots which would assist old people at home in a context-aware manner.