• Journal of the Korean Society for Aviation and Aeronautics
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• v.3 no.1
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• pp.145-159
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• 1995

정확한 고도, 속도의 측정은 항공기의 효율적인 운영과 안전에 필수적이다. 정확한 고도의 측정은 지형 장애물의 회피와 항로상에서 최저 수직 고도 분리를 유지하기 위해 절대적으로 필요하다. 또한 정확한 속도의 측정은 저속(실속상태)에서 조종상실을 피하고 고속에서 항공기의 구조적 한계와 공기 역학적 한계의 초과를 방지한다. 따라서 비행시험을 통하여 고도와 속도를 정확히 보정해줌으로써 비행안전과 재산상의 손실을 막을 수 있다.

• ICROS
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• v.2 no.3
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• pp.81-91
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• 1996

이 글에서는 Multi-Tasking Real Time O.S인 VxWorks를 기본으로 하여 다중센서 융합(Multi-Sensor Fusion) 능력을 갖는 다중 로봇 협조제어 시스템의 구현에 대하여 살펴보았다. 본 제어 시스템은 두대 로봇의 제어에 필요한 장애물 회피, 조건 동작(Conditional Motion) 혹은 동시동작(Concurrent Motion)과 외부 디바이스와의 동기 Motion(Conveyor Tracking)을 수행할 수 있게 구현하였고, 몇몇 작업을 통해 우수성을 입증하였다. 앞으로 본 연구와 관련한 추후 과제로는 1) 자유도가 6관절형인 수직다관절 매니퓰레이터를 위한 충돌회피 알고리즘의 개발, 2) Two Arm Robot의 상대 위치를 위한 Auto-Calibration 시스템의 개발, 3) CAD Based Trajectory 생성 등이 있다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.5
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• pp.716-722
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• 2017

The present study numerically investigates the effect of obstacles located in the trajectory of fire plume flow on heat flow characteristics by using Fire Dynamics Simulation (FDS) software in an underground combined cycle power plant (CCPP). Fire size is taken as 10 MW and two different locations of fire source are selected depending on the presence of an obstacle. As the results, when the obstacle is in the trajectory of fire plume, hot plume arrives at the ceiling about 5 times slower in the upper of the fire in comparison to the results without obstacle. In addition, the average propagation time of ceiling jet increases by about 70 % with the distance from the ceiling in the upper of the fire, and it increases mainly about 4 times at the distance of 10 m. Consequently, it is noted that the analysis of heat flow characteristics in the underground CCPP considering fire scenarios is essential to develop the fire detection system for initial response on evacuation and disaster management.

• Spatial Information Research
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• v.22 no.1
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• pp.75-84
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• 2014

Power lines are one of the main obstacles causing an aircraft crash and thus their realtime detection is significantly important during flight. To avoid such flight obstacles, the use of LIDAR has been recently increasing thanks to its advantages that it is less sensitive to weather conditions and can operate in day and night. In this study, we suggest a fast method to detect power lines from LIDAR data for flight obstacle avoidance. The proposed method first extracts non-ground points by eliminating the points reflected from ground surfaces using a filtering process. Second, we calculate the eigenvalues for the covariance matrix from the coordinates of the generated non-ground points and obtain the ratio of eigenvalues. Based on the ratio of eigenvalues, we can classify the points on a linear structure. Finally, among them, we select the points forming horizontally long straight as power-line points. To verify the algorithm, we used both real and simulated data as the input data. From the experimental results, it is shown that the average detection rate and time are 80% and 0.2 second, respectively. If we would improve the method based on the experiment results from the various flight scenario, it will be effectively utilized for a flight obstacle avoidance system.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.5
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• pp.941-948
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• 2022

Disaster response robots are deployed to disaster sites where human access is difficult and dangerous. The disaster response robots explore the disaster sites prevent a structural collapse and perform lifesaving to minimize damage. It is difficult to operate robots in the disaster sites due to rough terrains where various obstacles are scattered, communication failures and invisible environments. In this paper, we developed a series connectable wheeled robot module. The series connectable wheeled robot module was developed into two types: an active driven robot module and a passive driven robot module. A wheeled robot was built by connecting the two active type robot modules and one passive type robot module. Two robot modules were connected by one DoF rotating joint, allowing the wheeled robot to avoid obstructions in a vertical direction. The wheeled robot performed driving and obstacle avoidance using only pressure sensors, which allows the wheeled robot operate in the invisible environment. An obstacle avoidance experiment was conducted to evaluate the performance of the wheeled robot consisting of two active driven wheeled robot modules and one passive driven wheeled robot module. The wheeled robot successfully avoided step-shaped obstacles with a maximum height of 80 mm in a time of 24.5 seconds using only a pressure sensors, which confirms that the wheeled robot possible to perform the driving and the obstacle avoidance in invisible environment.

• Journal of the Society of Naval Architects of Korea
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• v.38 no.4
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• pp.23-29
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• 2001

An Obstacle Avoidance System(OAS) of Underwater Vehicle(UV) in diving and steering plane is investigated. The concept of Imaginary Reference Line(IRL), which acts as the seabed in the diving plane, is introduced to apply the diving plane avoidance algorithm to the steering plane algorithm. Furthermore, the distance to the obstacle and the slope information of the obstacle are used for more efficient and safer avoidance. As for the control algorithm, the sliding mode controller is adopted to consider the nonlinearity of the equations of motion and to get the robustness of the designed system. To verify the obstacle avoidance ability of the designed system, numerical simulations are carried out on the cases of some presumed three-dimensional obstacles. The effects of the sonar and the clearance factor used in avoidance algorithm are also investigated. Through these, it is found that the designed avoidance system can successfully cope with various obstacles and the detection range of sonar is proven to bea significant parameter to the performance of the avoidance.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.30 no.1
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• pp.28-37
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• 2022

Along with the remarkable advances in GNSS technology, SBAS further enhances the accuracy and integrity of GNSS location information and derives improvement in the safety and efficiency of air traffic management from reducing GNSS location errors, induced by passing through the ionosphere and atmosphere, to less than three meters. In this regard, ICAO specifies the standards of SBAS signals and recommends every party to phase in by 2025; and it is foreseeable that SBAS APV-I and CAT-I will be provided in South Korea by its undertaking the development of KASS, a Korean SBAS. The purpose of the study is to design SBAS APV-I procedure on the basis of the runway 15L of Incheon International Airport and conduct obstacle assessment according to PAN-OPS Doc. 8168, focusing on the usability and usefulness of SBAS APV-I. The results show that SBAS APV-I will provide better decision height compared to other PBN RNP approach procedures such as LNAV and Baro-VNAV at the Incheon International Airport.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.31 no.1
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• pp.18-25
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• 2023

In recent years, UAM (Urban Air Mobility) has emerged as a solution to these urbanization problems, and many related reports and diverse prospects have been reported. UAM flights are planned to take off and land at a Vertiport located in the city center and fly along a pre-established corridor. In order for UAM to operate safely in the city center, it must ensure a safe flight path that avoids the buildings in the city center and many surrounding obstacles. Therefore, in this study, we compared and examined the installation standards of the obstacle limitation surface necessary for UAM to take off and land safely at the Vertiport. First, we analyzed the helicopter obstacle limitation surfaces in Japan and overseas, and the UAM Vertiport installation standards and obstacle limitation surface application standards recently announced at the FAA and EASA. It identified differences and similarities between heliport and Vertiport, and considered improvements to domestic helicopter obstacle limitation surfaces and criteria that could meet FAA and EASA standards.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.5
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• pp.594-600
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• 2016

The present study numerically investigated the gas leakage characteristics in a simplified underground combined cycle power plant. The effect of obstacles near a crack location on the gas concentration in the confined space was analyzed by using the lower flammable limit (LFL) of methane gas. When the jet flow was close to the vertical walls, the longitudinal leakage distance increased by about 60% (when an obstacles was present) compared to the case without any obstacle, because these obstacles prevented transverse flows. In addition, when an air filter was installed near to the trajectory of the gas flow, the longitudinal leakage distance was similar to the distance between the crack and obstacle, whereas the transverse leakage distance increased up to 8 times compared to the case without any obstacle. As the jet flow impacts on the obstacle and changes its direction, the gas flows recirculate. Therefore, it is necessary to consider the effect of the structure and facility locations on the trajectory of the jet flow to propose an accident prevention system in confined spaces.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.31 no.5D
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• pp.739-747
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• 2011

The paper presents implementation & evaluation of survey method with tilted transducer of Multi Beam Echo Sounder (MBES) to increase horizontal & vertical coverage over obstructed port environments with limited physical properties of MBES. Proposed method ($25^{\circ}$ titled transducer) have some discrepancy of bathymetric profiles between normal and tilting method, but we proved average difference is less than IHO Special Order requirements with survey data at port of Dong Ho Port, Masan, Korea. For horizontal mapping coverage of total survey area ($114,961m^2$), normal method covered 53%, $60,895m^2$ of total area but tilting method covered 75%, $5.933m^2$. It is 22% efficient than normal method with similar environments. For vertical mapping coverage of total vertical structure face ($7,421m^2$), normal method covered 14%, $1,046m^2$, proposed methods covered 60%, $4,450m^2$. And we adapt longitudal steel bar to validate MBES results, and provide calibration method with titled transducer of MBES.