• Journal of the Korea Society of Computer and Information
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• v.27 no.8
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• pp.77-84
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• 2022

In this paper, we propose a system for monitoring air pollutants such as fine dust using an unmanned aerial vehicle capable of autonomous navigation. The existing air quality management system used a method of collecting information through a fixed sensor box or through a measurement sensor of a drone using a control device. This has disadvantages in that additional procedures for data collection and transmission must be performed in a limited space and for monitoring. In this paper, to overcome this problem, a GPS module for location information and a PMS7003 module for fine dust measurement are embedded in an unmanned aerial vehicle capable of autonomous navigation through flight information designation, and the collected information is stored in the SD module, and after the flight is completed, press the transmit button. It configures a system of one-stop structure that is stored in a remote database through a smartphone app connected via Bluetooth. In addition, an HTML5-based web monitoring page for real-time monitoring is configured and provided to interested users. The results of this study can be utilized in an environmental monitoring system through an unmanned aerial vehicle, and in the future, various pollutants measuring sensors such as sulfur dioxide and carbon dioxide will be added to develop it into a total environmental control system.

• International Journal of Aeronautical and Space Sciences
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• v.4 no.2
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• pp.61-68
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• 2003

The space systems are being operated in a uncertain space environment and are desired to have autonomous capability for long periods of time without frequent telecommunications with the ground station. At the same time, requirements for new set of satellite system set of projects/systems calling for "autonomous" operations for long unattended periods of time are emerging. Since, by the nature of space systems, it is desired to perform its mission flawlessly and also it is of extreme importance to have fault-tolerant sensors and actuators for the purpose of validating science measurement data for the mission success. This studies focused on the identification/demonstration of critical technology innovations that will be applied to the Validation Control System.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2019.11a
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• pp.230-232
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• 2019

There is an accelerating need for ocean sensing where autonomous vehicles can play a key role in assisting engineers, researcher and scientists with environmental monitoring and collecting oceanographic data. This paper is performed to develops an autonomous sailing drone to be used as a sensor carrying platform for autonomous data acquisition at Sea. From a sailing drone design viewpoint, it is important to establish reliable prediction methods for sailing drone's resistance. The required power for the propulsion unit depends on the ship resistance and speed. There are three solutions for the prediction of ship resistance as follow analytical methods, model tests in tanks and Computational Fluid Dynamics (CFD). The present paper aims at simulating sailing drone friction resistance using numerical method. The dynamic mesh motion is used to describe the sailing drone movement.

• Journal of the Korean Society of Industry Convergence
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• v.27 no.1
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• pp.25-37
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• 2024

The objective of this study was to create intelligent rail robots that are optimized for facility management and implement digital twin systems for smart road tunnel management. An autonomous surveillance system is formed by combining the sensing platform consisting of railing robots, fixed cameras and environmental detection sensors with the digital twin data platform technology for tunnel monitoring and early fire suppression. In order to develop mobile rail robots for fire extinguishing, we also designed and manufactured robots for extinguishing & monitoring and fire extinguishing devices, and then we examined the optimization of all parts. Our next step was to build a digital twin for road tunnel management by developing continuous image display system and implementing 3D modeling. After constructing prototypes, we attempted simulations by configuring abnormal symptom scenarios, such as vehicles fires. This study's proposal proposes high-accuracy risk prediction services that will enable intelligent management of risks in the tunnel with early response at each stage, using the data collected from the intelligent rail robots and digital twin systems.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.477-483
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• 2022

In this paper, we propose waste collection vehicle system with a safety device for worker safety and an autonomous driving function. The steering system is applied as MDPS (Motor Drive Power Steering) system to control the waste collection vehicle of the internal combustion engine. Safety-related errors is prevented through redundancy brake of the integrated system and the control braking system. In order to ensure safety between workers and waste collection vehicles, work guidelines and safety devices for emergency stop in case of danger are applied to vehicles. In addition, this research is conducted on improving the working efficiency through vehicle condition monitoring system and a short-range control system for field test. This research is aimed to secure stability through demonstration and contribute to the industrialization of unmanned waste collection vehicles.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.20 no.3
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• pp.74-85
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• 2021

Global Navigation Satellite System (GNSS) receivers are intrinsically vulnerable to radio frequency jamming signals due to the fundamental property of radio navigation systems. A GNSS jamming monitoring system that is capable of jamming detection, classification and localization is essential for infrastructure for autonomous driving systems. For these 3 functionalities, a GNSS jamming monitoring network consisting of a multiple of low-cost GNSS receivers distributed in a certain area is needed, and the precise time synchronizaion between multiple independent GNSS receivers in the network is an essential element. This paper presents a precise time synchronization method based on the direct use of Time Difference of Arrival (TDOA) technique in signal domain. A block interpolation method is additionally incorporated into the method in order to maintain the precision of time synchronization even with the relatively low sampling rate of the received signals for computational efficiency. The feasibility of the proposed approach is verified in the numerical simualtions.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.779-784
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• 2008

This paper presents Kalman filter based system modeling algorithm for autonomous robot systems. State of the robot system is measured using embedded sensor systems and then carried to a host computer via ubiquitous sensor network (USN). We settle a linear state-space motion equation for unknown robot system dynamics and modify a popular Kalman filter algorithm in deriving suitable parameter estimation mechanism. To represent time-delay nature due to network media in system modeling, we construct an augmented state-space model which is mainly composed of original state and estimated parameter vectors. We conduct real-time experiment to test our proposed estimation algorithm where speed state of the constructed robot is used as system observation.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.444-450
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• 2011

Environmental change, labor shortage, and international trade politics make agricultural automation ever more important. The automation demands the highest technology due to the nature of agriculture. In this paper, autonomous pesticide spray robot system has been developed for rose farming in the glass house. We developed drive platform, navigation/localization system, atomization spray system, autonomous, remote, and manual operation system, and monitoring system. The robot will be a great contribution to automation of hazardous labor-demanding chore of pesticide control in glass houses.

• Proceedings of the IEEK Conference
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• 2001.06e
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• pp.17-20
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• 2001

This study is regarding the autonomous navigation of the mobile robot which operates through a sensor, the Omnnidirectional Vision System which makes it possible to retrieve the real-time movements of the objects and the walls accessing the robot from all directions and to shorten the processing time. After attempting to extend the field of view by using the reflection system and then learning the point of all directions of 2$\pi$ from the robot at the distance, robot recognizes three-dimensional world through the simple image process, the transform procedure and constant monitoring of the angle and distance from the peripheral obstacles. This study consists of 3 parts: Part 1 regards the process of designing Omnnidirectional Vision System and part 2 the image process, and part 3 estimates the implementation system through the comparative study process and three-dimensional measurements.

• Journal of the Semiconductor & Display Technology
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• v.10 no.2
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• pp.31-38
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• 2011

This paper introduces a video based traffic monitoring system for detecting vehicles and obstacles on the road. To segment moving objects from image sequence, we adopt the background subtraction algorithm based on the local binary patterns (LBP). Recently, LBP based texture analysis techniques are becoming popular tools for various machine vision applications such as face recognition, object classification and so on. In this paper, we adopt an extension of LBP, called the Diagonal LBP (DLBP), to handle the background subtraction problem arise in vision-based autonomous parking systems. It reduces the code length of LBP by half and improves the computation complexity drastically. An edge based shadow removal and blob merging procedure are also applied to the foreground blobs, and a pose estimation technique is utilized for calculating the position and heading angle of the moving object precisely. Experimental results revealed that our system works well for real-time vehicle localization and tracking applications.