• 대한공간정보학회지
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• 제7권2호
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• pp.69-80
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• 1999

본 연구에서는 지리정보시스템을 이용하여 교량 안전 관리를 위한 교량재해관리시스템을 개발하고자 한다. 진주시에 위치한 교량시설물들에 대한 기본도, 도로망도, 교량위치도 등과 같은 여러 가지 도형 레이어 그리고 32개 교량에 관련된 속성자료들을 포함하여 데이터베이스를 구축하였다. Visual Basic 5.0 Language를 사용하여 여러 가지 교량안전관련 분석기능을 갖는 PC용 교량재해관리시스템을 개발하였다. 본 연구에서 개발된 교량재해관리시스템은 신속하고 효율적인 데이터검색, 파일관리, 교량제원의 검색과 관리, 교량관련 도면보기, 교통량조사의 검색과 관리, 교량점검결과와 보수상태의 검색과 관리 그리고 교량 안전등급의 평가의 기능을 가지고 있다.

• 드라이브 ㆍ 컨트롤
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• 제13권4호
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• pp.102-107
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• 2016

• 한국재난정보학회 논문집
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• 제12권1호
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• pp.47-53
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• 2016

본 연구에서 개발 하고자 하는 기술은 3차원 영상인식을 위한 다중 영상매핑 시스템에 관한 연구 로 기존 통합 관제 시스템에 적용하거나 실시간 영상 관제 시스템 구축의 중심기술이 되고자 하는 것을 목적으로 한다. 따라서, 본 연구에서 계획한 다중 영상 매핑 시스템이 개발된다면, CCTV카메라기술과 네트워크 기술만으로도 즉, 다수의 연계된 시스템을 구축하지 않아도 보안담당자가 실제 순찰하면서 관제하는 서비스를 제공할 것이며, 필요하다면 타 시스템과 연계하여 순찰자의 의도를 반영할 수 있는 시스템으로 발전시킬 것이다. 또한, 이러한 시스템이 개발된다면 보안담당자의 재난 및 안전위협을 초래하는 상황에서 벗어날 수 있는 동시에 비교적 소규모의 경제력을 가진 사용자에게도 서비스를 제공할 수 있을 것으로 기대된다.

• International Journal of Aeronautical and Space Sciences
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• 제12권3호
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• pp.274-282
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• 2011

This paper is focused on dynamic modeling and control system design as well as vision based collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). Multi-rotor UAVs are defined as rotary-winged UAVs with multiple rotors. These multi-rotor UAVs can be utilized in various military situations such as surveillance and reconnaissance. They can also be used for obtaining visual information from steep terrains or disaster sites. In this paper, a quad-rotor model is introduced as well as its control system, which is designed based on a proportional-integral-derivative controller and vision-based collision avoidance control system. Additionally, in order for a UAV to navigate safely in areas such as buildings and offices with a number of obstacles, there must be a collision avoidance algorithm installed in the UAV's hardware, which should include the detection of obstacles, avoidance maneuvering, etc. In this paper, the optical flow method, one of the vision-based collision avoidance techniques, is introduced, and multi-rotor UAV's collision avoidance simulations are described in various virtual environments in order to demonstrate its avoidance performance.

• International Journal of Aeronautical and Space Sciences
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• 제12권3호
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• pp.252-259
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• 2011

This paper is focused on dynamic modeling and control system design as well as vision based collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). Multi-rotor UAVs are defined as rotary-winged UAVs with multiple rotors. These multi-rotor UAVs can be utilized in various military situations such as surveillance and reconnaissance. They can also be used for obtaining visual information from steep terrains or disaster sites. In this paper, a quad-rotor model is introduced as well as its control system, which is designed based on a proportional-integral-derivative controller and vision-based collision avoidance control system. Additionally, in order for a UAV to navigate safely in areas such as buildings and offices with a number of obstacles, there must be a collision avoidance algorithm installed in the UAV's hardware, which should include the detection of obstacles, avoidance maneuvering, etc. In this paper, the optical flow method, one of the vision-based collision avoidance techniques, is introduced, and multi-rotor UAV's collision avoidance simulations are described in various virtual environments in order to demonstrate its avoidance performance.

• 드라이브 ㆍ 컨트롤
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• 제17권3호
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• pp.33-46
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• 2020

We introduce a piece of special-purpose equipment for responding to disasters that has a dual-arm manipulator consisting of six-axis multi joints, and a master-slave operating system controlled by a wearable joystick for intuitive and convenient operation. However, due to the complexity and diversity of a disaster environment, training and suitable training means are needed to improve the interaction between the driver and equipment. Therefore, in this paper, a system that can improve the operator's immersion in the training simulation is proposes, this system is implemented in a virtual environment. The implemented system consists of a cabin installed with the master-slave operation system, a motion platform, visual and sound systems, as well as a real-time simulation device. This whole system was completed by applying various techniques such as a statistical mapping method, inverse kinematics, and a real-time physical model. Then, the implemented system was evaluated from a point of view of the appropriateness of the mapping method, inverse kinematics, the feasibility for real-time simulations of the physical environment through some task mode.

• 로봇학회논문지
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• 제15권3호
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• pp.293-300
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• 2020

The purpose of our sensor system is to transparentize the large hydraulic manipulators of a six-ton dual arm excavator from the operator camera view. Almost 40% of the camera view is blocked by the manipulators. In other words, the operator loses 40% of visual information which might be useful for many manipulator control scenarios such as clearing debris on a disaster site. The proposed method is based on a 3D reconstruction technology. By overlaying the camera image from front top of the cabin with the point cloud data from RGB-D (red, green, blue and depth) cameras placed at the outer side of each manipulator, the manipulator-free camera image can be obtained. Two additional algorithms are proposed to further enhance the productivity of dual arm excavators. First, a color correction algorithm is proposed to cope with the different color distribution of the RGB and RGB-D sensors used on the system. Also, the edge overlay algorithm is proposed. Although the manipulators often limit the operator's view, the visual feedback of the manipulator's configurations or states may be useful to the operator. Thus, the overlay algorithm is proposed to show the edge of the manipulators on the camera image. The experimental results show that the proposed transparentization algorithm helps the operator get information about the environment and objects around the excavator.

• 한국BIM학회 논문집
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• 제6권2호
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• pp.39-46
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• 2016

While institutional matters such as improvement on Basic Guidelines for Construction Safety are greatly concerned to reduce falling accidents at construction sites, there are short of studies on how to practically predict accident signs at construction sites and to preemptively prevent them. As one of existing accident prevention methods, it was attempted to build the early warning system based on standardized accident scenarios to control the situations. However, the investment cost was too high depending on the site situation, and it did not help construction workers directly since it was developed to mainly provide support operational work support to safety managers. In the long run, it would be possible to develop the augmented reality based accident prevention method from the worker perspective by extracting product information from BIM, visually rendering it along with site installation materials term and comparing it with the site situation. However, to make this method effective, the BIM model should be implemented first and the technology that can promptly process site situations should be introduced. Accordingly, it is necessary to identify risk signs through lightweight image processing to promptly respond only with currently available resources. In this study, it was intended to propose the system concept that identified potential risk factors of falling accidents by histogram equalization, which was known as the fastest image processing method presently, used visual words, which could enhance model classification by wording image records, to determine the risk factors and notified them to the work manager.