• 한국항공우주학회지
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• 제44권7호
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• pp.611-619
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• 2016

본 논문에서는 농업용 무인헬기를 위한 LiDAR 기반 충돌방지시스템을 제안하고 개발과정을 소개한다. 충돌방지시스템은 장애물 검출 시스템, 매핑 알고리즘, 충돌회피 알고리즘으로 구성된다. LiDAR 기반의 장애물 검출 시스템은 무인헬기에 탑재되어 실시간으로 장애물 정보를 획득하며, 이를 통해 획득한 정보와 무인헬기 자세/위치 정보를 융합하여 충돌위험성이 있는 장애물에 대해 격자 지도 기법을 적용한 매핑을 수행한다. 무인헬기가 장애물에 접근할 시 확보된 지형정보를 기반으로 충돌방지 경고 생성을 위해 종/횡방향 기동을 고려한 충돌방지 알고리즘을 구현하며, 이를 통해 운용자에게 전달해 회피 기동을 수행한다. 구축된 시스템은 무인헬기를 이용해 항공방제 패턴을 모사한 비행시험을 수행하였으며, 비행시험 결과 충돌방지 성능 및 가능성을 확인하였다.

• 대한기계학회논문집
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• 제18권11호
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• pp.2902-2912
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• 1994

The ultrasonic array sensor system, consisting of one transmitter and fourreceivers instead of the traditional combination of a transmitter and a receiver is proposed in order to identify the location of objects. From the theoretical analysis and the experimental results, it is found that this new array sensor system could derive the information on the position of objects accurately, while the traditional sensor system could provide only the informatioin on the distance to objects. This sensor system is used to develop a sonar-based local mapping algorithm. The local map is used to find the existence of possible gates, through which the mobile robots can pass, and to select the suitable one in order for the robots to reach the goal safely in the presence of obstacles. The performance of the proposed local map algorithm is demonstrated experimentally in a small working area with several obstacles. It is found that the quality of the resulting local map is sufficient for the avoidance of collisions between the robots and obstacles and for the selection of the suitable gate leading to the goal. It is also shown that the global map of the working area could be obtained by integrating several local maps constructed from different locations and that it matches the actual layout of the working area well.

• 한국항공운항학회지
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• 제30권3호
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• pp.19-27
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• 2022

Urban Air Mobility is expected to resolve some problems in urban transportation such as traffic congestion and air pollution. Various studies for a large-scale commercialization of UAM are being actively conducted. To that end, the UAM Traffic Management system aims at securing a safety and an efficiency of UAM operations. In this study, a risk assessment model is proposed to evaluate the risk of collision between a vehicle and surrounding obstacles. The proposed model is conceived from the past studies for determining a proper separation distance between parallel runways for their independent operations. The model calculates the risk that the surveillance system fails to meet a target level of safety for a given buffer zone size between a designed route and surrounding obstacles. The model is applied to one of the routes proposed in K-UAM roadmap to evaluate its performances.

• 한국산학기술학회논문지
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• 제17권5호
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• pp.594-600
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• 2016

본 연구에서는 수치해석 기법을 활용하여 간략화한 지하 복합발전 플랜트 내 파공 위치에 따른 가스 확산 및 유동특성을 고찰하였다. 특히 가스 누출 위치 주변의 장애물 배치가 밀폐 공간 내부의 가스 농도 분포에 미치는 영향을 분석하였으며, 메탄가스의 가연 한계 값을 이용하여 누출 특성을 정량적으로 비교하였다. 수치해석 결과, 분사류 주변으로 수직 벽면이 있을 경우, 장애물이 횡 방향 유동을 제한하여 종 방향 누출 거리가 장애물이 없을 경우에 비해 약 60% 가량 증가하였다. 하지만 Air filter가 가스 분사류 경로에 있을 경우, 횡 방향 누출 거리는 장애물이 없을 경우에 비해 최대 8배까지 증가하였다. 이러한 이유는 분사류가 수평 및 하부 방향으로 굴절되어 장애물 주변으로 재순환 유동이 형성되었기 때문이다. 따라서 밀폐공간 내 사고 방지 시스템 설계 시 주요 설비 위치 및 공간 구조가 누출 분사류 경로에 미치는 영향을 고려할 필요가 있다.

• 로봇학회논문지
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• 제14권3호
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• pp.170-178
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• 2019

This paper proposes a parking space detection method for autonomous parking by using the Around View Monitor (AVM) image and Light Detection and Ranging (LIDAR) sensor fusion. This method consists of removing obstacles except for the parking line, detecting the parking line, and template matching method to detect the parking space location information in the parking lot. In order to remove the obstacles, we correct and converge LIDAR information considering the distortion phenomenon in AVM image. Based on the assumption that the obstacles are removed, the line filter that reflects the thickness of the parking line and the improved radon transformation are applied to detect the parking line clearly. The parking space location information is detected by applying template matching with the modified parking space template and the detected parking lines are used to return location information of parking space. Finally, we propose a novel parking space detection system that returns relative distance and relative angle from the current vehicle to the parking space.

• 한국인터넷방송통신학회논문지
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• 제20권6호
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• pp.167-173
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• 2020

원자력발전소와 석유화학의 노후화된 파이프 구조물을 검사를 위하여 파이프 등반 로봇에 많은 연구가 이루어졌다. 그러나 파이프 등반 로봇 연구에서는 대부분 파이프 등반 로봇의 구조 설계와 기본적인 동작 제어에 초점을 맞추고 제작되어, 작업자가 파이프 등반 로봇을 제어하기 위해서는 수동 조작으로 파이프를 등반 및 장애물 회피하기 위해 많은 어려움을 가진다. 본 논문에서는 파이프 등반 로봇의 카메라 영상을 이용하여 장애물을 인식하고 파이프 등반 로봇과 장애물 사이의 거리를 추정 및 파이프 등반 로봇이 파이프를 잡을 수 있는 위치를 결정하여 파이프 사이의 장애물을 회피 할 수 있는 알고리즘을 제안한다.

• 한국안전학회지
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• 제36권1호
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• pp.64-71
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• 2021

Experimental and analytical investigations are performed to explore the explosion characteristics of a hydrogen-air mixture in open atmosphere. A hydrogen-air mixture tent of total volume of 27 m³, with 40% hydrogen volume, is used to observe overpressure at a distance from the ignition source. Vapor cloud explosion analyses are performed using the TNO multi-energy model and Baker-Strehlow-Tang model. The results of these analyses are compared with experiment done from this study and references. The experimental results with and without obstacles indicate that the overpressure values measured at a distance of 4.5-21.5 m from the ignition source are about 9.4-3.6 kPa and 6.5-2 kPa, respectively. This implies that the overpressure with obstacles is approximately 1.7 times greater than that without obstacles. Analytical observation indicates that the results obtained with the Baker-Strehlow-Tang model with M_f = 0.2-0.35 are in good agreement with those of most of the previous studies, including that obtained from this study. Moreover, the TNO multi-energy model with a volume of 27 m³ well predicts the overpressure obtained from this study. Further studies should considered explosions in semi-confined spaces, which is more suitable for hydrogen refueling stations.

• Journal of Biosystems Engineering
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• 제25권2호
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• pp.131-140
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• 2000

Spraying operation is one of the most essential in an orchard management and it is also hazardous to human body. for automatic and unmanned spraying , an autonomous travelling vehicle is demanded. In this study, a telemeter was developed using infrared beam which could detect trunks and obstacles measure distance and direction from the vehicle travelling in the orchard. The telemeter system was composed of two infrared LED transmitters and receivers, a beam scanning device for continuous object detection , two rotary encoders for angle detector, and a beam level controller for uneven soil surface. The detected distance and direction signal s were sent to personal computer which made for the system display the angular and distance measurements through I/O board. According to a field test in an apple farm, the system detected up to 10m distance under 12 V of transmitted beam intensity, however, it was recommended that the proper beam transmit intensity be 7 v at the 10 m distance, because of the negative effect to human body at 12 V. The error rate of this system was 0.92 % when the actual distance was compared to measured one. The system was feasible at the small error rate. The developed telemeter system was an important part for autonomous travelling vehicle provided the real time object recognition . A direction control system could be constructed suing the system. It is expected that the system could greatly contribute to the development of autonomous farm vehicle.

• 한국안전학회지
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• 제31권3호
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• pp.162-167
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• 2016

As the simple empirical and phenomenological model applied to the analysis of leakage and explosion of chemical substances does not regard numerous variables, such as positional density of installations and equipment, turbulence, atmospheric conditions, obstacles, and wind effects, there is a significant gap between actual accident consequence and computation. Therefore, the risk management of a chemical plant based on such a computation surely has low reliability. Since a process plant is required to have outcomes more similar to the actual outcomes to secure highly reliable safety, this study was designed to apply the CFD (computational fluid dynamics) simulation technique to analyze a virtual prediction under numerous variables of leakages and explosions very similarly to reality, in order to review the computation technique of the practical safety distance at a process plant.

• 로봇학회논문지
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• 제2권1호
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• pp.55-63
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• 2007

Mobile robots traveling on rough terrain need several algorithms to overcome obstacles. In this paper, we propose the step-type obstacle traversal algorithm to adapt the mobile robot with six arms and wheels to travel on rough terrain. Obstacle traversal is composed of two different stages: planning and control. In planning stage, the required joint torque of each arm as well as the interference between the wheels and the arms are analyzed to guarantee traversing obstacles. Control stage includes such steps as checking distance to obstacle, determining the height and length of obstacle, performing arm motion according to sensed torque data, and evaluating safety at every instance. The proposed algorithm is designed and implemented for CALEB 1 six legged robot developed in the laboratory and verified by simulation and experiment in outdoor environment.