• 한국군사과학기술학회지
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• 제14권6호
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• pp.1002-1008
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• 2011

The mine-detection system, which is one of the various mission equipments for Ground Vehicle System, detects mine under the ground. The mine detection sensors comprised of Metal Detection(MD) sensor and Ground Penetration Radar(GPR) are attached on the end of the multi-DOF manipulator. The manipulator moves the sensor to sweep mine areas keeping the pre-determined distance between the sensor and ground to enhance mine detection performance. The detection system can be operated automatically, semi-automatically and manually. When the detection system is operated automatically, the sensor should avoid collisions with unexpected obstacles which may exist on the ground. Two types of ultra-sonic sensors were developed for the mine detection sensor system to keep the appropriate gap between sensor and the ground to avoid the obstacles. Also, mine place marking device was developed.

• 전자공학회논문지
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• 제54권5호
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• pp.97-105
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• 2017

공중폭발탄은 소총용 탄으로 공간의 제약이 크기 때문에 탑재하는 신관의 크기와 탄약의 양에 제한이 있다. 제한된 양의 탄약으로 위력을 높이기 위해 표적의 위에서 지면 방향으로 공중폭발탄을 기폭시켜 화력을 집중하는 새로운 기법을 개발하였다. 본 논문은 1축 지자기 센서를 이용하여 공중폭발탄의 비행거리를 구하고 지면방향을 감지하는 초소형 저전력 지면감지 센서의 설계와 검증 방법에 관해 제시한다. 지면감지 센서를 설계하기 위해 회전하는 탄의 지자기 센서 모델을 분석하고 이 모델을 단순화하여 지면감지 알고리즘을 설계하였다. 공중폭발탄의 회전 환경을 모사하는 고속회전 시험치구를 제작하고 데이터를 획득하기 위한 지자기 센서와 원격측정 장치를 제작하여 지자기 데이터를 획득하고 이 데이터를 후처리하는 방법으로 지면감지 알고리즘을 검증하였다. 검증된 지면감지 알고리즘에 따라 소형 저전력을 고려하여 센서 일부를 아날로그 소자로 구현하고 나머지를 프로세서에서 프로그램으로 구현하여 지면감지 센서를 설계 제작하였다. 지면감지 센서의 출력신호를 육안으로 확인할 수 있게 LED에 연결하고 고속회전 시험치구에서 임의의 속도인 200 Hz로 회전시켰다. 고속카메라로 회전하는 지면감지 센서를 촬영하여 지면감지 출력신호가 발생한 시점을 지자기 센서 모델과 비교하여 검증하였다.

• 한국군사과학기술학회지
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• 제15권1호
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• pp.9-15
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• 2012

This paper shows an effective scanning trajectory for a mine detection device that is one of the mission equipments of unmanned ground vehicle. The mine detection device is composed of a mine-detection sensor, and a 4 DOF manipulator enabling sensor position control. There are three modes that manage the mine detection device: passive, semi-automatic, and automatic. The automatic mode is used the most. This paper suggests a scanning method that makes shape of 8. This method prevents missing target area and enhances scanning speed when the mine detection device scans the ground surface in automatic mode. The suggested method is verified by simulations and experiments.

• Journal of Biosystems Engineering
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• 제33권1호
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• pp.7-13
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• 2008

The tillage depth control system is one of the most salient control system of tractor implements. A contact-type height sensor was developed to measure ground clearance for the tillage depth control. The height sensor was fabricated in this study, and its efficacy in a tillage depth control system was evaluated. Experiments were conducted in order to determine both static and dynamic detection characteristics of the height sensor using soil bin system on the sampled soil (sandy loam, sand, clay loam). The results of the static detection characteristics showed that in the case, sandy loam soil despite and clay loam soil at a wet basis moisture content of 30%, large measurement errors were observed a due to penetration of a plastic puck into the sampled soil. The results of the dynamic detection characteristics showed that the height sensor detected the distance from the ground of sandy loam soil despite the uneven nature of the ground surface and the changes in traveling speed $1km/h{\sim}5km/h$ at a wet basis moisture content of 10%.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.II
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• pp.178-187
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• 2000

The tillage operation by rotary implements is widely done in Korea. In the case of rotary implements, the tillage depth control system is one of important implement control systems. A contact type-sensor for measurement of the ground height was designed and fabricated to evaluate the possibility of application of the sensor on the tillage depth control system. Indoor experiments were conducted to obtain static and dynamic detection characteristics of the sensor under various conditions; 1) several moisture contents for four soil samples, 2) two soil surfaces with a designed configuration, 3) four heights of the sensor from the soil surface, 4) five traveling speeds of the carrier on which the sensor was attached, and so on. The experimental results showed the detection characteristics of the sensor sufficient as the ground height sensor of the tillage depth control system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.238-240
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• 2006

For the method of train position detection, ground-based train position estimation mainly has been applied so far. Ground-based position detection is the way to detect train current positions by installing train position equipments on railroad lines. However, the ground-based methods should install detection equipments on each section, and can only be able to detect train positions from main command center. So this method has several disadvantages such as an discontinuous position detection, an increment in cost of installation and maintenance. To make possible continuous train position detection, and to minimize amount of the cost, the vehicle-based position detection method should be chosen to determine train positions by loading position equipments on vehicles. In this paper, to realize the vehicle-based train position detection method, configuration scheme of train position detection equipment is suggested by using GPS, inertial sensor, speed sensor and its performance is verified by simulations.

• 한국지능시스템학회논문지
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• 제16권5호
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• pp.581-586
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• 2006

본 논문에서는 무인주행 차량의 자율주행에 사용되는 자계안내시스템에서 지자계를 제거하기 위한 새로운 방법으로 Ground 검출법을 제안한다. 자계안내시스템은 도로에 일정한 간격으로 자계표식을 매설하고 차량이 자계표식으로부터 떨어진 거리를 인식하여 주행하는 방법이다. 차량이 주행 중 측면이탈거리를 알기 위해서는 지자계가 제거된 자계표식의 자계만을 이용해야 한다. 그러나 자계센서는 자계를 검출할 때 자계표식의 자계와 지자계를 함께 계측한다. 지자계는 차량의 주행방향과 경사에 따라 다르게 검출되기 때문에 자계표식의 자계와 더해질 경우 측면이탈거리를 인식하는데 오차를 발생한다. 따라서 본 논문에서는 지자계를 제거하는 새로운 방법을 제안하고, 이를 검증하기 위한 실험 장치를 구성하였다. 그리고 실험을 통하여 제안한 방법의 타당성과 유용성을 입증한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 추계학술대회 논문집
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• pp.377-378
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• 2009

• 한국군사과학기술학회지
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• 제13권6호
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• pp.1006-1012
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• 2010

For the autonomous navigation of an unmanned ground vehicle in the rough terrain and combat, the dust environment should necessarily be overcome. Therefore, we propose a robust obstacle detection methodology using laser range sensor and radar. Laser range sensor has a good angle and distance accuracy, however, it has a weakness in the dust environment. On the other hand, radar has not better the angle and distance accuracy than laser range sensor, it has a robustness in the dust environment. Using these characteristics of laser range sensor and radar, we use laser range sensor as a main sensor for normal times and radar as a assist sensor for the dust environment. For fusion of laser range sensor and radar information, the angle and distance data of the laser range sensor and radar are separately transformed to the angle and distance data of virtual range sensor which is located in the center of the vehicle. Through distance comparison of laser range sensor and radar in the same angle, the distance data of a fused virtual range sensor are changed to the distance data of the laser range sensor, if the distance of laser range sensor and radar are similar. In the other case, the distance data of the fused virtual range sensor are changed to the distance data of the radar. The suggested methodology is verified by real experiment.

• 한국군사과학기술학회지
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• 제14권6호
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• pp.1129-1137
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• 2011

This paper reports on a design of the footstep signal detection system using the seismic sensor. First, we analyzed the characteristics of seismic signal, seismic sensor, and the UGS(Unattended Ground Sensor) system with seismic sensors. In addition, we summarized the existing algorithms to detect footstep using the seismic sensors, and developed our low-power and high efficient footstep detection algorithm. In this paper, the sensor node operations are classified into three different steps and different resources and algorithms are applied to each step, not only to minimize the power consumption, but also to improve the performance.