• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.10
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• pp.1247-1255
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• 2016

The safety and autonomous flight function of micro UAV or drones is crucial to its commercial application. The requirement of own building stable drones is still a non-trivial obstacle for researchers that want to focus on the intelligence function, such vision and navigation algorithm. The paper present a GCS using commercial drone and hardware platforms, and open source software. The system follows modular architecture and now composed of the communication, UI, image processing. Especially, lane-keeping algorithm. are designed and verified through testing at a sports stadium. The designed lane-keeping algorithm estimates drone position and heading in the lane using Hough transform for line detection, RANSAC-vanishing point algorithm for selecting the desired lines, and tracking algorithm for stability of lines. The flight of drone is controlled by 'forward', 'stop', 'clock-rotate', and 'counter-clock rotate' commands. The present implemented system can fly straight and mild curve lane at 2-3 m/s.

• Korean Journal of Remote Sensing
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• v.17 no.1
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• pp.45-56
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• 2001

To acquire seabed information, the mosaic images of the seabed were generated using Side Scan Sonar. Short time energy function which is needed for slant range correction is proposed to get the height of Tow-Fish to the reflected acoustic amplitudes of each ping, and that leads to a mosaic image without water column. While generating mosaic image, maximum value, last value and average value are used for the measure of a pixel in the mosaic image and 3-D information was kept by using acoustic amplitudes which were heading for specific direction. As a generating method of mosaic image, low resolution mosaic image which is over 1m/pixel resolution was generated for whole survey area first, and then high resolution mosaic image which is generated under 0.1m/pixel resolution was generated for the selected area. Rocks, ripple mark, sand wave, tidal flat and artificial fish reef are found in the mosaic image.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.59 no.1
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• pp.44-54
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• 2023

In this study, the second-order Nomoto's nonlinear expansion model was implemented as a Tagaki-Sugeno fuzzy model based on the heading angular velocity to design the automatic steering system of a ship considering nonlinear elements. A Tagaki-Sugeno fuzzy PID controller was designed using the applied fuzzy membership functions from the Tagaki-Sugeno fuzzy model. The linear models and fuzzy membership functions of each operating point of a given nonlinear expansion model were simultaneously tuned using a genetic algorithm. It was confirmed that the implemented Tagaki-Sugeno fuzzy model could accurately describe the given nonlinear expansion model through the Zig-Zag experiment. The optimal parameters of the sub-PID controller for each operating point of the Tagaki-Sugeno fuzzy model were searched using a genetic algorithm. The evaluation function for searching the optimal parameters considered the route extension due to course deviation and the resistance component of the ship by steering. By adding a penalty function to the evaluation function, the performance of the automatic steering system of the ship could be evaluated to track the set course without overshooting when changing the course. It was confirmed that the sub-PID controller for each operating point followed the set course to minimize the evaluation function without overshoot when changing the course. The outputs of the tuned sub-PID controllers were combined in a weighted average method using the membership functions of the Tagaki-Sugeno fuzzy model. The proposed Tagaki-Sugeno fuzzy PID controller was applied to the second-order Nomoto's nonlinear expansion model. As a result of examining the transient response characteristics for the set course change, it was confirmed that the set course tracking was satisfactorily performed.

• The Journal of Bigdata
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• v.8 no.1
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• pp.73-82
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• 2023

Marine debris not only affects the survival of marine life, water pollution, and scenery but also has secondary effects on economic loss and human health. While research on underwater and surface debris is actively ongoing, solutions to marine debris in hard-to-reach blind spots are being developed slowly. To address this problem, we utilize drones to detect and track marine debris in blind spots such as tetrapods. The detected debris is then visualized by calculating its location coordinates using the drone's GPS, altitude, and heading values. The proposed method of using drones for detecting marine debris and matching it with longitude and latitude coordinates provides an effective solution to the problem of marine debris in blind spots.

• Proceedings of the Plant Resources Society of Korea Conference
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• 2020.08a
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• pp.38-38
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• 2020

본 연구는 영농형 태양광 발전시스템 적용을 위한 하부작물의 재배효율을 검토하기 위하여 중산간지역 재배지(전라남도 순천시 승주읍 월계리 소재)에 설치한 추적식 영농형 태양광 발전시설 하부에 주식량자원식물인 벼품종 새일미를 2018년 6월 16일 이앙하여 생육을 조사하였다. 2018년 7월 24일 기준, 초장(plant height)은 태양광 시설 하에서 대조구보다 길게 나타났고, 태양광발전시설 중심축에 가까울수록 웃자람(도장)을 보였다. 엽수는 음영지역에서 대조구에 비해 잎의 전개가 늦게 나타났으며, 수확기에 조사한 간장(culm length)은 음영이 강한 지역에서는 대조구에 비해 작게 나타났으나 음영이 약한 지역으로 갈수록 간장이 증가하여 대조구와 비슷하거나 약간 크게 나타났다. 수장(panicle length)은 대조구 대비 처리구와 큰 차이가 없었으며, 태양광발전시설 중심축의 남쪽인 경우 강한 음영지역에서 약한 음영지역으로 갈수록 길게 나타났다. 동년 8월24일 기준 처리구 동쪽의 출수(heading)율은 강한 음영지역(중심축으로부터 1~3m 떨어진 구간)에서 가장 낮았고, 중심축으로부터 멀어질수록 높게 나타났다. 이와 같이 태양광발전시설 설치구역에서는 음영이 강할수록 생장이 미흡하여 유효분얼수가 감소하고, 출수가 지연되었다. 이에 따라서 음영이 강한 구역일수록 수량구성 4요소 중에 등숙율을 제외한 단당이삭수, 수당평균영화수, 천립중이 감소하였다. 태양광발전시설 중심축으로부터 멀어질수록 음영강도가 약해져서 수량감소가 낮아졌으며, 또한 동서남북 방향에 따라 그 감소율이 다르게 나타났다.

• Korean Journal of Remote Sensing
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• v.36 no.2_2
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• pp.379-399
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• 2020

The detection of illegal ship is one of the key factors in building a marine surveillance system. Effective marine surveillance requires the means for continuous monitoring over a wide area. In this study, the possibility of ship detection monitoring based on satellite SAR, HF radar, UAV and AIS integration was investigated. Considering the characteristics of time and spatial resolution for each platform, the ship monitoring scenario consisted of a regular surveillance system using HFR data and AIS data, and an event monitoring system using satellites and UAVs. The regular surveillance system still has limitations in detecting a small ship and accuracy due to the low spatial resolution of HF radar data. However, the event monitoring system using satellite SAR data effectively detects illegal ships using AIS data, and the ship speed and heading direction estimated from SAR images or ship tracking information using HF radar data can be used as the main information for the transition to UAV monitoring. For the validation of monitoring scenario, a comprehensive field experiment was conducted from June 25 to June 26, 2019, at the west side of Hongwon Port in Seocheon. KOMPSAT-5 SAR images, UAV data, HF radar data and AIS data were successfully collected and analyzed by applying each developed algorithm. The developed system will be the basis for the regular and event ship monitoring scenarios as well as the visualization of data and analysis results collected from multiple platforms.