• 한국산업융합학회 논문집
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• 제26권2_2호
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• pp.265-272
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• 2023

In this paper, we directly implemented the Line Tracer ROS package that can detect and follow lines drawn on the map on Gazebo, an open-source that is widely used in autonomous driving research. For line detection, the cv_bridge package was used to enable OpenCV's image processing tools, and parameters such as robot speed, line color and ground material could be changed. In addition, proportional (P) and PID controls could be implemented using the color centroid obtained through image processing. Through this approach, the effect of proportional and differential coefficients on the robot's line tracer motion could be analyzed effectively. In addition, by displaying robot simulation results using various tools of ROS, an efficient development for control nodes could be established in ROS.

• 대한원격탐사학회지
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• 제14권3호
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• pp.223-231
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• 1998

해양생물학 연구를 위해 전세계 바다색 관측을 수행하게 될 아리랑 1호 위성(Korean Multi-Purpose SATellite. KOMPSAT)의 탑재체 Ocean Scanning Multispectral Imager(OSMI)를 개발하였다. OSMI는 관측폭 800km 이내에서 1km 이하의 지상해상도를 갖고 whisk-broom 주사 기법으로 해양표면의 영상을 얻는다. OSMI는 3년의 수명 동안 20%의 궤도 운영 duty cycle을 갖으며 궤도 운영 중 영상 자료의 gain/offset 조정이 가능하고 영상자료 저장 기능이 내장되도록 설계되었다. 궤도 운영 중 센서 보정을 위해 OSMI는 태양 보정과 암흑 보정을 수행한다. OSMI는 2차원 Charge Coupled Device(CCD) Focal Plane Array(FPA)를 사용하는 다중 분광 촬영기로서 400nm에서 900nm가지의 파장 대역에 대한 결상이 가능하다. 이 파장대역 중에서 궤도 운영 중 지상명령을 통해 선택되는 6개 분광 채널을 사용하여 해양표면이 관측된다. 센서 성능은 지상 특성 시험 단계에서 412, 443, 490, 510, 555, 670, 765 그리고 865nm의 8개 분광 대역에 대해 측정되었다. 이 지상 특성 시험 결과와 더불어 태양/암흑 보정이 궤도 분광 채널 선택 및 보정에 사용될 것이다. 운영중 분광 채널 선택 기능은 바다색 관측 및 해양생물학 연구에 큰 유연성을 줄 것이다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.586-588
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• 2004

Although stable control algorithm has been implemented to the biped robot, the stability is not guaranteed because of encoder errors and/or rigid body elastics. Hence precise body pose estimation is required for more natural and long term walk. Specially pelvis sloping by gravity or uneven ground on landing place are most critical reason for undulated motion. In order to overcome these difficulties an estimation system for foot position and orientation using PSD sensors and Gyro sensors is proposed along with calibration algorithm and experimental verification.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
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• pp.91-94
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• 2005

A numerical formula that presents relationship between a point of a satellite image and its ground position is called a sensor model. For precise geolocation of satellite images, we need an error-free sensor model. However, the sensor model based on GOES ephemeris data has some error, in particular after Image Motion Compensation (IMC) mechanism has been turned off. To solve this problem, we investigate three sensor models: Collinearity model, Direct Linear Transform (DLT) model and Orbit-based model. We apply matching between GOES images and global coastline database and use successful results as control points. With control points we improve the initial image geolocation accuracy using the three models. We compare results from three sensor models that are applied to GOES-9 images. As a result, a suitable sensor model for precise geolocation of GOES-9 images is proposed.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2006년도 Proceedings of ISRS 2006 PORSEC Volume I
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• pp.320-323
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• 2006

Temperature inversion may cause air pollution problems because air pollutants cannot be dissipated through vertical motion of the atmosphere and are accumulated near the surface. The air quality is worsen gradually if an inversion event lasts for a long time. An inversion event is defined as consecutive temperature profiles with occurrence of the temperature inversion condition. In this paper, temperature inversion events over three major cities on Taiwan are analyzed. They are measured by ground-based microwave radiometers installed in Taipei, Taichung, and Kaohsiung from 2002 to 2004 by the Environment Protection Administration (EPA) of Taiwan. Characteristics of temperature inversion events at the three cities are extracted using different classification methods.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 C
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• pp.1950-1953
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• 1996

A $1\;{\times}\;4$ micro mirror array is designed and fabricated. In contrast to other micro mirrors which utilize torsional flexure hinges or cantilevers for restoring torque and supporting purpose, we have placed a substrate hinge structure under each mirror. Each micro mirror consists of address electrode, substrate hinge consisting of pin and staple, supporter post, and mirror plate. Electrical connection between mirror plate and ground electrode is established by substrate hinge. Mirror undergoes a rotational motion due to electrostatic force when voltage difference is applied between address electrode and mirror plate. Micro mirrors with two different types of staple shape and two different pin sizes are designed and fabricated. Each mirror is designed to have ${\pm}\;10^{\circ}$ of deflection angle and have $100\;{\times}\;110\;{\mu}m^2$ of size.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.335-338
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• 2003

In this paper, we considered the design of gain scheduled controllers for linear systems with input constraints. The gain scheduled control is a method that uses larger control gain when the states are smaller, and smaller gain when it is larger. By doing this, we can use a full actuator capacity. Also we allow the over-saturation in control to improve the performance. First, we derive a control and a reachable set expressed as LMI form, while minimizing the $L_2$ gain from the disturbance to the measured output. Next, the reachable set is divided as nested subsets, and the control gains are obtained by minimizing the $L_2$ gain at each nested subset. Finally, the control gains are scheduled according to the status of states, i.e., the nested-subset in which the states are located. Performance of the proposed technique is illustrated through simulations of a six-story building subject to earthquake ground motion.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2009년도 춘계학술대회 논문집
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• pp.15-19
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• 2009

Due to the Japan's Kobe earthquake in 1995, a cut-and-cover tunnel, which is one of subway facilities, collapsed unexpectedly. As a result, also in Korea, seismic performance needs to be secured for the cut-and-cover tunnel and currently, the subway seismic design standard is based on the seismic performance. However, there is no standard for the damage level or stability level of a member for securing the seismic performance, and the definition of multi-level seismic performance is not sufficient. By contrast to this situation, in the Japan's evaluation method of seismic performance, design earthquake ground motion having reflected there into the subway driving stability is clearly defined and the seismic performance required for structures is classified in detail. This study analyzes the Japan's systematic evaluation method of seismic performance for cut-and-cover tunnels of subway.

• 국제강구조저널
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• 제18권4호
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• pp.1470-1481
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• 2018

Building-level response to post-earthquake fire hazards in steel buildings has been assessed using primarily two-dimensional analyses of the lateral force resisting system. This approach may not adequately consider potential vulnerabilities in the gravity framing system. For this reason, three-dimensional (3D) finite element models of a 10-story case study building with perimeter moment resisting frames were developed to analyze post-earthquake fire events and better understand building response. Earthquakes are simulated using ground motion time histories, while Eurocode parametric time-temperature curves are used to represent compartment fires. Incremental dynamic analysis and incremental fire analysis procedures capture a range of hazard intensities. Findings show that the structural response due to earthquake and fire hazards are somewhat decoupled from one another. Regardless of the level of plastic hinging present in the moment framing system due to a seismic event, gravity column failure is the initiating failure mode in a fire event.

• 대한토목학회논문집
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• 제42권1호
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• pp.35-44
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• 2022

V_S30지도는 부지증폭을 나타내는 주요 변수로 임의의 부지에서 지반운동을 예측하는 ShakeMap의 핵심 변수로 사용된다. 하지만, 한반도의 지질특성과 지형특성을 고려하는 V_S30지도는 아직 제시된 적이 없다. 이번 연구에서는 지질과 지형을 고려하는 V_S30지도를 작성하기 위해 전단파 속도 주상도로부터 계산 또는 추정된 1,101개의 V_S30과 한반도 광범위 지질, 지형정보 레이어를 수집하였다. 이러한 데이터와 일반선형회귀분석 방법을 사용하여 V_S30 추정 모델을 개발하였다. 모델은 지질분류에 따라 매립지, 신생대 제4기 퇴적층, 중생대 그룹, 선캄브리아기와 해양층으로 구분된 후 지형정보의 함수로 제안되었다. 지도의 해상도는 기상청에서 기존에 진도추정을 위한 ShakeMap 구동에 사용하는 미국지질조사국(USGS)의 지도의 2배로 하였다. 그 결과, 프락시 기반 V_S30지도의 대수로그 잔차의 표준편차는 0.233으로 USGS의 V_S30 지도의 표준편차인 0.387보다 낮은 수치를 보인다. 본 연구에서 개발한 V_S30지도를 사용한다면 ShakeMap의 불확실성이 줄어들 것으로 기대된다.