• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2002.11a
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• pp.1-6
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• 2002

To provide an easy operation of drift prediction model in SAR(search and rescue) mission a GUI program running on Window environment has developed. Users can make choice of input data on the screen by just clicking the mouse and the prediction results of datum points and trajectories of vessels are drawn on the map. The program contains both Leeway Equation model and mathematical model. The FORTRAN language was used in programming and Lehay Winteracter 4.0 software was utilized for graphic presentation. The result of May, 2001 Busan field experiment was plotted with that of model prediction for demonstration purpose.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1048-1053
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• 2005

This paper presents design and integration of the ROBHAZ-DT3, which is a newly developed mobile robot system with chained double-track mechanisms. A passive adaptation mechanism equipped between the front and rear body enables the ROBHAZ-DT3 to have good adaptability to uneven terrains including stairs. The passive adaptation mechanism reduces energy consumption when moving on uneven terrain as well as its simplicity in design and remote control, since no actuator is necessary for adaptation. Based on this novel mobile platform, a rescue version of the ROBHAZ-DT3 with appropriate sensors and a semi-autonomous mapping and localization algorithm is developed to participate in the RoboCup2004 US-Open: Urban Search and Rescue Competition. From the various experiments in the realistic rescue arena, we can verify that the ROBHAZ-DT3 is reliable in traveling rugged terrain and the proposed mapping and localization algorithm are effective in the unstructured environment with uneven ground. The another application is an military robot for an EOD(Explosive Ordnance Disposal) and reconnaissance mission. The military version of the ROBHAZ-DT3 with a water disrupter, a thermal scope and a long distance wireless communication device is developed and sent to the area of military tactics in Iraq. Consequently, the feasibility of the military version of ROBHAZ-DT3 is verified.

• Journal of Internet Computing and Services
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• v.23 no.4
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• pp.57-64
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• 2022

If the inside of a building collapses due to a disaster such as fire, collapse, or natural disaster, the physical security inside the building is likely to become ineffective. Here, physical security is needed to minimize the human casualties and physical damages in the collapsed building. Therefore, this paper proposes an algorithm to minimize the damage in a disaster situation by fusing existing research that detects obstacles and collapsed areas in the building and a deep learning-based object detection algorithm that minimizes human casualties. The existing research uses a single camera to determine whether the corridor environment in which the robot is currently located has collapsed and detects obstacles that interfere with the search and rescue operation. Here, objects inside the collapsed building have irregular shapes due to the debris or collapse of the building, and they are classified and detected as obstacles. We also propose a method to detect rescue requesters-the most important resource in the disaster situation-and minimize human casualties. To this end, we collected open-source disaster images and image data of disaster situations and calculated the accuracy of detecting rescue requesters in disaster situations through various deep learning-based object detection algorithms. In this study, as a result of analyzing the algorithms that detect rescue requesters in disaster situations, we have found that the YOLOv4 algorithm has an accuracy of 0.94, proving that it is most suitable for use in actual disaster situations. This paper will be helpful for performing efficient search and rescue in disaster situations and achieving a high level of physical security, even in collapsed buildings.

• Journal of Navigation and Port Research
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• v.34 no.5
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• pp.349-354
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• 2010

Cheonan, Republic of Korea Navy patrol ship sank had happened by an unknown incident in the vicinity of Baekryeongdo southwest 1.6km(1 mile) sea at 21:45 on March 26, 2010. In terms of coastal researcher's point of view, it is meaningful to provide the sea condition of basic data necessary for search and rescue, more detailed predictions and inference data through the numerical simulations. Thus, in this study, we investigated the weather, wave, tide, tidal current, bottom soil conditions, and suspended sediment are investigated at the coast of Baekryeong-Daechung islands. And based on these data, the characteristics of sea conditions were analyzed. The tidal period at the time of incident corresponds between neap tide to mean tide. Until April 3-4 after March 26, the date of incident, the strongest velocity was progressed towards the spring tide. Thus, it was considered to be difficult to search and rescue operations. Also, because the ebb tide was in progress during 21:00 to 22:00, mass transport seems to be prevailed to the southeast. In particular, as the sudden turbulence due to the irregular topography existed was anticipated, we had carried out particle tracking experiment. From this experiment, depending on the situation of flow, the initial movement of the particles were directed to the southeast but it turned out moving towards the offshore based on the long term prediction. Through this result, it is considered that the scope of the search operation should be expanded towards the open sea.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.48 no.3
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• pp.235-241
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• 2012

The efficiency tests of automatic positioning transmitter (APT) using satellite on life jacket were carried out to minimize casualties of fishermen and to make system optimization for effective SAR (Search and Rescue) operation. As the result of the tests, average position was equaled on the comparison between SPOT using low earth orbit satellite and DGPS (Differential Global Positining System), but standard deviation of DGPS for latitude and longitude were 66.4% and 46.3% smaller than those of SPOT. The position precision of SPOT was almost two times lower than LGT using geostationary satellite to compare 95% circular error probability. However, the success rate of receiver for SPOT was revealed as 86.5~94.1% on the experiments in the South Sea and the West Sea and it was 4.5 times higher than LGT. Therefore, SPOT is expected to contribute greatly to the rapid rescue of victim.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2015.07a
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• pp.259-261
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• 2015

The model for ship maneuvering simulation is to enhance the competence of officer's ship maneuvering skills such as navigation equipment operation, collision avoidances, countermeasure an emergency situation so on. Despite using such ship maneuvering model, critical maritime accidents are occurred periodically in the world. To find adequate simulation model to evaluate competence abilities of deck officer who have maneuvering skills with some competence levels, we search the standard ship maneuvering method representing on the part 3 Person Overboard(POB) to onboard emergences of IAMSAR manual. Moreover we monitor the officer's human factors appearing during education and training and consider the use of human factors as fundamental data.

• Fire Science and Engineering
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• v.29 no.6
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• pp.109-118
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• 2015

Recently, three kinds of search robot prototypes were developed to assume the role of fire fighters for search and rescue missions in special disaster areas with high heat, smoke, toxic gases, or radioactivity. To accomplish search missions, these robots should be able to endure heat, overcome various obstacles, suppress fires, and see through dense smoke. This study investigated the heat resistance, practicality, and fire fighting capacity of these robots. The results show that the small and middle-sized robots were resistant to surrounding temperatures of $100{\sim}200^{\circ}C$, and the fire-fighter-riding robot could endure up to $500^{\circ}C$ for half an hour. The fire-fighter-riding robot showed excellent extinguishing performance on an A-10 class fire model, which was extinguished within 3 min. The robots also showed various capacities for overcoming obstacles and are expected to play an active role in various special disaster areas.

• Journal of Navigation and Port Research
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• v.26 no.5
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• pp.491-495
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• 2002

To provide an easy operation of drift prediction model in SAR(search and rescue) mission a GUI program running on Windows environment has developed. Users can make choice of input data on the screen by just clicking the mouse and the prediction results of datum points and trajectories of vessels are drawn on the electric chart. The program contains both Leeway Equation model and Mathematical model. The FORTRAN language was used in programming and Lehay Winteraction 4.0 software was utilized for graphic presentation. The result of May, 2001 Busan field experiment was plotted with that of model prediction for demonstration purpose.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.4
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• pp.624-635
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• 2015

Design space exploration has been much neglected in aircraft conceptual design phase, which often leads to a waste of time and cost in design, manufacture and operation process. It is necessary to explore design space based on operational system-of-systems (SoS) simulation during the early phase for a competitive design. This paper proposes a methodology to analyze aircraft performance parameters in four steps: combination of parameters, object analysis, operational simulation, and key-parameters analysis. Meanwhile, the design space of an unmanned aerial vehicle applied in earthquake search and rescue SoS is explored based on this methodology. The results show that applying SoS simulation into design phase has important reference value for designers on aircraft conceptual design.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.947-952
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• 2007

EU is in the process of developing a new european global navigation satellite system - Galileo project - which technologies and capitals from member states of EU are put into, after determining to set up a separate GPS against that of US late in the 1990s. Galileo system is commercial global navigation satellite system, which allows other else nations outside of EU to participate in system development and operation, different from GPS. Korea also decided to join in the project on February in 2005. Galileo system provide 5 Services - Open Service, Safety of Life, Commercial Service, Public Regulated Service, Search and Rescue Service, and especially it can be applicable to safety-critical areas, and is to provide its part of services certified. In this paper, we are to compare the services of Galileo system, and to present necessary factors to be considered, and the applicability to use the Galileo system in safety-critical application areas, such as train control system