• Journal of Advanced Navigation Technology
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• v.26 no.6
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• pp.427-433
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• 2022

Obstacle detection, collision recognition, and avoidance technologies are required the collision avoidance technology for UAVs. In this paper, considering collinear multiple static obstacle, we propose an obstacle detection algorithm using LiDAR and a collision recognition and avoidance algorithm based on CPA. Preprocessing is performed to remove the ground from the LiDAR measurement data before obstacle detection. And we detect and classify obstacles in the preprocessed data using the K-means clustering algorithm. Also, we estimate the absolute positions of detected obstacles using relative navigation and correct the estimated positions using a low-pass filter. For collision avoidance with the detected multiple static obstacle, we use a collision recognition and avoidance algorithm based on CPA. Information of obstacles to be avoided is updated using distance between each obstacle, and collision recognition and avoidance are performed through the updated obstacles information. Finally, through obstacle location estimation, collision recognition, and collision avoidance result analysis in the Gazebo simulation environment, we verified that collision avoidance is performed successfully.

• The Korean Journal of Air & Space Law and Policy
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• v.31 no.2
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• pp.37-72
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• 2016

In the aerospace field, besides special purpose airplanes, contracts for supply of various types of products such as prototypes, unmanned aerial vehicles and space launch vehicles are increasing. In the case of the contractor, it was planned to spend a large amount of money to supply the production, but if the purchase specification that presents the quality and performance standard of the product is poor or lacks the capacity to judge the performance, consuming enormous amounts of time and money. Even if the undertaker does not have the ability to supply the products with the required performance and quality to achieve the purpose of the contract, he/she must pay the cost of burial due to the incompleteness of the work and the compensation for the cancellation of the contract. In this case, the defendant ordered the plaintiff to supply the aircraft by the Happy Box method, which is capable of ILS Offset flight as specified in the Purchase Specification, but the plaintiff attempted to supply the aircraft by the RNAV method. Although the ILS ground signal can be inspected by the RNAV method, the aircraft manufactured in the manner claimed by the plaintiff does not have the ILS Offset flight function required by the purchase specification, so the defendant can not achieve the purpose required by the purchase specification. It was a question of whether a defendant's cancellation of contract was legitimate. The aircraft, which is the object of this contract, is a subordinate substitute, so the case contract is of undertaking. Therefore, in order to complete the work in this contract, the major structural parts of the aircraft must be manufactured as agreed and have the performance generally required in the social sense. However, the aircraft delivered by the plaintiff has serious defects because the defendant can not achieve the purpose required by the purchase specification due to the lack of the ILS Offset flight function required by the purchase specification. This deficiency is impossible for the plaintiff to repair, so the defendant 's cancellation of the contract is legitimate.

• Journal of Advanced Marine Engineering and Technology
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• v.40 no.1
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• pp.28-33
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• 2016

Batteries are used for main power engine in the fields such as mobiles, electric vehicles and unmanned submarines, for starter and lamp driver in general automotive, for emergency electric source in ship. These days, lead-acid and the lithium ion batteries are increasingly used in the fields of the secondary battery, and the lead-acid battery has a low price and safety comparatively, The lithium ion battery has a high energy density, excellent output characteristics and long life, whereas it has the risk of explosion by reacting with moisture in the air. But Recently, due to the development of waterproof, fireproof, dustproof technology, lithium batteries are widely used, particularly, because their usages are getting wider enough to be used as a power source for hybrid ship and electric propulsion ship, it is necessary to manage more strictly. Hybrid ship has power supply units connected to the packets to produce more than 500kWh large power source, and therefore, A number of the communication modules and wires need to implement the wire inspection and monitor system(WIIMS) that allows monitoring server to transmit detecting voltage, current and temperature data, which is required for the management of the batteries. This paper implements a low price type wireless inspection and monitoring system(WILIMS) of the lithium ion battery for hybrid vessels using BLE wireless communication modules and power line modem( PLM), which have the advantages of low price, no electric lines compared to serial communication inspection systems(SCIS). There are state of charge(SOC), state of health(SOH) in inspection parts of batteries, and proposed system will be able to prevent safety accidents because it allows us to predict life time and make a preventive maintenance by checking them at regular intervals.

• The Korean Journal of Air & Space Law and Policy
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• v.33 no.1
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• pp.227-260
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• 2018

Recently, as the use of drones increases, the risk of drone accidents and third-party property damage is also increasing. In Korea, due to the recent increase in drone use, accidents have been frequently reported in the media. The number of reports from citizens, and military and police calls regarding illegal or inappropriate drone use has also been increasing. Drone operators may be responsible for paying damages to third parties due to drone accidents, and are liable for paying settlements due to illegal video recording. Therefore, it is necessary to study the idea of providing drone insurance, which can mitigate the liability and risk caused by drone accidents. In the US, comprehensive housing insurance covers damages caused by recreational drones around the property. In the UK, when a drone accident occurs, the drone owner or operator bears strict liability. Also, in the UK, drone insurance joining obligation depends on the weight of the drones and their intended use. In Germany, in the event of personal or material damage, drone owner bears strict liability as long as their drone is registered as an aircraft. Germany also requires by law that all drone owners carry liability insurance. In Korea, insurance is required only for "ultra-light aircraft use businesses, airplane rental companies and leisure sports businesses," where the aircraft is "paid for according to the demand of others." Therefore, it can be difficult to file claims for third party damages caused by unmanned aerial vehicles in personal use. Foreign insurance companies are selling drone insurance that covers a variety of damages that can occur during drone accidents. Some insurance companies in Korea also have developed and sell drone insurance. However, the premiums are very high. In addition, drone insurance that addresses specific problems related to drone accidents is also lacking. In order for drone insurance to be viable, it is first necessary to reduce the insurance premiums or rates. In order to trim the excess cost of drone insurance premiums, drone flight data should be accessible to the insurance company, possibly provided by the drone pilot project. Finally, in order to facilitate claims by third parties, it is necessary to study how to establish specific policy language that addresses drone weight, location, and flight frequency.

• Korean Journal of Remote Sensing
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• v.38 no.6_1
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• pp.1125-1139
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• 2022

In an unmanned aerial vehicles (UAVs) system, a physical offset can be existed between the global positioning system/inertial measurement unit (GPS/IMU) sensor and the observation sensor such as a hyperspectral sensor, and a lidar sensor. As a result of the physical offset, a misalignment between each image can be occurred along with a flight direction. In particular, in a case of multi-sensor system, an observation sensor has to be replaced regularly to equip another observation sensor, and then, a high cost should be paid to acquire a calibration parameter. In this study, we establish a precise sensor model equation to apply for a multiple sensor in common and propose an independent physical offset estimation method. The proposed method consists of 3 steps. Firstly, we define an appropriate rotation matrix for our system, and an initial sensor model equation for direct-georeferencing. Next, an observation equation for the physical offset estimation is established by extracting a corresponding point between a ground control point and the observed data from a sensor. Finally, the physical offset is estimated based on the observed data, and the precise sensor model equation is established by applying the estimated parameters to the initial sensor model equation. 4 region's datasets(Jeon-ju, Incheon, Alaska, Norway) with a different latitude, longitude were compared to analyze the effects of the calibration parameter. We confirmed that a misalignment between images were adjusted after applying for the physical offset in the sensor model equation. An absolute position accuracy was analyzed in the Incheon dataset, compared to a ground control point. For the hyperspectral image, root mean square error (RMSE) for X, Y direction was calculated for 0.12 m, and for the point cloud, RMSE was calculated for 0.03 m. Furthermore, a relative position accuracy for a specific point between the adjusted point cloud and the hyperspectral images were also analyzed for 0.07 m, so we confirmed that a precise data mapping is available for an observation without a ground control point through the proposed estimation method, and we also confirmed a possibility of multi-sensor fusion. From this study, we expect that a flexible multi-sensor platform system can be operated through the independent parameter estimation method with an economic cost saving.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.35 no.6
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• pp.109-120
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• 2023

The High-Frequency Radar (HFR) is an equipment designed to measure real-time surface ocean currents in broad maritime areas.It emits radio waves at a specific frequency (HF) towards the sea surface and analyzes the backscattered waves to measure surface current vectors (Crombie, 1955; Barrick, 1972).The Seasonde HF Radar from Codar, utilized in this study, determines the speed and location of radial currents by analyzing the Bragg peak intensity of transmitted and received waves from an omnidirectional antenna and employing the Multiple Signal Classification (MUSIC) algorithm. The generated currents are initially considered ideal patterns without taking into account the characteristics of the observed electromagnetic wave propagation environment. To correct this, Antenna Pattern Measurement (APM) is performed, measuring the strength of signals at various positions received by the antenna and calculating the corrected measured vector to radial currents.The APM principle involves modifying the position and phase information of the currents based on the measured signal strength at each location. Typically, experiments are conducted by installing an antenna on a ship (Kim et al., 2022). However, using a ship introduces various environmental constraints, such as weather conditions and maritime situations. To reduce dependence on maritime conditions and enhance economic efficiency, this study explores the possibility of using unmanned aerial vehicles (drones) for APM. The research conducted APM experiments using a high-frequency radar installed at Dangsa Lighthouse in Dangsa-ri, Wando County, Jeollanam-do. The study compared and analyzed the results of APM experiments using ships and drones, utilizing the calculated radial currents and surface current fields obtained from each experiment.