• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.8
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• pp.861-866
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• 2015

This study was aimed to detect area of Submaine Groundwater Discharged(: SGD) around Jeju island using by remote sensing. Sea Surface Temperature(SST) was identified using IR camera on Unmaned Aerial Vehicle(UAV) at Gimnyeong port in study area. Then SGD location was detected by comparing range of SGD temperature. Generally, range of SGD temperature is distributed 15 to 17 like underground water. The result, SGD location was detected by SST distribution of Gimnyeong port recorded by IR camera in the southwest of study area.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1179-1184
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• 2007

An unmaned surveillance robot consists of rifle, laser receiver, thermal imager, color CCD camera, and laser illuminator. A human guard can be replaced with such a robot to take care dangerous surveillance tasks. Currently most of surveillance robots are mounded at a fixed post to take care of surveillance tasks. In order to watch blind areas, it is necessary to modify such a surveillance robot to become a mobile robot. In this paper, simulation based design procedure of mobile surveillance robot has been introduced. 3D CAD geometry model has been produced using Pro-Engineer. Required pen and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to stabilize the system from the motion of the vehicle which experiences the rough terrain. ADAMS-Matlab co-simulation has been also carried out to validate the proposed target tracking and stabilization algorithm.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.22 no.2
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• pp.27-33
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• 2014

There are several methods to improve the flight efficiency of HALE(High Altitude Long Endurance) UAV(Unmaned Aerial Vehicle). Airframe structural point of view, weight reduction of the airframe structure is the most important method to improve the flight efficiency. In order to reduce the weight of airframe structures, new concepts which are different from traditional airframe structure design such as the mylar wing skin should be introduced. The spar is the most important component in a mylar skin wing structure, so the spar weight reduction is the key point for reduction of the wing structural weight. In this study, design trade-off study for the front spar of the HALE UAV wing is conducted in order to reduce the weight. Design and analysis procedure of high aspect ratio wing spar are introduced. Several front spar structures are designed and trade-off study regarding the weight and strength for the each spar are performed. Spar design configurations are verified by the static strength test. Finally, optimal front spar design is decided and applied to the HALE UAV wing design.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.797-804
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• 2013

In this paper, a study of a new hovering six dof underwater robot with redundant horizontal thrusters, titled HAUV (hovering AUV), is presented. The results of study on the structure design, deployment of thrusters, and development of the developed control system of the AUV was presented. For the HAUV structure, a structure design and an analysis of the thrusting system was performed. For navigation, a sensor fusion board which can proceed various sensor signals to identify correct positions and speeds was developed and a total control system including EKF (Extended Kalman Filter) was designed. Rolling, pitching and depth control tests of the HAUV have been performed, and relatively small angle error and depth tracking error results were shown.

• 한국전산유체공학회:학술대회논문집
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• 2008.03a
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• pp.166-170
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• 2008

The changing process from hovering mode to transition one is of importance to determine a stability of tilt-rotor aircraft, which is utilized in UAV(Unmaned Aerial Vehicle). The analysis on fluid flows and aerodynamic characteristics according to variation of tilting angle of rotor is essential step in development of tilt-rotor. In the present study, the computation domain is divided into the rotating and stationary regions in order to consider the rotating blades. For the convenient realization of various tilting angle as well as application of boundary condition, the whole computation region is constructed into sphere domain. The near farfield boundary condition is adopted. The airfoil used in computation is NACA 0012. The computation results for the hovering mode are validated by comparing with previously conducted experimental results. From the results, the flow fields around rotor blade and the aerodynamic characteristics in transition mode are observed. The computational result will provide the basis for development and performance evaluation of tilt-type aircraft.

• Proceedings of the Korean Society of Disaster Information Conference
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• 2016.11a
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• pp.426-427
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• 2016

본 논문에서는 Unmaned Aerial Vehicle(UAV)를 이용하여 양식어장에 유입될 수 있는 적조 모니터링에 대한 연구를 실시하였다. 적조는 한반도 주변 해역을 포함한 전 세계 연안 지역에서 물고기의 집단 폐사, 해안구조물에 대한 물리적 손상등과 같이 사회 경제적인 피해를 야기 시켜왔고, 최근 해수면 온도상승과 같은 기후 변화에 의한 영향으로 증가되고 있는 실정이다. 특히 남해안과 같이 생활하수가 다량 유입되고 저층에 퇴적된 영양물질이 용출되는 곳에서 상습적으로 발생한다. 1995년에 발생한 코클로디니움에 의한 적조는 764억원의 기록적인 피해를 입히면서, 적조에 대한 신속한 대응과 효과적인 방제작업의 필요성이 대두되었다. 이렇게 양식어장 운영에 다양한 문제가 발생이 된 후 대응하는 것보다 모니터링을 통해 사전에 유입을 차단하고 대처하는 연구가 필요하고 판단된다. 원격탐사를 활용한 적조 탐지 및 모니터링 연구는 UAV에서 취득한 RGB color 영상을 통한 적조 추출 및 분석, 시계열 분석을 위한 영상자료 수집, 현장관측 자료와 위성영상에서 추출한 클로로필 농도 비료글 통해 이루어 졌다. 또한 매년 발생하는 적조생물에 관한 속성정보를 통해 적조발생지역에 대한 적조생물종과 국내 연안에서 발생한 적조의 발생 범위 등의 정보를 지리정보기반에 의한 공간분석을 실시하였다.

• Journal of the Korea Safety Management & Science
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• v.16 no.4
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• pp.11-19
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• 2014

Modern systems development becomes more and more complicated due to the need on the ever-increasing capability of the systems. In addition to the complexity issue, safety concern is also increasing since the malfunctions of the systems under development may result in the accidents in both the test and evaluation phase and the operation phase. Those accidents can cause disastrous damages if explosiveness gets involved therein such as in weapon systems development. The subject of this paper is on how to incorporate safety requirements in the design of safety-critical systems. As an approach, a useful system structure using the method of design structure matrix (DSM) is studied while reflecting the need on systems safety. Specifically, the effects of system components failure are analyzed and numerically modeled first. Also, the system components are identified and their interfaces are represented using a component DSM. Combining the results of the failure analysis and the component DSM leads to a modified DSM. By rearranging the resultant DSM, a modular structure is derived with safety requirements incorporated. As a case study, application of the approach is also discussed in the development of a military UAV plane.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.3
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• pp.363-370
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• 2016

This paper proposes a Ku-band multi-mode coupler and its monopulse tracking system, which can be applied to a unmaned aircraft vehicle(UAV) platform. In general, the carrier-to-noise(C/N) level of the beacon signal from a Ku-band commercial satellite is relatively weak compared to that of a military satellite because the Ku-band satellite has been designed for commercial services. Therefore, this paper proposes a coupler and its multi-mode monopulse tracking system satisfying the tracking accuracy under a low C/N environment and analyzes the tracking accuracy. After that, we perform a real satellite tracking test and compare the accuracy of the test with the analysis result before validating the performance of the architecture of the proposed satellite tracking system.

• Proceedings of the Korea Water Resources Association Conference
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• 2012.05a
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• pp.442-442
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• 2012

농업용저수지 수질측정 현황은 17,600여 개소 농업용저수지 중 농업용수 수질측정망 조사시설은 저수지 800개소이며, 농업용 호소로서 환경부 조사 시행 호소수질측정망시설 26개소(저수지 16개소, 담수호 10개소)를 포함한 826개소를 대상으로 농업용수 수질을 분석 평가하고 있다. 저수지 자율항법 자동수질측정을 위하여 개발한 운영시스템은 내용적측정 무인탐사선과의 연계운항 제어모듈 개발 및 저수지 수질측정을 위한 최적항로 운항모듈을 개발하였다. 자율항법 무인탐사선의 자동수질 측정을 위한 운항 제어 알고리즘 설계를 위하여 기존의 자율항법 탐사선의 운항 알고리즘과 수질자동 측정장치 제어 알고리즘을 분석하여 연계 제어모듈을 설계하고 프로그래밍 하였다. 운영과정은 선박운영 프로그램에서 수질모니터링 프로그램으로 Operation Start 명령을 전송하면 수질모니터링 프로그램에서 이 명령을 수신한 이후에 윈치제어 및 수질측정, 각 해당 수심에서 시료채수를 수행한 이후에 Opeartion End 신호를 선박운영 프로그램에 전송하면 다음 지점으로 이동할 수 있도록 하였다. 이를 통하여 효율적인 농업용저수지의 무인자동 수질측정 및 채수기술을 개발 제공하도록 하겠다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.4
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• pp.274-282
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• 2019

Vision-based navigation of unmaned aerial vehicle is a significant technology that can reinforce the vulnerability of the widely used GPS/INS integrated navigation system. However, the existing image matching algorithms are not suitable for matching the aerial image with the database. For the reason, this paper proposes particle filters using Gaussian mixture models to deal with matching between aerial image and database for vision-based navigation. The particle filters estimate the position of the aircraft by comparing the correspondences of aerial image and database under the assumption of Gaussian mixture model. Finally, Monte Carlo simulation is presented to demonstrate performance of the proposed method.