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정창현(Changhyun Chung),김형권(Hyoung-Kwon Kim),윤동진(Dong-Jin Yoon),이주한(Joohan Lee) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.1
Research activities in Antarctica face a number of risk factors, such as cold, strong winds, and isolated or dangerous environments. Among them, crevasses, which are deep cracks in glaciers, can cause fatal accidents since they are difficult to locate as they are covered with snow. In this paper, we present the development, design, and deployment of an UGV (Unmanned Ground Vehicle) that can explore ice-sheets and be used in various polar research fields. The developed UGV was customized to remotely detect crevasses and prevent related accidents. In order to adapt to the harsh terrain of Antarctica, the vehicle features ground clearance over 260 mm, four-wheel-drive ability with a 400W high-power motor, as well as passive joints and differential links to allow for four-point contact on rough terrain. The UGV is also designed to run for more than two hours on the Antarctic ice sheet at a speed of 2.5 m/sec. The control unit uses open-source hardware and software for rapid function implementation and ease of future customization. In November 2019, the UGV detected crevasses successfully by towing an IPR (Ice Penetrating Radar) along the 2.6 km section of the Browning Pass around Jang Bogo Station, Antarctica. Further improvement is required for heading angle errors due to magnetic compass malfunctions in Antarctica, and for the vibration and misalignment of the traction device for the towing research equipment.
Chung, Hyun Joon,Baek, Changhyun,Kang, Hoon,Kim, Dongwoo,Kim, Yongchan Elsevier 2018 ENERGY Vol.154 No.-
<P><B>Abstract</B></P> <P>The objective of this study is to optimize the performance of a gas injection CO<SUB>2</SUB> heat pump according to the operating parameters in extreme heating and cooling conditions. The performances of CO<SUB>2</SUB> heat pumps using a flash tank gas injection (FTGI) in the heating mode and FTGI with the suction line heat exchanger (FTSX) in the cooling mode are measured with the variations of the injection ratio, compressor frequency, and evaporating pressure in the extreme outdoor conditions. At the compressor frequency of 45 Hz, the cooling COP of the gas injection CO<SUB>2</SUB> heat pump with the optimum injection ratio is 6.8% higher than that of the non-injection CO<SUB>2</SUB> heat pump at the indoor/outdoor temperatures of 17/43 °C. Moreover, the heating COP of the gas injection CO<SUB>2</SUB> heat pump is 7.1% higher than that of the non-injection system at the indoor/outdoor temperatures of 20/–15 °C.</P> <P><B>Highlights</B></P> <P> <UL> <LI> The CO<SUB>2</SUB> heat pump adopting vapor injection is considered. </LI> <LI> The system performance is measured at extreme heating and cooling conditions. </LI> <LI> The system performance is compared between the heating and cooling conditions. </LI> <LI> The optimum intermediate pressure ratio and optimum injection ratio are suggested. </LI> </UL> </P>
박창현 ( Changhyun Park ),사재원 ( Jaewon Sa ),김희곤 ( Heegon Kim ),정용화 ( Yongwha Chung ),박대희 ( Daihee Park ),김학재 ( Hakjae Kim ) 한국정보처리학회 2018 정보처리학회논문지. 소프트웨어 및 데이터 공학 Vol.7 No.4
좁은 공간에 돼지들을 밀집 사육하는 구조가 대부분인 국내 돈사의 환경은 구제역과 같은 전염병 확산에 취약하다. 이러한 밀집 사육의 문제점을 해결하기 위한 방법으로 감시 카메라를 활용한 돈사 내 개별 돼지들의 행동을 자동으로 분석하는 연구가 진행 되고 있다. 그러나 공격행동 등 복잡한 상황에서 개별 돼지들을 추적하기 위해서는 근접한 돼지들에 대한 올바른 분리가 우선적으로 수행되어야 하지만, 정확도가 떨어지는 키넥트 카메라의 깊이 정보를 이용할 경우 돼지들 간의 경계선이 정확히 추출되지 않는다는 문제가 있다. 본 논문에서는 이러한 문제를 해결하기 위한 방법으로 움직임 정보를 활용하여 근접 돼지를 분리하는 방법을 제안한다. 또한, 제안된 방법은 혼잡한 돈방에서 개별 돼지를 추적하는 경우 추적 오류를 탐지하는 문제에도 적용될 수 있다. 실험 결과, 실제 돈사에서 획득한 두 개의 근접 돼지 시퀀스에 대하여 86%의 정확도로 분리 가능함을 확인하였고, 객체 추적에 대한 검증을 통하여 식별 번호가 잘못 부여된 객체를 정확히 탐지할 수 있음을 확인하였다. The domestic pigsty environment is highly vulnerable to the spread of respiratory diseases such as foot-and-mouth disease because of the small space. In order to manage this issue, a variety of studies have been conducted to automatically analyze behavior of individual pigs in a pig pen through a video surveillance system using a camera. Even though it is required to correctly segment touching pigs for tracking each pig in complex situations such as aggressive behavior, detecting the correct boundaries among touching pigs using Kinect’s depth information of lower accuracy is a challenging issue. In this paper, we propose a segmentation method using motion information of the touching pigs. In addition, our proposed method can be applied for detecting tracking errors in case of tracking individual pigs in the complex environment. In the experimental results, we confirmed that the touching pigs in a pig farm were separated with the accuracy of 86%, and also confirmed that the tracking errors were detected accurately.
임창현(Changhyun Lim),정재우(Jaewoo Chung),강정호(Jungho Kang),김남호,김형준 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
In recently, most diesel vehicle have been adopted DPF system for PM emission reduction. But, ash and soot in engine exhaust gas are accumulated in the DPF and the accumulation of ash and soot is a cause of damage of a DPF and aggravation of engine performance. So, DPF cleaning is essentially needed for good maintenance of a DPF system. So, in this research, For making some DPF cleaning process, investigations on the optimized blasting and nozzling methods have been performed with tests and the results of confirmed cleaning process are introduced.
박창현 ( Changhyun Park ),김진성 ( Jinseong Kim ),김희곤 ( Heegon Kim ),정용화 ( Yongwha Chung ),박대희 ( Daihee Park ),김학재 ( Hakjae Kim ) 한국정보처리학회 2017 한국정보처리학회 학술대회논문집 Vol.24 No.2
국내 돈사 환경에서 돼지들의 세밀한 관리를 위해, 개별 돼지 관리를 자동화하는 방법이 필요하고, 개별 돼지 관리를 위해서는 근접한 돼지들을 개별 돼지들로 구분이 우선적으로 수행되어져야 한다. 영역 기반의 정보를 사용하여 개별 돼지를 구분하는 기존 방법으로는 복잡한 상황에서 개별 돼지로의 분리가 정확하게 되지 않는 문제가 발생한다. 본 논문에서는 이러한 문제를 해결하기 위한 방법으로 움직임 정보를 활용하여 근접 돼지를 분리하고 추적하는 방법을 제안한다. 이전 프레임의 움직임 정보를 계산하여 현재 돼지의 위치 및 방향을 예측하고, 예측된 돼지의 정보를 사용하여 근접한 돼지를 분리하고 추적한다. 실험 결과, 실제 돈사에서 획득한 근접 돼지 시퀀스에서 근접 돼지의 분리 및 추적이 가능함을 확인하였다.