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다양한 재난에 대처할 수 있는 다기능성 드론의 개발 필요성
주호진,임강수,김해중 한국과학수사학회 2023 과학수사학회지 Vol.17 No.3
드론은 군사 작전에서의 탐색 및 정찰뿐만 아니라 수색, 구조, 수해복구, 산불 및 화재진화, 방사능현장, 재난사고 조사 등 재난 대응 분야에서 다양하게 활용되고 있다. 특히 사회재난, 자연 재난 발생률이높아짐에 따라 초동조치에 사용되는 드론의 기능이 다양하게 요구되고 있다. 이처럼 드론은 활용성이 높은첨단장비로서 필요성에 적합하게 운용되어야 하나 사용자 입장에서는 기능별로 필요한 드론을 다양하게 갖추기에는 비용 측면에서 부담이 높고 해킹의 우려성이 있는 등 현실적인 운영이 제한되는 실정이다. 이에따라서 각종 재난 현장에서 기능별로 다양하게 사용될 수 있는 재난용 다기능성 드론의 개발 필요성을 논의함으로써 맞춤형 드론 운영체계를 구축하고 인적 및 물적 손실을 최소화하는 방안을 제안하였다. Drones are used not only in search and reconnaissance in military operations, but also in various fields of disaster response such as search and rescue, flood recovery, forest fire and fire extinguishing, radioactive sites, and disaster accident investigation. In particular, as the incidence of social and natural disasters increases, various functions of drones used for initial measures are required. As such, drones should be operated according to their needs as high-tech equipment with high utilization, but from the user’s point of view, realistic operations are limited, such as high cost and risk of hacking to have various drones needed for each function. Accordingly, it was proposed to establish a customized drone operating system and minimize human and material losses by discussing the need to develop disaster multifunctional drones that can be used in various functions at various disaster sites.
적분 접근법과 파라메트릭 접근법을 융합한허리 장착 보행항법시스템
주호진,이재홍,박찬국,이철수,설동민 제어·로봇·시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.4
In this paper, we proposed a pedestrian dead reckoning (PDR) system consisting of an integration approach and a parametric approach. The integration approach is used for obtaining the position by integrating the inertial sensor signal, and the parametric approach is for estimating the stride through the gait characteristic and estimating the position through the estimated step length and walking direction. If the inertial sensor is attached to the shoe, the position can be estimated by the integration approach with a zero velocity update. The integration approach has a disadvantage that the position error increases very quickly if periodic position or velocity correction is not possible. Therefore, when the inertial sensor is mounted at another part, the position is generally estimated through the parametric approach. In the case of the parametric approach, because the step length is estimated through the parameter, there is a disadvantage that the step length estimation error becomes large when the walking motion is not normal. To overcome these drawbacks, we proposed a waist-mounted PDR system combining the integration approach and parametric approach. The performance of the proposed algorithm was verified by experiments.
Introduction of HiMSEN H32/40 Medium Speed Diesel Engine
주호진(Ho-Jin Joo),임채순(Chae-Soon Lim),김종석(Jong-Suk Kim),김주태(Ju-Tae Kim) 한국마린엔지니어링학회 2007 한국마린엔지니어링학회 학술대회 논문집 Vol.2007 No.-
Since an official announcement of the first HiMSEN H21/32 in 2001, Hyundai Heavy Industries(HHI) has been developing new engine models of H25/33, H17/28, H17/24 and H32/40 continuously as a part of HiMSEN family. HHI has produced more than 1,500 sets of HiMSEN engine in total for applications of marine gensets, marine propulsion and stationary engines even in such a short period. The best efforts of quick response to customer requirements, even it would be so minor, from the engines in servicemake it possible for HHI to collect more realistic information on their preference on engine features and to attain better design of new engine models as well as further improvement of existing models. The recent model of in-line H32/40 was developed in 2006 and Vee-type of H32/40 is under development as largest size of the family, which is to cope with higher power demands with more economical and ecological operation on engine market, and has a 320 ㎜ bore and 400 ㎜ stroke with cylinder power of 500㎾ at 720/750 rpm. The output range is from 3,000㎾ to 10,000㎾ based on in-line and Vee-type configuration of 6 to 20 cylinders. An unique common rail system and intelligent control system are also under development and will be applied to this new engine in the near future against the emission regulations getting more stringent. This paper describes the design and development details of this new engine with the test results of prototype engine of eight(8) cylinders H32/40.
IMM-based INS/EM-Log Integrated Underwater Navigation with Sea Current Estimation Function
조성윤,주호진,차재혁,박찬국,유기정,박찬주 사단법인 항법시스템학회 2018 Journal of Positioning, Navigation, and Timing Vol.7 No.3
Underwater vehicles use Inertial Navigation System (INS) with high-performance Inertial Measurement Unit (IMU) for high precision navigation. However, when underwater navigation is performed for a long time, the INS error gradually diverges, therefore, an integrated navigation method using auxiliary sensors is used to solve this problem. In terms of underwater vehicles, the vertical axis error is primarily compensated through Vertical Channel Damping (VCD) using a depth gauge, and an integrated navigation filter can be designed to perform horizontal axis error and sensor error correction using a speedometer such as Electromagnetic-Log (EM-Log). However, since EM-Log outputs the forward direction relative speed of the vehicle with respect to the sea and sea current, INS correction filter using this may cause a rather large error. Although it is possible to design proper filters if the exact model of the sea current is known, it is impossible to know the accurate model in reality. Therefore, this study proposes an INS/EM-Log integrated navigation filter with the function to estimate sea current using an Interacting Multiple Model (IMM) filters, and the performance of this filter is analyzed through a simulation performed in various environments.