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확률적인 방법을 이용한 무인항공기의 3차원 다중 충돌 감지 및 회피
오현동,박정우,탁민제 제어로봇시스템학회 2008 제어로봇시스템학회 국내학술대회 논문집 Vol.2008 No.10
This paper presents a real-time conflict detection and resolution algorithm based on a probabilistic method. The approach uses a set of probability density functions that describe uncertainties from real time data bases such as ADS-B. To calculate the probability of conflict, we use probabilistic method by using geometric based Monte Carlo simulations that allow for reducing computation time considerably. From the probability of conflict obtained, threat level is determined between two aircraft, then, one of the possible resolution maneuver options is chosen which can minimize the probability of conflict. When the probability of conflict is in threat level zero, own aircraft is guided to the way-point. For guidance to the way-point, proportional navigation guidance law is used. The paper finishes with several multi-aircraft encounter simulations, illustrating the performance and properties of the proposed algorithm.
멀티카메라 시스템을 이용한 실내용 무인 항공기 자세 추정
오현동,원대연,허성식,안종선,박봉균,심현철,탁민제 제어로봇시스템학회 2009 제어로봇시스템학회 국내학술대회 논문집 Vol.2009 No.9
This paper presents the pose estimation of the small UAV utilizing only low cost cameras installed indoor. To overcome the limitation of the outside flight experiment, the multi-camera indoor test-bed is developed, which consists of four major components : the multi-camera, the ground computer, the onboard color markers, and the UAV. The dynamic model of the small UAV is the six-degrees-of-freedom nonlinear equations and the measurements are the visual information of marker attached to the UAV which is obtained periodically by the camera. The unscented KALMAN FILTER (UKF) is used to obtain an accurate position and pose estimation for the small UAV. This paper finishes with several experiment results illustrating the performance and properties of the proposed multi-camera system and vision algorithm.
A Case of Steatocystoma Simplex Involving the Scalp
현동녘,원종훈,박준수,정현 대한피부과학회 2008 Annals of Dermatology Vol.20 No.4
Steatocystoma is a benign adnexal tumor originating from the pilosebaceous duct junction which can be classified into two groups (steatocystoma simplex and steatocystoma multiplex). Steatocystoma simplex, which presents as a solitary lesion, is very rare. Steatocystoma simplex occurs most commonly on the face and the case reported herein involving the scalp is extremely rare. A 49-year-old man presented for evaluation and treatment of a solitary papule on the right parietal scalp which had persisted for a period of 1 year. The histopathologic examination revealed a thin-walled cyst consisting of stratified squamous epithelium with hyaline cuticle that lacked a stratum granulosum. Based on clinical and histologic findings, we diagnosed this case as steatocystoma simplex of the scalp and report this rare case.
현동호,채은진,서준범,강준원,도경현,이충욱,이현주,황혜전,임태환 대한영상의학회 2010 대한영상의학회지 Vol.63 No.4
The preoperative evaluation of the hemodynamics associated with PAPVR and rheumatic mitral valve stenosis is necessary for successful surgical treatment, even though the incidence rate is rare. The purpose of this case report is to present the usefulness of CT and MRI for diagnosing rheumatic mitral stenosis and partial anomalous pulmonary venous connection to the left innominate vein accompanied by the presence of the levoatriocardinal vein and evaluating its flow dynamics.