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김수성,정성구,차지훈,Kim, S.S.,Jung, S.G.,Cha, J.H. 한국전자통신연구원 2021 전자통신동향분석 Vol.36 No.2
As sensors such as Inertial Measurement Unit, cameras, and Light Detection and Rangings have become cheaper and smaller, research has been actively conducted to implement functions automating micro aerial vehicles such as multirotor type drones. This would fully enable the autonomous flight of drones in the real world without human intervention. In this article, we present a survey of state-of-the-art development on autonomous drones. To build an autonomous drone, the essential components can be classified into pose estimation, environmental perception, and obstacle-free trajectory generation. To describe the trend, we selected three leading research groups-University of Pennsylvania, ETH Zurich, and Carnegie Mellon University-which have demonstrated impressive experiment results on automating drones using their estimation, perception, and trajectory generation techniques. For each group, we summarize the core of their algorithm and describe how they implemented those in such small-sized drones. Finally, we present our up to date research status on developing an autonomous drone.
홍유경,김유경,김수성,이희수,차지훈,Hong, Y.,Kim, Y.,Kim, S.,Lee, H.,Cha, J. 한국전자통신연구원 2019 전자통신동향분석 Vol.34 No.3
Currently, the use of unmanned aerial vehicles (UAVs) is spreading from recreational purposes to the public- and commercial-use product areas. Various efforts are being made worldwide to ensure the safety of UAVs and expand their service applications and convenience, because autonomous flights are becoming increasingly popular. In order for a UAV to perform autonomous flight and mission without operator assistance, environmental perception technology, path planning technology, and flight control technology are needed. In this article, we present recent trends in these technologies.
이영호,양성호,김수성,박성두 충남대학교 공업교육연구소 1998 論文集 Vol.21 No.1
The mechanism of humping bead formation in electron beam welding was investigated. In the first part, the process of humping bead formation was clarified by the high speed camera. In the second, the effect of focal position was discussed. The obtained results were as follows. 1. Humping bead was apt to be formed when the focal point was just on or slightly below the weld surface. 2. The reduction of surface bead width was apt to form humping bead and reduce the pitch of humping bead formation 3. The formation of nailhead-shaped welds at the focal position above the weld surface prevented to form the humping bead. 4. Nailhead-shaped welds were due to the melting by molten metal flow around the side walls, and to the melting or pre-heating effects by peripheral regions of Gaussian distribution type electron beam. 5. The instability of capillary molten metal at the weld surface formed the humping bead.