Abstract: An image forming apparatus includes a development part, a temperature detection part that detects an apparatus inner temperature, and a control part that corrects a potential difference (?V) between the development voltage and the supply voltage based on a temperature difference (?T). The potential difference is an absolute value determined by follow: ?V=|(the development voltage)?(the supply voltage).| the temperature difference is determined by follow: ?T=(the apparatus inner temperature)?(a glass transition starting temperature). The glass transition starting temperature is determined in consideration of a differential scanning calorimetry (DSC) curve of the toner.

Abstract: According to one embodiment, there is provided an image forming apparatus including a fixing portion, an exterior member, a first ventilation guide, a second ventilation guide, and a blowing portion. The exterior member has a first opening portion opened to an outside. The first ventilation guide is disposed between the fixing portion and the exterior member. The first ventilation guide forms a first space communicating with the first opening portion between the first ventilation guide and the exterior member. The second ventilation guide is disposed between the fixing portion and the first ventilation guide, and has a second opening portion. The second ventilation guide forms a second space communicating with the second opening portion between the second ventilation guide and the first ventilation guide.

Abstract: According to one example, there is provided a visual security feature. The visual security feature comprises a security feature printed on a media. The security feature includes a security code printed on the media, and a holographic image is embossed on the printed security feature.

Abstract: Provided is a method and apparatus for generating a binary hologram. More particularly, provided is a method and apparatus that may decrease or, alternatively, minimize quality degradation of a binary hologram by employing a silhouette mask of a target object to reduce or, alternatively, minimize background noise occurring around the target object to be reproduced when generating the binary hologram.

Abstract: A method to manufacture a hairspring of a timepiece movement, which includes: producing a malleable elongated element in a form of under a fiber or ribbon form, from a first heated material capable of guiding light; conforming the malleable elongated element in order to achieve into a spiral form; and handling processing the spiral form thus created in order to obtain a hairspring for providing both a mechanical oscillating function in a balance wheel and a light guiding guide lighting function arranged for in situ adjusting of a mechanical performance of said hairspring. The conforming includes coiling the malleable elongated element around a rotating mobile conformation tool, and receiving the malleable elongated element in a guiding channel within a guiding mechanism and guiding the received malleable elongated element via mobile equipment turning on an inner periphery of the guiding mechanism.

Abstract: The present invention concerns a device (1) for an atomic clock. The device has a printed circuit board (20), a heating source, and microwave conductor. The printed circuit board (20) includes a conductive piece (10) for both interrogating and heating a gas in a cell of an atomic clock. The piece (10) has a gap (11), and is arranged for containing the cell (2), so as to directly touch the cell (2) in at least one point. The heating source (40, 60) generates heat, and is connected to the piece (10). The microwave conductor (12) is arranged to be connected to the piece (10) so as to send to the piece (10) a microwave signal for interrogating the atoms of the gas in the cell (2). This device performs more than one function (e.g. heating and interrogating) and simplify the manufacturing of the atomic clock.

Abstract: A time to digital converter may include a synchronization block configured to output a voltage pulse with duration based on a time difference between a reference oscillating signal and an input oscillating signal; a charge pump arranged to receive the voltage pulse and to convert the voltage pulse into a current pulse; an integrator comprising an integrator capacitor, the integrator being configured to receive the current pulse and integrate the current pulse as a charge on the integrator capacitor, resulting in an integrator output voltage; and a successive approximation register configured to determine the integrator output voltage with respect to a reference voltage by adjusting the charge on the integrator capacitor so as to reduce the integrator output voltage to within a least significant bit (D0) of a reference voltage by successive approximation, and configured to output the determined integrator output voltage as a digital signal.

Abstract: Ultra-short pulse detection. At least some example embodiments are methods including: receiving by an antenna a series of ultra-short pulses of electromagnetic energy at a repetition frequency, the receiving creates a pulse signal; self-mixing or intermodulating the pulse signal by applying the pulse signal to a non-linear electrical device, thereby creating a modulated signal; and filtering the modulated signal to recover a filtered signal having an intermodulated frequency being the repetition frequency.

Abstract: A watch type terminal is presented, which includes a main body; a band connected to the main body and formed to be worn on a user's wrist; an electrode unit formed in one area of the main body or the band and performing a predetermined function; an electromagnetic wave sensor module connected with the electrode unit and sensing a capacitance change; and a controller sensing whether the user wears the watch type terminal based on the capacitance change and generating a control command based on whether the user wears the watch type terminal.

Abstract: A system for generating a user-adjustable furnace profile, comprises a user interface configured to receive one or more materials properties from a user, a processor, and a memory with computer code instructions stored thereon. The memory is operatively coupled to the processor such that, when executed by the processor, the computer code instructions cause the system to implement communicating with a furnace to ascertain one or more thermal processes associated with the furnace, identifying one or more object characteristics associated with an object to be processed by furnace, and determining a thermal processing parameter profile of at least one thermal processing parameter corresponding to each of the thermal processes, based on (i) the one or more part characteristics and (ii) the one or more materials properties, the thermal processing parameter profile characterizing a cycle of the one or more thermal processes.

Abstract: A network- and/or client-side device configuration system facilitates automatic configuration of portable electronic devices. Predetermined configuration parameters for a particular portable electronic device are generated and stored. A computer-readable visual symbol such as an optical graphic code (for example, a tag, barcode, or matrix code) is generated by a network-side service and transmitted to an authorized user of the particular portable electronic device. The portable electronic device reproduces the visual symbol and transmits a message (which may or may not include the reproduced visual symbol) to the (same or different) network-side service. The network-side service authenticates the portable electronic device, and authorizes the portable electronic device to access and use the predetermined configuration parameters to automatically configure itself.

Abstract: A configurable, connectorized system for providing RTU monitoring of field digital and analog parameters and transmitting data to the Central PLC system dramatically reduces the number of wire connections that must be made to connect sensors and actuators to a PLC system. The system is also extremely rugged and safe to be located in a hazardous environment.

Abstract: A control device of an electrical apparatus configured to receive power from a facility that receives a supply of power from a system power supply, the facility including an energy management system that manages a power feeding schedule according to a first management function provided for managing the power feeding schedule for feeding power to the electrical apparatus, the control device includes an electronic control unit configured to: communicate with the energy management system; manage the power feeding schedule according to a second management function provided for managing the power feeding schedule in the control device; and determine whether the electronic control unit or the energy management system of the facility, will manage the power feeding schedule by comparing the first management function of the energy management system and the second management function of the control device.

Abstract: A control device for a machine tool that moves a tool relative to a workpiece and/or vice versa and machines said workpiece. Said control device is provided with a display unit that displays information related to the machine tool, a first-layer generation unit that generates a first layer that contains machining information related to the machining being performed on the workpiece, and a second-layer generation unit that generates a second layer that contains an image or handwritten note related to the machining information in the first layer. The display unit displays an image consisting of the second layer superimposed onto the first layer.

Abstract: The invention relates to a controller (1) comprising a control unit (2), which communicates with at least one input and/or output unit (10) via a data transmission channel (3, 6) for exchange of process data (P). The controller (1) has predetermined power saving process data (V) for power-saving states (En), which are associated with the input/output units (10), and is designed to access the predetermined power-saving process data (V) instead the exchanged process data (P) when in the power saving state.

Abstract: A computer implemented method, system and computer program product for a receptionist function in vehicles for communications management, such as phone call and texting management, includes determining driving context of a moving vehicle, estimating a risk factor related to the operation of the vehicle based on the driving context, receiving an incoming communication directed to a mobile communication device within the vehicle, analyzing the incoming communication to determine a communication factor, and determining an electronic action in response to the incoming communication based on the driving context, the risk factor and the communication factor.

Abstract: Provided is a machine system having optical endpoint control and associated method for maintaining having is provided constant optical contact. Specifically, the machine system comprises a machine capable of movement in at least one direction. The machine is configured such that, during a calibration phase, a steerable retroreflective system is mounted upon the machine for movement therewith. A controller is configured to control the movement of the machine in at least one direction. The machine system may be configured to automatically adjust the feedrate of the machine, upon determining that a velocity required for the positioner to move the retroreflector to a desired position exceeds a certain segment feedrate threshold, such that an incident beam of light can maintain constant contact with the retroreflector throughout movement of the machine from the first position to the second position.

Abstract: A system for managing notifications for a modular power plant that includes one or more power-generation module (PGM) assemblies and one or more common-systems (CS) includes a transceiver that receives data over a network; a display device that displays a graphical display; a memory that stores at least instructions; and a processor device that executes instructions that perform actions. The actions include receiving power plant data over the network that includes signals generated by one or more sensors included in at least one of the PGM assemblies or one of the CS; detecting an event based on the power plant data and one or more notification thresholds; in response to the event, determining a notification type based on the data and the one or more notification thresholds; providing a notification to a user via the graphical display based on the notification type and the event; and enabling the user to acknowledge the notification.

Abstract: A monitoring and control system includes a monitoring and control apparatus that transmits an instruction signal for instructing to control a target device to transmission destinations on a first and a second network by a transmission method that designates a plurality of transmission destinations and does not require responses from the transmission destinations, a controller that controls the target device according to the instruction signal and transmits process data indicating a process of the control to transmission destinations on the first and second networks by the transmission method, a transmitter that transmits the instruction signal and the process data to transmission destinations on the second network, a receiver that receives and transfers the instruction signal and the process data addressed to the transmission destinations on the second network and transmitted from the transmitter, and a monitor that receives the instruction signal and the process data.

Abstract: Systems and methods for synchronizing execution of recipe sets are described. One of the methods includes sending by a command controller to a master controller a recipe set and sending by the master controller the recipe set for execution by a sub-system controller of a plasma system. The operation of sending the recipe set from the master controller to the sub-controller is performed during a first clock cycle of a clock signal. The method includes generating by the command controller a recipe event signal and sending by the command controller to the sub-system controller the recipe event signal indicating a time of execution of the recipe set by the sub-system controller. The time of execution occurs during a second clock cycle that follows the first clock cycle. The second cycle is of the clock signal.

Abstract: A mobile phone includes an acceleration sensor for detecting acceleration, a magnetic sensor for detecting magnetism, and a controller for determining a type of moving state based on the acceleration detected by the acceleration sensor and the magnetism detected by the magnetic sensor.

Abstract: A tool track display device includes a position information acquisition unit which acquires position information of at least one drive axle from a numerical control device and a position sensor provided on the at least one drive axle, a tool coordinate calculation unit which calculates coordinate values of the tool based on the position information of the at least one drive axle and information regarding the mechanical structure of a machine tool, a display attribute modification unit which modifies the display attribute of the tool track in accordance with the motion direction of the tool, and a display unit which displays the tool track based on the coordinate values of the tool calculated by the tool coordinate calculation unit and the display attribute modified by the display attribute modification unit.

Abstract: A numerical control device includes an approach path calculation unit configured to calculate an approach path to the restarting machining point of the tool, a manual operation approach command unit, and an approaching operation switching unit, wherein the approaching operation switching unit is configured to receive switching request from an operator during the manual operation approach and switch to the automatic operation approach, or, receive manual intervention of the operator during the automatic operation approach and switch to the manual operation approach.

Abstract: An edge extraction unit extracts an edge image from a photographed image obtained by photographing a product with a camera. A constant edge acquisition unit acquires, as a constant edge image, an edge image in a constant surface where a positional deviation does not occur with respect to a welding point set by a processing program, the acquired image belonging to the extracted edge image. A correction amount acquisition unit performs pattern-matching between a master constant edge image and a workpiece edge image, which are acquired by the constant edge acquisition unit, and acquires a deviation amount between both thereof as a correction amount with respect to the welding point. A processing program correction unit corrects the welding point by the correction amount, and generates a corrected processing program for welding the workpiece. A welding robot welds the workpiece based on the corrected processing program.

Abstract: A vibration welding system includes vibration welding equipment having a welding horn and anvil, a host machine, a check station, and a welding robot. At least one displacement sensor is positioned with respect to one of the welding equipment and the check station. The robot moves the horn and anvil via an arm to the check station, when a threshold condition is met, i.e., a predetermined amount of time has elapsed or a predetermined number of welds have been completed. The robot moves the horn and anvil to the check station, activates the at least one displacement sensor, at the check station, and determines a status condition of the welding equipment by processing the received signals. The status condition may be one of the alignment of the vibration welding equipment and the wear or degradation of the vibration welding equipment.

Abstract: A numerical controller successively pre-reads blocks of a plurality of NC programs from a memory or from a storage device connected via a network, while executing the NC programs in parallel. The execution times of the pre-read blocks are integrated in respect of all of the NC programs that are the object of pre-reading, and when an NC program having the shortest integrated execution time of the pre-read blocks can be pre-read, the next block in that NC program is pre-read. On the other hand, when that NC program cannot be pre-read, the NC program is excluded from the pre-reading objects.

Abstract: Provided is a job plan display system capable of displaying a job plan on a product, and displaying a thumbnail as image information on the product on a display area of the job plan based on design data of the product, allowing an appropriate thumbnail to be displayed while suppressing an increase in system load. The job plan display system is configured to determine whether or not to display or update the thumbnail on a display area of the job plan based on at least one of intention of a designer who created the design data, such intention being assigned to the design data of the product, a predetermined update time, progress information on the design data created and a relationship between a changing part of the design data when the design data is changed and viewpoint coordinates when creating the thumbnail.

Abstract: Automated fixture layout is approached in two distinct stages. First, the spatial locations of clamping points on the work piece are determined to ensure immobility of the fixtured part under any infinitesimal perturbation. Second, spatial locations are matched against a user-specified library of reconfigurable clamps to synthesize a valid fixture layout or configuration that includes clamps that are accessible and collision free. The spatial locations matching during the second stage can be the same spatial locations chosen in the first stage to ensure immobility, or a different set of spatial locations.

Abstract: This invention concerns improvements in the inspection, assessment and re-working of manufactured components such as nozzle guide vanes (NGVs) and blades, in particular by improving the comparison of the component with nominal data. Dimensional data of a physical component is obtained and used to create a virtual digitized model of the component which is aligned with a nominal CAD model of the component in a virtual space. The correspondence is assessed and used to adjust weightings of different regions of the digitized model to improve the alignment. This process is repeated within the digital space until either conformance is reached or it is determined that this is not possible.

Abstract: An apparatus and methods for generating geometric data for use in an additive manufacturing process. The apparatus includes a processing unit. The processing unit may be arranged for receiving data defining surface geometry of a plurality of objects to be built together in an additive manufacturing process, providing a user interface that allows a user to define a location of each object within a common build volume and carrying out a slicing operation on at least one of the objects located in the common build volume independently from another one of objects located in the common build volume. The slicing operation determines sections of the at least one object to be built in the additive manufacturing process. In one embodiment, the objects are defined in a hierarchical data structure. Supports for supporting the objects during the build may be defined with reference to a 2-dimensional support cross-section.

Abstract: A modification management system for a configuration system, includes, not limited to a comparator, a record generator and a link generator implemented in one or more processors. The comparator is configured to determine if a first modification item in a first instruction file is modified. The record generator is configured to create a first record and to store the first modification item in a first record when the first modification item is determined, by the comparator, to be modified. The link generator configured to generate a first link between the first record and the first instruction file, wherein the first instruction file is configured to define at least one modification item for the configuration system.

Abstract: An integrated and networked system of remote operations is provided that extends remote expert NDT methodology to a variety of manufacturing and in-service processes. The functional elements of the system comprise remote NDT applications, advanced remote NDT, remote administration, remote NDT commercial operations, and remote data analytics, which are all tied together by a remote communications hub. The communications hub has communication links with computer systems of those functional elements.

Abstract: A monitoring system for monitoring a plurality of components is provided. The monitoring system includes a plurality of client systems. The plurality of client systems is configured to generate a plurality of component status reports. The plurality of component status reports is associated with the plurality of components. The monitoring system also includes a component wear monitoring (CWM) computer device configured to receive the plurality of component status reports from the plurality of client systems, generate component status information based on a plurality of component status reports, aggregate the component status information to identify a plurality of images associated with a first component, and compare the plurality of images associated with the first component. The plurality of images represents the first component at different points in time. The CWM computer device is also configured to determine a state of the first component based on the comparison.

Abstract: Method and system for performing close-loop analysis to electronic component failures are provided. The system establishes an electronic component fault tree of physics of failure (FTPF), converts the FTPF into a failure locating fault tree, establishes an electronic component fault dictionary with the cause of failure mechanism corresponding to failure characteristics, and performs close-loop analysis to the electronic component according to the fault tree and the fault dictionary.

Abstract: A numerical controller in the present invention includes a bus trace circuit configured to fetch a bus cycle satisfying preset conditions, an alarm history, an alarm data acquisition table in which whether to acquire trace data is recorded for each alarm, and a trace circuit setting table in which fetching conditions of the bus cycle of the bus trace circuit are recorded for each alarm, and identifies an alarm for which the trace data is to be fetched from the alarm history and the alarm data acquisition table, reads the fetching conditions of the bus cycle corresponding to the alarm from the trace circuit setting table, sets the fetching conditions to the bus trace circuit, and acquires the trace data of the bus cycle based on the fetching conditions that are set through the bus trace circuit.

Abstract: A motor controller for controlling an electric motor includes at least one integrated sensor disposed on the electric motor. The least one integrated sensor is configured to collect sensor data associated with a status of the electric motor for a period of time, the period of time beginning at an activation time and extending at least until an installation time. The motor controller may include an energy management system configured to power the at least one integrated sensor for at least a portion of the period of time, and a memory device configured to store the sensor data. The motor controller may include a data management system configured to communicate the sensor data from the at least one integrated sensor to at least one of the memory device and a remote device.

Abstract: The invention relates to a method and device for modifying a device for cleaning a submerged surface, the device including a cleaning appliance, a control unit suitable for sending control signals to the appliance, characterized in that a modification device is inserted onto the link between the control unit and the appliance, which modification device includes an antenna for receiving wireless request signals and a signal-processing unit for transmitting signals from the control unit to the appliance and, upon receipt of wireless request signals in the receiving antenna, for ignoring signals from the control unit, and producing and transmitting priority control signals to the cleaning appliance.

Abstract: A trackless vehicle may be dispatched in a ride path comprising a predefined path and a set of optional predefined paths by receiving, such as by an on-board trackless vehicle controller, a rider identifier associated with a rider who is associated with the trackless vehicle, either a rider about to board the trackless vehicle or a rider who has boarded the trackless vehicle. Upon receipt, identification, and validation of the rider identifier, a predetermined set of optional predefined paths available to and associated with the validated rider identifier are identified and one or more of the predefined paths are selected, with the trackless vehicle being commanded to proceed onto the selected predefined path.

Abstract: An apparatus and method for centralized control of a vehicle. The apparatus includes: a processing circuitry; and a memory, the memory containing instructions that, when executed by the processing circuitry, configure the apparatus to: establish control of at least one vehicle, wherein establishing the control further comprises determining a set of instructions for controlling each vehicle; generate a mission plan for a first vehicle of the at least one vehicle based on a request from a node when the request is valid, wherein the request indicates at least a first location and a second location; send, to the first vehicle, control instructions for navigating to the first location based on the mission plan; and send, to the first vehicle, control instructions for navigating from the first location to the second location based on the mission plan, when the vehicle is at the first location.

Abstract: A system may include an unmanned surveyor and a controller for the surveyor. The controller may include a headset. The surveyor includes a vehicle for moving within an environment and a camera for capturing video or images of the environment. The surveyor identifies points within the environment, and positions of those points (e.g., latitude, longitude, elevation). The surveyor may calculate spatial dimensions of virtual lines and/or shapes superimposed within the real-world environment. The controller may control the surveyor. The surveyor may be responsive to a controller headset that detects movement. The controller may display video or images captured by the surveyor, and may provide to a user an immersive first-person perspective of the environment. The user may utilize the controller to superimpose virtual lines and shapes onto the environment. These superimposed lines and shapes may trace real-world objects, enabling the user to remotely evaluate features of the real-world objects.

Abstract: The present invention relates to a device capable of controlling a flying bot and a control method therefor, the device comprising: a communication unit for performing wireless communication with the flying bot; a display unit for displaying image information related to the control of the flying bot; a user input unit for controlling a flying state of the flying bot and a function which can be performed by the flying bot; a detection unit for detecting at least one of a rotating direction, a moving direction and a tilt state of the flying bot; and a control unit for receiving, from the flying bot, information about a location and/or a surrounding situation of the flying bot through the communication unit and changing a flight control manner of the flying bot on the basis of the received result, wherein, according to the changed flight control manner of the flying bot, the control unit determines, on the basis of a location of a user, the moving direction and the rotating direction of the flying bot according

Abstract: An autonomous vehicle comprises an environment sensing means for sensing an environment of the autonomous vehicle, and a computing unit configured to perform a mapping function and a localization function. The mapping function is based upon signals supplied from the environment sensing means to build a map. The localization function localizes the autonomous vehicle within the map and generates localization information. The autonomous vehicle further comprises boundary distance sensing means configured to generate a distance signal correlated to a distance between the autonomous vehicle and boundary indication means. The computing unit is configured to receive the distance signal and to perform the mapping function or the localization function based upon a signal from the environment sensing means and the distance signal from the boundary distance sensing means. The system also comprises a boundary wire indicating a border of an area in which autonomous driving of the vehicle can be performed.

Abstract: A computer-implemented method includes receiving data from one or more sensors that detect one or more environmental parameters associated with an autonomous submersible structure, determining one or more navigation parameters based on the one or more environmental parameters and one or more viability profiles associated with cargo contained within the autonomous submersible structure and that specify constraints on the one or more environmental parameters, and controlling, based on the one or more navigation parameters, a propulsion system of the autonomous submersible structure.

Abstract: A marine vessel includes a distance detector that measures a distance to an object, a speed detector that detects a vessel speed, and a controller that executes on-shore/off-shore assistance control to control a propulsion unit to generate a thrust that moves a vessel body in a direction opposite to a direction toward the object based on the distance to the object measured by the distance detector and the vessel speed detected by the speed detector.

Abstract: Aspects of the disclosure relate to providing information about a vehicle dispatched to pick up the user. In one example, a request for the vehicle to stop at a particular location is sent. In response, information identifying a current location of the vehicle is received. A map is generated. The map includes a first marker identifying the received location of the vehicle, a second marker identifying the particular location, and a shape defining an area around the second marker at which the vehicle may stop. The shape has an edge at least a minimum distance greater than zero from the second area. A route is displayed on the map between the first marker and the shape such that the route ends at the shape and does not reach the second marker. Progress of the vehicle towards the area along the route is displayed based on received updated location information for the vehicle.

Abstract: An autonomous travel work vehicle (1), which is provided with a position calculation means that measures the device body position by means of a satellite positioning system, a steering actuator (40) that operates a steering device, an engine rotation control means, a transmission means (44), and a control device (30) that controls each of same, is caused to autonomously travel, along a set travel path stored in the control device (30), by an accompanying travel work vehicle (100) that works while accompanying the travel of the autonomous travel work vehicle (1) by means of attended operation and that is mounted with a remote operation device (112) that can operate the autonomous travel work vehicle, and the control device (30) halts autonomous travel when a signal disruption from the satellites, a large deviation from the set travel path, an abnormal sensor value, fuel exhaustion, or the like is detected.

Abstract: In one embodiment, a first position associated with a set of rear wheels of an autonomous vehicle is determined based on global positioning system (GPS) data received from a GPS source. A moving direction of the autonomous vehicle is determined based on directional data received from an inertial measurement unit (IMU) onboard. A second position associated with a set of front wheels of the autonomous vehicle is calculated based on the first position and the moving direction of the autonomous vehicle. A route segment of a route is planned based on the second position as a current position of the autonomous vehicle. Planning and control data is generated for the route segment. The autonomous vehicle is controlled and driven based on the planning and control data.

Abstract: A system, method and apparatus for implementation of variable references frames in unmanned vehicles is provided, which includes an unmanned vehicle comprising: a chassis; a propulsion system configured to move the chassis; sensor(s) configured to sense features around the chassis; a memory storing a global reference frame associated with an environment within which the chassis is to move; a communication interface; and a processor configured to: receive, using the interface, a command to move to a given coordinate in the global reference frame; control the propulsion system to move the chassis to the given coordinate; when the chassis is at the given coordinate, determine, using the sensor(s), that a given feature is detected; and, when so: automatically cease controlling the propulsion system according to the global reference frame; automatically move the chassis according to a local reference frame defined with reference to a point associated with the given feature.

Abstract: An autonomous guided vehicle system that provides decentralized coordination and real-time environmental changes in a workspace to a vehicle. The system includes distributed cameras positioned in predetermined locations. The cameras are adapted to communicate with other cameras to coordinate the movement of the vehicles from a source to a destination.

Abstract: An unmanned aerial vehicle (UAV) is provided. The UAV includes a main body, a plurality of motors connected to the main body, each of the plurality of motors having a rotor blade, a plurality of ultrasonic sensors located at least one of the plurality of motors and the main body, and transmitting and receiving ultrasonic waves to and from a ground surface, and measuring distances from the ground surface, a gyro sensor disposed at the main body and maintaining the UAV in a horizontal state, and a controller disposed at the main body, detecting an unevenness of the ground surface based on the distances from the plurality of ultrasonic sensors to the ground surface, generating a control signal whether to land on the ground surface or not in response to the detection of the unevenness, and transmitting the control signal to the plurality of motors.