• Journal of the Korea Society for Simulation
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• v.27 no.4
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• pp.47-60
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• 2018

Today's unmanned technology, which is being used in various industries, is expected to be able to make autonomous judgements as autonomous technology matures, in the long run aspects. In order to improve the usability of unmanned system in the military field, it is necessary to develop a technique for systematically and quantitatively analyzing the efficiency and effectiveness of the unmanned system by means of a substitute for the tasks performed by humans. In this paper, we propose the method of representing rule-based tactical behavior and modeling manned and unmanned reconnaissance agents that can effectively analyze the path alternatives which is required for the future armored cavalry to establish a reconnaissance mission plan. First, we model the unmanned ground vehicle, small tactical vehicle, and combatant as an agent concept. Next, we implement the proposed agent behavior rules, e.g., maneuver, detection, route determination, and combatant's dismount point selection, by NetLogo. Considering the conditions of maneuver, enemy threat elements, reconnaissance assets, appropriate routes are automatically selected on the operation area. It is expected that it will be useful in analyzing unmanned ground system effects by calculating reconnaissance conducted area, time, and combat contribution ratio on the route.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.6
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• pp.993-1001
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• 2011

Unmanned ground vehicle for facility protection mostly uses model of territory for autonomous navigation. However, modeling of territory using several sensors is highly time consuming and sometimes inefficient for road application. Therefore, an estimation of drivable path based on features of road is required for high speed autonomous navigation on road. In this paper, an estimation method of drivable path using camera and 2D laser rangefinder is proposed. First, a vanishing point is estimated based on image data from CCD camera. Second, a road width is estimated based on range data from 2D laser rangefinder. Finally, the drivable path is estimated by fusing the vanishing point and the road width. The proposed method is tested on both well-structured road and unpaved road like cross-country situation.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.5
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• pp.760-767
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• 2011

To strategically select the technology priority based on the understanding of technology development trends and prospects is very important. To provide such guidance for autonomous driving technology in unmanned ground combat vehicles, this report deals with followings; 1) The core technologies for autonomous driving are reviewed. 2) And domestic and foreign policies for relevant technology development are investigated. 3) Then, to estimate the technology development trend, the published patents and research papers are analyzed. 4) Based on those analyses, domestic technology level and development prospects are expected.

• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.5
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• pp.583-589
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• 2013

In this paper, we proposed a system that efficiently provides support maps which includes the grid based terrain analysis information. To do this, we use the FDB which is defined as a GIS database that contains features with attributes attached to the features. The FDB is composed of a number of features and feature classes. In order to create support maps, it is necessary to classify feature classes that are associated with each support map and to search them in a grid map. The proposed system use a ontology model to classify semantically feature classes and the quad-tree data structure to find them in a grid map quickly. Therefore, our system is expected to be utilized for global path planning of UGV. In this paper, we show the possibility through an experimental implementation.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.6
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• pp.794-802
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• 2017

Unmanned Aerial Vehicles (UAVs) have been considered as valuable aerial reconnaissance systems and our army wants capability-enhanced UAVs installed in our territory, hoping that the UAVs will provide enemy information in detail. The enemy information acqcuired by UAVs would be shared by our army's legacy systems. In this article, we made a research on the interoperability between UAVs and Ground Fighting Vehicles (GFVs), laying emphasis on what kinds of tactical information could be exchanged by two different weapon systems. Also, it needs to be addressed that their upper-level commanding systems play a significant role in such operation.

• Journal of the Korea Institute of Military Science and Technology
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• v.26 no.1
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• pp.31-43
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• 2023

In this paper, we propose a method for generating a global path for an unmanned vehicle using public data of road section information. First, the method of analyzing road section information of the Ministry of Land, Infrastructure and Transport is presented. Second, we propose a method of preprocessing the acquired road section information and processing it into meaningful data that can be used for global routes. Third, we present a method for generating a global path using the preprocessed road section information. The proposed method has proven its effectiveness through actual autonomous driving experiments of unmanned ground vehicles.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.9
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• pp.781-789
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• 2021

In this paper, we quantitatively analyzed the required UAV(Unmanned Aerial Vehicle) failure rate of small UAV (≤25kg) based on the harm to human caused by UAV crash to fly over the populated area. We compute the number of harm to human when UAV falls to the ground at certain descent point by using population density, car traffic, building to land ratio, number of floors of building data of urban area and UAV descent trajectory modeling. Based on this, the maximum allowable UAV failure rate is calculated to satisfy the Target Level of Safety(TLS) for each UAV descent point. Then we can generate the failure rate requirement in the form of map. Finally, we divide UAV failure rate into few categories and analyze the possible flight area for each failure rate categories. Considering the Youngwol area, it is analyzed that the UAV failure rate of at least 10^-4 (failure/flight hour) is required to access the residential area.

• Journal of the Korea Society for Simulation
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• v.27 no.2
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• pp.1-10
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• 2018

This paper presents an autonomous detection and aiming point computation of a battle tank by using RGB images. Maximally stable extremal regions algorithm was implemented to find features of the tank, which are matched with images extracted from streaming video to figure out the region of interest where the tank is present. The median filter was applied to remove noises in the region of interest and decrease camouflage effects of the tank. For the tank segmentation, k-mean clustering was used to autonomously distinguish the tank from its background. Also, both erosion and dilation algorithms of morphology techniques were applied to extract the tank shape without noises and generate the binary image with 1 for the tank and 0 for the background. After that, Sobel's edge detection was used to measure the outline of the tank by which the aiming point at the center of the tank was calculated. For performance measurement, accuracy, precision, recall, and F-measure were analyzed by confusion matrix, resulting in 91.6%, 90.4%, 85.8%, and 88.1%, respectively.

• Proceedings of the KAIS Fall Conference
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• 2011.05b
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• pp.818-820
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• 2011

본 논문에서는 도로 지하에 매설되어 있는 2m${\times}$2m 정도 규격의 박스형태 암거의 좁은 공간에서 원활하게 준설작업을 할 수 있는 준설시스템의 개발을 하고자 한다. 준설시스템의 작업과정은 지하에 매설된 암거의 내부를 �렵罹만� 원격 조정하여, 오염된 슬러지 준설 작업을 수행하는 준설기와 슬러지를 지상으로 반출하는 유압식 듀얼 이송스크류 슬러지 배출 차량 및 지상으로 반출된 슬러지의 수분을 제거하는 슬러지 탈수 처리 장치로 구성되어 있다.

• Journal of KIISE:Software and Applications
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• v.35 no.12
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• pp.705-715
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• 2008

Today raises its head on the issue of interoperability caused by the complexity of the embedded software and the diverse development environment about SUGV(Small Unmanned Ground Vehicle). So, we propose to adopt the original MDA mechanism for this heterogeneous embedded development. To solve this problem, we apply for developing SUGV with MDA(Model Driven Architecture) using the original UML profile mechanism. Through this method, it can be semi-automatically transformed into TSM(Target specific model) after modeling TIM(Target Independent Model). Then we can also automatically generate the heterogeneous source codes. Therefore it will be reduced the development cycle and effort of the heterogeneous systems. We verify the benefits of our proposed approach and the reliability through analyzing the generated codes.