• KIPS Transactions on Software and Data Engineering
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• v.11 no.9
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• pp.363-370
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• 2022

Grasping a target object among clutter objects without collision requires machine intelligence. Machine intelligence includes environment recognition, target & obstacle recognition, collision-free path planning, and object grasping intelligence of robot hands. In this work, we implement such system in simulation and hardware to grasp a target object without collision. We use a RGB-D image sensor to recognize the environment and objects. Various path-finding algorithms been implemented and tested to find collision-free paths. Finally for an anthropomorphic robot hand, object grasping intelligence is learned through deep reinforcement learning. In our simulation environment, grasping a target out of five clutter objects, showed an average success rate of 78.8%and a collision rate of 34% without path planning. Whereas our system combined with path planning showed an average success rate of 94% and an average collision rate of 20%. In our hardware environment grasping a target out of three clutter objects showed an average success rate of 30% and a collision rate of 97% without path planning whereas our system combined with path planning showed an average success rate of 90% and an average collision rate of 23%. Our results show that grasping a target object in clutter is feasible with vision intelligence, path planning, and deep RL.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.3
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• pp.429-438
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• 2021

Owing to the development of science technology, particularly the smart concept and defense policy factors of the 4th industry, military weapon systems are advanced, and the scientific and operational force is reduced dramatically. The aspect of the future war is characterized by the operation of troops with reduced forces from advanced and scientific weapon systems in an operational area that has expanded more than four times compared to the present. Reflecting on these situational factors, it is necessary to improve combat methods based on the changes in the battlefield environment and advanced weapon systems. In this study, to find a more efficient future combat method in a changing war pattern, this study applied the battle experiment methodology using Vision21 war game model, which is an analytical model used by the army. Finally, this study aimed to verify the future combat method and unit structure. Therefore, the scenario composition and experiment method that reflect the change in the ground operational environment and weapon system was first composed. Subsequently, an analysis method based on the combat effectiveness was applied to verify the effective combat performance method and unit structure of future infantry units.

• Membrane Journal
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• v.32 no.6
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• pp.411-426
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• 2022

Energy plays a significant role in modern lifestyle because of our extensive reliance over energy-operating devices. Therefore, there is a need for alternative and green energy resources that can fulfill the energy demand. For this, fuel cell (FCs) especially anion exchange membrane fuel cells (AEMFCs) have gained tremendous attention over the other (FCs) due to their fast reaction kinetics without using noble catalyst and allow to use of cheaper polymers with high performance. But lack of highly conductive, chemically, and mechanically stable anion exchange membrane (AEM) still main obstacle to the development of high performance AEMFCs. Therefore, graphene-based polymer composite membranes came into the existence as AEMs for the FCs. The exceptional properties of the graphene help to improve the performance of AEMs. Still, there are lot of challenges in the graphene derivatives based AEMs because of their high tendency of agglomeration in polymer matrix which reduced their potential. To overcome this issue surface modification of graphene derivatives is necessary to restrict their agglomeration and conserved their potential features that can help to improve the performance of AEM. Therefore, this review focus on the surface modification of graphene derivatives and their role in the fabrication of AEMs for the FCs.

• Journal of the Korea Society of Computer and Information
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• v.18 no.10
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• pp.109-119
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• 2013

An unmanned ground vehicle(UGV) today plays a significant role in both civilian and military areas. Predominantly these systems are used to replace humans in hazardous situations. To take unmanned ground vehicles systems to the next level and increase their capabilities and the range of missions they are able to perform in the combat field, new technologies are needed in the area of command and control. For this reason, we present war field simulator based on information fusion technology to efficiently control UGV. In this paper, we present the war field simulator which is made of critical components, that is, simulation controller, virtual image viewer, and remote control device to efficiently control UGV in the future combat fields. In our information fusion technology, improved methods of target detection, recognition, and location are proposed. In addition, time reduction method of target detection is also proposed. In the consequence of the operation test, we expect that our war field simulator based on information fusion technology plays an important role in the future military operation significantly.

• Korean Security Journal
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• no.25
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• pp.185-208
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• 2010

This study is to suggest the current security education programs and improvement of industrial security curriculums in Korea. We live in a world of insecurity; the world is changing at an ever accelerating pace. Life, society, economics, international relations, and security risk are becoming more and more complex. The nature of work, travel, recreation, and communication is radically changing. We live in a world where, seemingly with each passing year, the past is less and less's guide to the future. Security is involved in on one way or another in virtually every decision we make and every activity we undertake. The global environment has never been more volatile, and societal expectations for industrial security and increasing if anything. The complexities of globalization, public expectation, regulatory requirements, transnational issues, jurisdictional risks, crime, terrorism, advances in information technology, cyber attacks, and pandemics have created a security risk environment that has never been more challenging. We had to educate industrial security professional to cope with new security risk. But, how relevant is a college education to the security professional? A college degree will not guarantee a job or advancement opportunities. But, with a college and professional training, a person has improved chances for obtaining a favored position. Commonly, Security education and experience are top considerations to find a job so far, also training is important. Today, Security is good source to gain competitive advantage in global business. The future of security education is prospect when one considers the growth evident in the field. Modern people are very security-conscious today, so now we had to set up close relevant industrial security programs to cope with new security risk being offered in colleges or several security professional educational courses.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.5
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• pp.427-436
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• 2010

This paper deals with a task assignment problem of multiple UAVs performing multiple tasks on multiple targets. The task assignment problem of multiple UAVs is a kind of combinatorial optimization problems such as traveling salesman problem or vehicle routing problem, and it has NP-hard computational complexity. Therefore, computation time increases as the size of considered problem increases. To solve the problem efficiently, approximation methods or heuristic methods are widely used. In this study, the problem is formulated as a mixed integer linear program, and is solved by a mixed integer linear programming and a genetic algorithm, respectively. Numerical simulations for the environment of the multiple targets, multiple tasks, and obstacles were performed to analyze the optimality and efficiency of each method.

• Journal of the Korea Society of Computer and Information
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• v.16 no.12
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• pp.11-21
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• 2011

An embedded sensor is significantly influenced by its spatial environment, such as barriers or distance, through low power and signal strength. Due to these causes, noise data frequently occur in an embedded sensor. Because the information acquired from the embedded sensor exists in a time series, it is hard to detect an error which continuously takes place in the time series information on a realtime basis. In this paper, we proposes an error detection method based on time-series prediction that detects error signals of embedded sensors in real time in consideration of the physical characteristics of embedded devices. The error detection method based on time-series prediction proposed in this paper determines errors in generated embedded device signals using a stable distance function. When detecting errors by monitoring signals from an embedded device, the stable distance function can detect error signals effectively by applying error weight to the latest signals. When detecting errors by monitoring signals from an embedded device, the stable distance function can detect error signals effectively by applying error weight to the latest signals.

• KIPS Transactions on Software and Data Engineering
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• v.3 no.9
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• pp.369-374
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• 2014

Path generation methods are required for safe and efficient driving in unmanned autonomous vehicles. There are two kinds of paths: global and local. A global path consists of all the way points including the source and the destination. A local path is the trajectory that a vehicle needs to follow from a way point to the next in the global path. In this paper, we propose a novel method for local path generation through machine learning, with an effective curve function used for initializing the trajectory. First, reinforcement learning is applied to a set of candidate paths to produce the best trajectory with maximal reward. Then the optimal steering angle with respect to the trajectory is determined by training an artificial neural network. Our method outperformed existing approaches and successfully found quality paths in various experimental settings, including the cases with obstacles.

• Journal of Digital Contents Society
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• v.12 no.3
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• pp.279-289
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• 2011

The latest hardware and software techniques are combined to give safe walking guidance and convenient service of realtime walking assistance system for visually impaired person. This system consists of obstacle detection and perception, place recognition, and sign recognition for pedestrian can safely walking to arrive at their destination. In this paper, we exploit the sign object detection system in subway station for sign recognition that one of the important factors of walking assistance system. This paper suggest the adaptive feature map that can be robustly extract the sign object region from complexed environment with light and noise. And recognize a sign using fast zernike moment features which is invariant under translation, rotation and scale of object during walking. We considered three types of signs as arrow, restroom, and exit number and perform the training and recognizing steps through adaboost classifier. The experimental results prove that our method can be suitable and stable for real-time system through yields on the average 87.16% stable detection rate and 20 frame/sec of operation time for three types of signs in 5000 images of sign database.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.1A
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• pp.65-75
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• 2009

In Wireless Sensor Network, the sensor node localization is important issue for information tracking, event detection, routing. Generally, in wireless sensor network localization, the absolute positions of certain anchor nodes are required based on the use of global positioning system, then all the other nodes are approximately localized using various algorithms based on a coordinate system of anchor DV-Hop is a localized, distributed, hop by hop positioning algorithm in wireless sensor network where only a limited fraction of nodes have self positioning capability. However, instead of uniformly distributed network, in anisotropic network with possible holes, DV-Hop's performance is very low. To address this issue, we propose Group based DV-Hop (GDV-Hop) algorithm. Best contribution of GDV-Hop is that it performs localization with reduced error compared with DV-Hop in anisotropic network.