• ETRI Journal
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• 제41권4호
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• pp.506-514
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• 2019

Currently, studies on autonomous driving are being actively conducted. Vehicle positioning techniques are very important in the autonomous driving area. Currently, the global positioning system (GPS) is the most widely used technology for vehicle positioning. Although technologies such as the inertial navigation system and vision are used in combination with GPS to enhance precision, there is a limitation in measuring the lane and position in shaded areas of GPS, like tunnels. To solve such problems, this paper presents the use of LED lighting for position estimation in GPS shadow areas. This paper presents simulations in the environment of three-lane tunnels with LEDs of different color temperatures, and the results show that position estimation is possible by the analyzing chromaticity of LED lights. To improve the precision of positioning, a fuzzy logic system is added to the location function in the literature [1]. The experimental results showed that the average error was 0.0619 cm, and verify that the performance of developed position estimation system is viable compared with previous works.

• Nuclear Engineering and Technology
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• 제49권5호
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• pp.896-904
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• 2017

Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors.

• 한국융합학회논문지
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• 제9권11호
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• pp.45-51
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• 2018

자율운항선박은 제4차 산업혁명을 맞이하여 조선해양분야에서 가장 주목을 받고 있는 기술이다. 특히, 자율운항선박기술은 해상에서의 안전성, 신뢰성, 효율성 및 친환경을 달성할 수 있는 핵심기술로서 간주되고 있다. 자율운항선박의 실현을 위해서는 선박이 자유적으로 운항할 수 있는 기술 뿐 아니라, 육상에서 원격으로 선박을 제어할 수 있는 기술도 중요하다. 본 논문에서는 육상에서 다양한 선박을 원격에서 관제할 수 있는 육상관제시스템에 대해서 다루고 있다. 본 논문에서는 원격관제를 위한 개방형 자율운항 시스템 구조로서 육상과 선박간 원격과제 및 원격 모니터링을 수행하기 위한 표준화된 원격관제 프로토콜과 선박 제어방안을 제안하고 있다. 또한, 본 논문에서는 모의선박을 통한 테스트베드 구축과 원격제어 기능에 대한 테스트를 통해 제안된 시스템의 적합성을 확인하였다.

• 항공우주시스템공학회지
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• 제17권2호
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• pp.56-61
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• 2023

최근 국내·외 적으로 AI 기반의 MUM-T 복합전투체계 고도화와 이를 통한 산업의 활성화가 글로벌 이슈로 급부상하고 있다. 그러나 우리의 국방부 방위사업법은 무기체계 자체기기 중심으로 MUM-T 실증이 이루어져 무기체계의 운용 부분에 대한 고도화에 NATO 선도국 대비 다소 미흡한 것으로 판단된다. 우리의 미래 글로벌 UGV, UAV, UMS 등 MUM-T 복합전투체계의 국제경쟁력 강화를 위해서는 자율화 MUM-T 개념 정립, 자율화·상호운용성·데이터 표준화 기반의 국방 AI MUM-T 최상위 플랫폼 구축과 운용, 국가과학기술자문회의와 같은 대통령소속의 국방혁신위원회의 신설과 심의·자문 기능 강화·추가가 요구된다.

• 품질경영학회지
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• 제46권4호
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• pp.973-982
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• 2018

Purpose: The purpose of this study is to develop an effective simulation modeling formalism for autonomous control systems, such as unmanned aerial vehicles and unmanned surface vehicles. The proposed simulation modeling formalism can be used to evaluate the quality and effectiveness of autonomous control systems. Methods: The proposed simulation modeling formalism is developed by extending the classic DEVS (Discrete Event Systems Specifications) formalism. The main advantages of the classic DEVS formalism includes its rigorous formal definition as well as its support for the specification of discrete event models in a hierarchical and modular manner. Results: Although the classic DEVS formalism has been a popular modeling tool, it has limitations in describing an autonomous control system which needs to make decisions by its own. As a result, we proposed an extended DEVS formalism which enables the effective description of internal decisions according to its conditional variables. Conclusion: The extended DEVS formalism overcomes the limitations of the classic DEVS formalism, and it can be used for the effectiveness simulation of autonomous weapon systems.

• 자동차안전학회지
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• 제15권1호
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• pp.16-26
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• 2023

Recently, the importance of simulation in a virtual driving environment as well as real road-based tests for autonomous vehicle testing is increasing. Real road tests are being actively conducted at K-City, an autonomous driving test bed located at the Korea Automobile Safety Test & Research Institute of the Transportation Safety Authority. In addition, the need to advance the K-City virtual driving environment and build a virtual environment similar to the autonomous driving system test environment in real road tests is increasing. In this study, for K-City of Korea Automobile Safety Test & Research Institute, using detailed drawings and actual field data, K-City virtual driving environment was advanced, and similarity verification was verified through comparative analysis with actual K-City.

• 자동차안전학회지
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• 제14권2호
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• pp.51-56
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• 2022

This paper presents an Ground Segmentation algorithm to eliminate unnecessary Lidar Point Cloud Data (PCD) in an autonomous driving system. We consider Random Sample Consensus (Ransac) Algorithm to process lidar ground data. Ransac designates inlier and outlier to erase ground point cloud and classified PCD into two parts. Test results show removal of PCD from ground area by distinguishing inlier and outlier. The paper validates ground rejection algorithm in real time calculating the number of objects recognized by ground data compared to lidar raw data and ground segmented data based on the z-axis. Ground Segmentation is simulated by Robot Operating System (ROS) and an analysis of autonomous driving data is constructed by Matlab. The proposed algorithm can enhance performance of autonomous driving as misrecognizing circumstances are reduced.

• 한국시뮬레이션학회논문지
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• 제8권1호
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• pp.89-99
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• 1999

The major objective of this research is to propose a design architecture for autonomous defense systems for supporting highly intelligent behavior by combining decision, perception, and action components. Systems with such high levels of autonomy are critical for advanced battlefield missions. By integrating a plenty of advanced modeling concepts such as system entity structure, endomorphic modeling, engine-based modeling, and hierarchical encapsulation & abstraction principle, we have proposed four layered design methodology for autonomous defense systems that can support an intelligent behavior under the complicated and unstable warfare. Proposed methodology has been successfully applied to a design of autonomous tank systems capable of supporting the autonomous planning, sensing, control, and diagnosis.

• 국제교류와 융합교육
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• 제3권2호
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• pp.29-45
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• 2023

이 연구는 현재 운영 중인 자율학교의 현황을 토대로 과제를 모색하는데 목적을 두고 있다. 연구방법은 문헌연구의 방법을 사용하였다. 그리고 연구내용은 자율학교의 의의와 발전, 자율학교의 유형, 자율학교의 현황과 과제의 영역으로 구분하였다. 자율학교의 의의와 발전에서는 표준화·규격화된 교육에서 소외가 발생함에 따라 학교교육제도를 포함한 교육제도의 개선과 발전을 위해 학교 및 교육과정 운영의 특례가 인정되는 자율학교가 제도적으로 보장되는 과정을 설명하였다. 다음으로 자율학교의 유형에서는 일반형 자율학교와 제주형 자율학교로 구분하여 논의하였다. 일반형은 초·중등교육법에 법적 근거를 두고 있고, 제주형은 제주특별법에 의해 운영이 되며 내용적 사항도 차이가 있어 이들의 특징적인 면을 살펴보았다. 마지막으로 자율학교의 현황과 과제에 대해 논의하였다. 법적 근거와 내용을 달리하는 일반형과 제주형의 특징적인 면을 살펴보고, 그에 따른 과제를 제시하였다. 과제는 자율학교의 수가 많고, 지역별·유형별 편중이 심하며, 교장 자격과 학교운영위원회 등 주로 제도적 측면에 대한 특례의 활용이 많고, 제주의 경우 인력 지원의 원활성이 있는 점으로 제시하였다. 이들 논의 결과 형식적인 자율학교의 운영이 아니라, 내실있는 자율학교의 운영이 요청되었다.

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.898-904
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• 2010

Unmanned autonomous forklifts have a great potential to enhance the productivity of material handling in various applications because these forklifts can pick up and deliver loads without an operator and any fixed guide. There are, however, many technical difficulties in developing such forklifts including localization, map building, sensor fusion, control and so on. Implementation, which is often neglected, is one of practical issues in developing such an autonomous device. This is because the system requires numerous sensors, actuators, and controllers that need to be connected with each other, and the number of connections grows very rapidly as the number of devices grows. Another requirement on the integration is that the system should allow changes in the system design so that modification and addition of system components can be accommodated without too much effort. This paper presents a network-based distributed approach where system components are connected to a shared CAN network, and control functions are divided into small tasks that are distributed over a number of microcontrollers with a limited computing capacity. This approach is successfully applied to develop an unmanned forklift.