• International Journal of Computer Science & Network Security
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• v.22 no.9
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• pp.183-188
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• 2022

Recently, more and more researches aimed at the development of automated and autonomous ships are appearing in the scientific environment. One of the main reason is the need to solve the problems of safe navigation and reducing accidents due to human factor, as well as the ever-increasing problem associated with the lack of qualified maritime personnel. Development of technologies based on application of artificial intelligence also plays important role, after all for realization of autonomous navigation concept and enhancement of ship automatic maneuvering processes, advancement of maneuvering functions and elaboration of specific algorithms on prevention of close quarter situations and dangerous approach of ships will be required. The purpose of this work is the review of preconditions of occurrence of the autonomous ship navigation conception, overview of introduction stages and prospects for ship remote control based on unmanned technologies, analysis of technical and intellectual decisions of autonomous surface ships, main research tendencies. The research revealed that the technology of autonomous ship navigation requires further development and improvement, especially in terms of the data transmission protocols upgrading, sensors of navigation information and automatic control systems modernization, which allows to perform monitoring of equipment with the aim of improving the functions of control over the autonomous surface ship operation.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.3
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• pp.368-376
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• 2021

With the recent development of deep learning technology, autonomous things technology is attracting attention, and DNNs are widely used in embedded systems such as drones and autonomous vehicles. Embedded systems that can perform large-scale operations and process multiple DNNs for high recognition accuracy without relying on the cloud are being released. DNNs with various levels of priority exist within these systems. DNNs related to the safety-critical applications of autonomous vehicles have the highest priority, and they must be handled first. In this paper, we propose a priority-based scheduling framework for DNNs when multiple DNNs are executed simultaneously. Even if a low-priority DNN is being executed first, a high-priority DNN can preempt it, guaranteeing the fast response characteristics of safety-critical applications of autonomous vehicles. As a result of checking through extensive experiments, the performance improved by up to 76.6% in the actual commercial board.

• Structural Engineering and Mechanics
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• v.41 no.2
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• pp.263-284
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• 2012

This paper aims to propose a computational technique for estimating the region of attraction (RoA) for autonomous nonlinear systems. To achieve this, the collocation method is applied to approximate the Lyapunov function by satisfying the modified Zubov's partial differential equation around asymptotically stable equilibrium points. This method is formulated for n-scalar differential equations with two classes of basis functions. In order to show the efficiency of the suggested approach, some numerical examples are solved. Moreover, the estimated regions of attraction are compared with two similar methods. In most cases, the proposed scheme can estimate the region of attraction more efficient than the other techniques.

• Journal of the Korean Operations Research and Management Science Society
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• v.24 no.2
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• pp.17-29
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• 1999

The manufacturing systems have to cope with the circumstance that the requirements of customers are changed abruptly and the life cycle of product becomes short. In this paper, to develop the efficient control and operation of autonomous, distributed machining systems the concept of Holonic Manufacturing System is adopted and methods for the control and operation of the system are proposed including an evaluation function for the negotiation between holons. And it is applied to scheduling and selection of operations to be worked with consideration of quality. It is expected that the proposed methods may be applied to operate autonomous, distributed machining systems.

• International Journal of Aeronautical and Space Sciences
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• v.4 no.2
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• pp.61-68
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• 2003

The space systems are being operated in a uncertain space environment and are desired to have autonomous capability for long periods of time without frequent telecommunications with the ground station. At the same time, requirements for new set of satellite system set of projects/systems calling for "autonomous" operations for long unattended periods of time are emerging. Since, by the nature of space systems, it is desired to perform its mission flawlessly and also it is of extreme importance to have fault-tolerant sensors and actuators for the purpose of validating science measurement data for the mission success. This studies focused on the identification/demonstration of critical technology innovations that will be applied to the Validation Control System.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.2
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• pp.124-132
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• 2001

Autonomous of welding process in shipyard is ultimately necessary., since welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding robot that can navigate autonomously within the enclosure needs to be developed. To achieve the welding ra나, the robotic welding systems needs a sensor system for the recognition of the working environments and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with work environmental map. At the same time a strategy for environment recognition for welding mobile robot is proposed in order to recognize the work environment efficiently. The design of the sensor system, the algorithm for sensing the structured environment, and the recognition strategy and tactics for sensing the work environment are described and dis-cussed in detail.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.3
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• pp.154-163
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• 2013

In this paper, we propose a formation control algorithm for underactuated autonomous underwater vehicles (AUVs) with parametric uncertainties using the approach angle. The approach angle is used to solve the underactuated problem for AUVs, and the leader-follower strategy is used for the formation control. The proposed controller considers the nonzero off-diagonal terms of the mass matrix of the AUV model and the associated parametric uncertainties. Using the state transformation, the mass matrix, which has nonzero off-diagonal terms, is transformed into a diagonal matrix to simplify designing the control. To deal with the parametric uncertainties of the AUV model, a self-recurrent wavelet neural network is used. The proposed formation controller is designed based on the dynamic surface control technique. Some simulation results are presented to demonstrate the performance of the proposed control method.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.1
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• pp.109-115
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• 2008

Recently, autonomous parking problems have attracted a great deal of attention and have been examined in many papers in the literature. In this paper we design a fuzzy logic based parking system which is an important part for designing an autonomous parking system. We first analysis the existed papers and design a single-input fuzzy logic system for the parking algorithm and illustrate the effectiveness of the new method via the simulation results.

• Proceedings of the Korean Society of Computer Information Conference
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• 2019.01a
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• pp.261-262
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• 2019

본 논문에서는 신경망 모델에 키보드를 통한 주행 학습을 이용하여 자율 주행을 할 수 있는 시스템을 개발하였다. 주어진 트랙에서 키보드의 방향키를 통해 전진, 후진 등 5가지의 상태로 RC카를 수동 제어하고, 제어시 카메라를 통해 얻어진 이미지를 저장해, 키 제어 데이터와 이미지 데이터를 학습시켜서 자율 주행을 할 수 있는 시스템을 구현하였다.

• International Journal of Computer Science & Network Security
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• v.23 no.1
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• pp.11-16
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• 2023

Vehicular networks are part of the next generation wireless and smart Intelligent Transportation Systems (ITS). In the future, autonomous vehicles will be an integral part of ITS and will provide safe and reliable traveling features to the users. The reliability and security of data transmission in vehicular networks has been a challenging task. To manage data transmission in vehicular networks, road networks are divided into clusters and a cluster head is selected to handle the data. The selection of cluster heads is a challenge as vehicles are mobile and their connectivity is dynamically changing. In this paper, a novel secure cluster head selection algorithm is proposed for secure and reliable data sharing. The idea is to use the secrecy rate of each vehicle in the cluster and adaptively select the most secure vehicle as the cluster head. Simulation results show that the proposed scheme improves the reliability and security of the transmission significantly.