• 시스템엔지니어링학술지
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• 제20권spc1호
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• pp.108-118
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• 2024

As shared electric kick scooters spread to cities worldwide as a result of the proliferation of personal mobility, they have emerged as a significant social issue, impacting pedestrian and user safety, as well as urban aesthetics. In this study, we propose solutions to the unique problems associated with shared electric kick scooters, such as illegal parking, charging, and redistribution. Furthermore, we present research on supplementary services utilizing electric kick scooters in urban areas to enhance citizen safety and user satisfaction through the development of an autonomous electric kick scooter system structure and operational strategies. We suggest a low-cost autonomous electric kick scooter structure and propose AI processing, sensor fusion, and system operation methods to add autonomous capabilities to affordable electric kick scooters. Additionally, we propose operational systems and related technologies for offering various supplementary services.

• 제어로봇시스템학회논문지
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• 제10권6호
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• pp.529-536
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• 2004

Autonomous navigation of an indoor mobile robot using the global ultrasonic system is presented in this paper. Since the trajectory error of the dead-reckoning navigation grows with time and distance, the autonomous navigation of a mobile robot requires to localize the current position of the robot, so that to compensate the trajectory error. The global ultrasonic system consisting of four ultrasonic generators fixed at a priori known positions in the work space and two receivers on the mobile robot has the similar structure with the well-known satellite GPS(Global Positioning System), and it is useful for the self-localization of an indoor mobile robot. The EKF(Extended Kalman Filter) algorithm for the self-localization is proposed and the autonomous navigation based on the self-localization is verified by experiments.

• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.940-946
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• 2004

In this paper, an efficient real-time control architecture for autonomous navigation of powered wheelchair is developed. Since an advanced intelligent wheelchair requires real-time performance, the control software architecture of powered wheelchair is developed under Linux real-time extension Real-time Application Interface (RTAI). A hierarchical control structure for autonomous navigation is designed and implemented using real-time processe and interrupts handling of sensory perception based on slanted surface LRF, emergency handling capability, and motor control with 0.1 msec sampling time. The performance of our powered wheelchair system with the implemented control architecture for autonomous navigation is verified via experiments in a corridor.

• 제어로봇시스템학회논문지
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• 제16권7호
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• pp.617-624
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• 2010

This article describes the system architecture of KUVE (KIST Unmanned Vehicle Electric) and unmanned autonomous navigation of it in KIST. KUVE, which is an electric light-duty vehicle, is equipped with two laser range finders, a vision camera, a differential GPS system, an inertial measurement unit, odometers, and control computers for autonomous navigation. KUVE estimates and tracks the boundary of road such as curb and line using a laser range finder and a vision camera. It follows predetermined trajectory if there is no detectable boundary of road using the DGPS, IMU, and odometers. KUVE has over 80% of success rate of autonomous navigation in KIST.

• 제어로봇시스템학회논문지
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• 제6권7호
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• pp.586-593
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• 2000

In this paper we propose a new approach to the autonomous wall-following of wheeled mobile robots using hybrid system reference motion synthesis and generation. The hybrid system approach is in-troduced to the motion control of nonholonomic mobile robots for the indoor navigation problems. In the dis-crete event system the discrete states are defined by the user-defined constraints and the reference mo-tion commands are specified in the abstracted motions. The hybrid control system applied for the non-holonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoid-ance for the indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation in indoor environments.

• 산업경영시스템학회지
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• 제29권2호
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• pp.20-30
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• 2006

Due to recent growing interest in autonomous software agents and their potential application in areas such as electronic commerce, the autonomous negotiation become more important. Evidence from both theoretical analysis and observations of human interactions suggests that if decision makers have prior information on opponents and furthermore learn the behaviors of other agents from interaction, the overall payoff would increase. We propose a new methodology for a strategy finding process using data mining in autonomous negotiation system; ANSIA(Autonomous Negotiation System using Intelligent Agent). ANSIA is a strategy based negotiation system. The framework of ANSIA consists of three component layers; 1) search agent layer, 2) data mining agent layer and 3) negotiation agent layer. ANSIA is motivated by providing a computational framework for negotiation and by defining a strategy finding model with an autonomous negotiation process.

• International Journal of Internet, Broadcasting and Communication
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• 제14권2호
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• pp.162-170
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• 2022

Today, automobiles have become an indispensable element in people's lives, and the distribution of vehicles with various autonomous driving functions is expanding. Sensors such as cameras are used to recognize various situations on the road as an essential element for autonomous driving functions, but camera sensors have disadvantages that are vulnerable to bad weather. In this paper, we present a derivation process that defines external weather environment factors that negatively affect the performance of a camera for an autonomous vehicle. Through the proposed process, it is expected that it will contribute to securing the reliability of the camera and further improving the safety of autonomous vehicles.

• 시스템엔지니어링학술지
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• 제18권2호
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• pp.40-49
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• 2022

Remote-controlled and autonomous driving based on artificial intelligence are key elements required for unmanned combat vehicles. The required capability of such an unmanned combat vehicle should be expressed in reasonable required operational capability(ROC). To this end, in this paper, the requirements of an unmanned combat vehicle operated under a manned-unmanned teaming were analyzed. The functional requirements are remote operation and control, communication, sensor-based situational awareness, field environment recognition, autonomous return, vehicle tracking, collision prevention, fault diagnosis, and simultaneous localization and mapping. Remote-controlled and autonomous driving of unmanned combat vehicles could be achieved through the combination of these functional requirements. It is expected that the requirement analysis results presented in this study will be utilized to satisfy the military operational concept and provide reasonable technical indicators in the system development stage.

• 대한임베디드공학회논문지
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• 제18권5호
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• pp.249-257
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• 2023

This paper discusses the increasing need for autonomous delivery robots due to the current growth in the delivery market, rising delivery fees, high costs of hiring delivery personnel, and the need for contactless services. Additionally, the cost of hardware and complex software systems required to build and operate autonomous delivery robots is high. To provide a low-cost alternative to this, this paper proposes a autonomous delivery robot platform using a low-cost sensor combination of 2D LIDAR, depth camera and tracking camera to replace the existing expensive 3D LIDAR. The proposed robot was developed using the RTAB-Map SLAM open source package for 2D mapping and overcomes the limitations of low-cost sensors by using the convex hull algorithm. The paper details the hardware and software configuration of the robot and presents the results of driving experiments. The proposed platform has significant potential for various industries, including the delivery and other industries.

• 정보보호학회논문지
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• 제32권2호
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• pp.447-463
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• 2022

인공 지능(AI) 기술은 해양 산업에서 스마트 선박을 자율 운항 선박으로 발전시키는 주요 기술이다. 자율 운항 선박은 사람의 의사 판단 없이 수집된 정보로 상황을 인식하며 스스로 판단하여 운항한다. 기존의 선박 시스템은 육상에서의 제어 시스템과 마찬가지로 사이버 공격에 대한 보안성을 고려하여 설계되지 않았다. 이로 인해 선박 내·외부에서 수집되는 수많은 데이터에 대한 침해와 선박에 적용될 인공지능 기술에 대한 잠재적 사이버 위협이 존재한다. 자율 운항 선박의 안전성을 위해서는 선박 시스템의 사이버 보안뿐만 아니라, 인공지능 기술에 대한 사이버 보안에도 초점을 맞춰야 한다. 본 논문에서는 기존 선박 시스템과 자율 운항 선박에 적용될 인공지능 기술에 발생할 수 있는 잠재적인 사이버 위협을 분석하고, 자율 운항 선박 보안 위험과 보안이 필요한 범주를 도출했다. 도출한 결과를 바탕으로 향후 자율 운항 선박 사이버 보안 연구 방향을 제시하고 사이버 보안 향상에 기여한다.