• Journal of Advanced Navigation Technology
• /
• v.26 no.5
• /
• pp.312-318
• /
• 2022

Currently, the Republic of Korea is facing the problem of a decrease in military service resources due to the demographic cliff, and is pursuing military restructuring and changes in the military force structure in order to respond to this. In this situation, the Army is pushing forward the deployment of a drone-bot combat system that will lead the future battlefield. The battlefield of the future will be changed into an integrated battlefield concept that combines command and control, surveillance and reconnaissance, and precision strike. According to these changes, unmanned combat system, including dronebots, will be widely applied to combat situations that are high risk and difficult for humans to perform in actual combat. In this paper, as one of the countermeasures to these changes, autonomous behavior software with a BDI architecture-based decision-making system was developed. The autonomous behavior software applied a framework structure to improve applicability to multiple models. Its function was verified in a PC-based environment by assuming that the target UAV is a battalion-level surveillance and reconnaissance UAV.

• Journal of the Korea Society of Computer and Information
• /
• v.27 no.11
• /
• pp.107-114
• /
• 2022

In this paper, proposes a delivery robot that can be autonomous driving learning. The proposed robot is designed to be used in park-type apartments without ground parking facilities. Compared to the existing apartments with complex ground and underground routes, park-type apartments have a standardized movement path, allowing the robot to run stably, making it suitable for students' initial education environment. The delivery robot is configured to enable delivery of parcels through machine learning technology for route learning and autonomous driving using cameras and LiDAR sensors. In addition, the control MCU was designed by separating it into three parts to enable learning by level, and it was confirmed that it can be used as a delivery robot for learning through operation tests such as autonomous driving and obstacle recognition. In the future, we plan to develop it into an educational delivery robot for various delivery services by linking with the precision indoor location information recognition technology and the public technology platform of the apartment.

• Journal of Auto-vehicle Safety Association
• /
• v.9 no.2
• /
• pp.6-12
• /
• 2017

An autonomous driving system based on a precise digital map is developed. The system is implemented to the Hyundai's Tucsan fuel cell car, which has a camera, smart cruise control (SCC) and Blind spot detection (BSD) radars, 4-Layer LiDARs, and a standard GPS module. The precise digital map has various information such as lanes, speed bumps, crosswalks and land marks, etc. They can be distinguished as lane-level. The system fuses sensed data around the vehicle for localization and estimates the vehicle's location in the precise map. Objects around the vehicle are detected by the sensor fusion system. Collision threat assessment is performed by detecting dangerous vehicles on the precise map. When an obstacle is on the driving path, the system estimates time to collision and slow down the speed. The vehicle has driven autonomously in the Hyundai-Kia Namyang Research Center.

• Journal of Auto-vehicle Safety Association
• /
• v.11 no.4
• /
• pp.39-49
• /
• 2019

Autonomous vehicle is a car which drives itself without any human interaction. SAE provides technical definitions for autonomous and international standards for test evaluation. Accordingly, automobile industry is actively researching development and evaluation of various ADAS (Advanced Driver Assistance Systems), : representative technology of autonomous technology. Recently, ADAS is in the commercialization level such as ACC, LKAS, AEB, and HDA etc. And it also has issues about safety evaluation. The purpose of HDA in ADAS is reduced the driving load on highway. It has a function which can maintain lane keeping and control distance from forward vehicle. This function is evaluated to be useful for accident prevention. Therefore, this paper proposes the safety evaluation scenario of HDA, considering the domestic highway design criteria and the situation that may arise on the actual highway. We compared and analyzed the data acquired through simulation and actual vehicle test. And verified the reliability of the proposed safety evaluation scenario. The verified result is expected safety evaluation of HDA is possible even under the bad condition, which cannot be tested.

• Journal of the Korea Institute of Information Security & Cryptology
• /
• v.31 no.3
• /
• pp.411-422
• /
• 2021

The autonomous driving system mounted on the unmanned vehicle recognizes the external environment through several sensors and derives the optimum control value through it. Recently, studies on physical level attacks that maliciously manipulate sensor data by performing signal-injection attacks have been published. signal-injection attacks are performed at the physical level and are difficult to detect at the software level because the sensor measures erroneous data by applying physical manipulations to the surrounding environment. In order to detect a signal-injection attack, it is necessary to verify the dependability of the data measured by the sensor. As so far, various methods have been proposed to attempt physical level attacks against sensors mounted on autonomous driving systems. However, it is still insufficient that methods for defending and detecting the physical level attacks. In this paper, we demonstrate signal-injection attacks targeting MEMS sensors that are widely used in unmanned vehicles, and propose a method to detect the attack. We present a signal-injection detection model to analyze the accuracy of the proposed method, and verify its effectiveness in a laboratory environment.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.33 no.6
• /
• pp.573-576
• /
• 2009

We present a passive flow-rate regulator, capable to compensate inlet pressure variation and to maintain a constant flow-rate for precise liquid control. Deflection of the parallel membrane valves in the passive flowrate regulator adjusts fluidic resistance according to inlet fluid pressure without any external energy. Compared to previous passive flow-rate regulators, the present device achieves precision flow regulation functions at the lower threshold compensation pressure of 20kPa with the simpler structure. In the experimental study, the fabricated device achieves the constant flow-rate of $6.09{\pm}0.32{\mu}l/s$ over the inlet pressure range of $20{\sim}50$ kPa. The present flow-rate regulator having simple structure and lower compensation pressure level demonstrates potentials for use in integrated micropump systems.

• Journal of Mechanical Science and Technology
• /
• v.15 no.5
• /
• pp.544-554
• /
• 2001

A shop floor can be considered as an important level to develop Computer Integrated Manufacturing system (CIMs). However, a shop floor is a dynamic environment where unexpected events continuously occur, and impose changes to the planned activities. To deal with this problem, a shop floor should adopt an appropriate control system that is responsible for the coordination and control of the manufacturing physical flow and information flow. In this paper, a hybrid control system is described with a shop floor activity methodology called Multi-Layered Task Initiation Diagram (MTD). The architecture of the control model contains three levels: i.e., he shop floor controller (SFC), the intelligent agent controller (IAC) and the equipment controller (EC). The methodology behind the development of the control system is an intelligent multi-agent paradigm that enables the shop floor control system to be an independent, an autonomous, and distributed system, and to achieve an adaptability to change of the manufacturing environment.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
• /
• v.9 no.4
• /
• pp.204-211
• /
• 2004

Autonomous profiling CTD floats are a useful tool for observing the oceans. We, however, cannot perform post-deployment calibration of the CTD's attached to the floats, and the assessment of the accuracy and stability of the profile data from the floats is one of the important issues in the delayed mode quality control of the profiles. Variations in salinity in the intermediate level of East Sea is comparable to the accuracy of salinity data required by the international Argo Program, which is 0.01. Therefore, we can assess the credibility of salinity data from the floats deployed in the East Sea using three independent methods while considering the East Sea as a salinity calibration bath. The methods utilized here are 1) comparison of high quality CTD data and float data obtained at similar locations at similar time, 2) comparison of float data obtained at similar locations at similar time, and 3) investigation of long term stability and accuracy of salinity data from parking depths. All three methods show that without any calibration, the salinity data satisfy the accuracy criterion by the Argo Program. While assuming that the intermediate level temperature in the East Sea is as homogeneous as the salinity, we have applied the three methods to temperature data. We found that the accuracy of temperature reading is 0.01$^{\circ}C$, which is about twice larger than the requirement by the Argo Program, 0.005$^{\circ}C$. This does not mean that the temperature readings are inaccurate, because the intermediate level temperature does vary spacially and temporally more than the accuracy interval required by the Argo Program. If we take into account the variation in the intermediate level temperature, the accuracy of temperature data from the floats is not significantly different from that proposed by the Argo Program. Therefore, one could use both temperature and salinity profiles from the floats assessed in this study without calibration.

• ETRI Journal
• /
• v.40 no.3
• /
• pp.318-329
• /
• 2018

Femtocell (FC) technology envisaged as a cost-effective approach to attain better indoor coverage of mobile voice and data service. Deployment of FCs over macrocell forms a heterogeneous network. In urban areas, the key factor limits the successful deployment of FCs is inter-cell interference (ICI), which severely affects the performance of victim users. Autonomous FC transmission power setting is one straightforward way for coordinating ICI in the downlink. Application of intelligent control using soft computing techniques has not yet explored well for wireless networks. In this work, autonomous FC transmission power setting strategy using Adaptive Neuro Fuzzy Inference System is proposed. The main advantage of the proposed method is zero signaling overhead, reduced computational complexity and bare minimum delay in performing power setting of FC base station because only the periodic channel measurement reports fed back by the user equipment are needed. System level simulation results validate the effectiveness of the proposed method by providing much better throughput, even under high interference activation scenario and cell edge users can be prevented from going outage.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.37 no.12
• /
• pp.1217-1224
• /
• 2009

A simple and effective guidance and control scheme that enables autonomous three-dimensional path-following for a fixed wing aircraft is presented. The method utilizes the nonlinear path-following guidance law for the outer loop that creates steering acceleration command based on the desired flight path and the current position and velocity of the vehicle. The scheme considers the gravity in the guidance level, where it is subtracted from the acceleration command to form the specific force acceleration command which the aircraft is better suited to follow than the total acceleration command in the inner-loop. A roll attitude control scheme is also presented that enables inverted flight or sideslip maneuvers such as slow roll and knife-edge. A series of aerobatic maneuvers are demonstrated through simulations to show the potential of the proposed scheme.