• 한국해양공학회지
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• 제36권3호
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• pp.181-193
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• 2022

This study presents a mission management technique that is a key component of underwater docking system used to expand the operating range of autonomous underwater vehicle (AUV). We analyzed the docking scenario and AUV operating environment, defining the feasible initial area (FIA) level, event level, and global path (GP) command to improve the rate of docking success and AUV safety. Non-holonomic constraints, mounted sensor characteristic, AUV and mission state, and AUV behavior were considered. Using AUV and docking station, we conducted experiments on land and at sea. The first test was conducted on land to prevent loss and damage of the AUV and verify stability and interconnection with other algorithms; it performed well in normal and abnormal situations. Subsequently, we attempted to dock under the sea and verified its performance; it also worked well in a sea environment. In this study, we presented the mission management technique and showed its performance. We demonstrated AUV docking with this algorithm and verified that the rate of docking success was higher compared to those obtained in other studies.

• Journal of Astronomy and Space Sciences
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• 제40권2호
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• pp.79-88
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• 2023

On Aug. 4, 2022, at 23:08:48 (UTC), the Korea Pathfinder Lunar Orbiter (KPLO), also known as Danuri, was launched using a SpaceX Falcon 9 launch vehicle. Currently, KPLO is successfully conducting its science mission around the Moon. The National Aeronautics and Space Administration (NASA)'s Deep Space Network (DSN) was utilized for the successful flight operation of KPLO. A great deal of joint effort was made between the Korea Aerospace Research Institute (KARI) and NASA DSN team since the beginning of KPLO ground system design for the success of the mission. The efficient utilization and management of NASA DSN in deep space exploration are critical not only for the spacecraft's telemetry and command but also for tracking the flight dynamics (FD) operation. In this work, the top-level DSN interface architecture, detailed workflows, DSN support levels, and practical lessons learned from the joint team's efforts are presented for KPLO's successful FD operation. Due to the significant joint team's efforts, KPLO is currently performing its mission smoothly in the lunar mission orbit. Through KPLO cooperative operation experience with DSN, a more reliable and efficient partnership is expected not only for Korea's own deep space exploration mission but also for the KARI-NASA DSN joint support on other deep space missions in the future.

• 한국전자파학회논문지
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• 제21권6호
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• pp.642-650
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• 2010

본 논문에서는 주어진 임무에 대한 저궤도 위성용 TT&C(Telemetry Tracking and Command system) 안테나를 설계하기 위해 먼저 링크 버짓을 통해 요구 성능을 도출하고, 이에 따라 안테나를 설계한다. 전제된 임무 궤도는 태양 동기 원형 궤도이며, 지구 및 우주 관측 임무를 수행한다. TT&C 시스템의 링크 버짓을 설계하여 최소 3dB 마진을 가지기 위한 안테나의 요구 이득과 빔 폭을 도출하였으며, 이렇게 설계된 위성용 TT&C 안테나는 넓은 빔 폭을 가지는 원형 편파 턴스타일 안테나이다. 한편, 안테나를 위성에 설치하였을 때 방사 특성의 변화를 확인하였으며, 최적의 설치 위치를 제안하였다. 또한 설계된 턴스타일 안테나의 전기적 성능을 바탕으로 TT&C링크 모의실험을 통해 임무 중 안테나의 성능을 검증한다.

• 융합보안논문지
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• 제23권3호
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• pp.65-71
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• 2023

최근 발발한 러시아-우크라이나 전쟁을 통해 공격용 드론의 중요성이 부각되고 있다. 공격용 드론 활용은 그간의 재래식 전쟁의 통념을 깨는 게임체인저 역할을 하고 있다. 앞으로 지능화 전장에서 공격용 군집드론은 중요한 역할을 할 것으로 보인다. 이에 본 논문은 인공지능 기술을 바탕으로 향후 공격용 군집드론의 운용 발전 방향을 분석하고자 한다. 인간에 의해 운용되는 군집드론을 완전히 자율화된 군집드론으로 운용하기 위해서는 (1) 군집드론 운용에 최적화된 AI 알고리즘 적용, (2) 탈중앙식 지휘통제 방식 개발, (3) 드론 간 임무 분석 및 할당 자동화 기술 적용, (4) 드론 통신 보안 강화 및 (5) 무인화의 윤리 기준 확정이 중요하다. 세부적으로 군집드론 간의 충돌방지 및 이동형 표적을 공격하기 위한 AI 알고리즘이 필요하다. 또한, 급변하는 전장 상황에 빠르게 대처할 수 있는 탈중앙식 지휘통제 시스템 개발과 적 공격에 의한 드론 손실 발생 시 임무를 재할당 할 수 있어야 한다. 마지막으로, 군집드론의 안전한 운용을 위한 보안기술 개발 및 무인화에 따른 윤리문제 해결을 위한 기준제정이 중요하다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권3호
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• pp.1377-1399
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• 2020

In search and rescue mission, micro aerial vehicles (MAVs) are typically used to capture image and video from an aerial perspective and transfer the data to the ground station. Because of the power limitation, a cluster of MAVs are required for a large search area, hence an ad-hoc wireless network must be maintained to transfer data more conveniently and fast. However, the unstable link and the intermittent connectivity between the MAVs caused by MAVs' movement may challenge the packet forwarding. This paper proposes a delay tolerant packet forwarding algorithm based on location estimation for MAV networks, called DTN_est algorithm. In the algorithm, ferrying MAVs are used to transmit data between MAVs and the ground station, and the locations of both searching MAVs and ferrying MAVs are estimated to compute the distances between the MAVs and destination. The MAV that is closest to the destination is selected greedy to forward packet. If a MAV cannot find the next hop MAV using the greedy strategy, the packets will be stored and re-forwarded once again in the next time slot. The experiment results show that the proposed DTN_est algorithm outperforms the typical DTN_geo algorithm in terms of packet delivery ratio and average routing hops.

• 한국군사과학기술학회지
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• 제15권4호
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• pp.507-512
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• 2012

Image blurring in airborne camera can be prevented through timely actuation of LOS(Line of Sight) into the opposite direction to the aircraft advancement, i.e. FMC(Forward motion compensation). Performance verification of FMC requires installation of camera to the aircraft. However, in many ways the verification process has little choice but to be implemented in the laboratory. In this paper verification method of FMC performance in the laboratory is introduced. With collimator target installed in the known reference position image obtained by actual mission plan naturally displays image blurring as well as LOS displacement by FMC effect. Through comparison of the amount of those image blurring and LOS displacement to the equivalent image distortion expected by the application of the FMC reference command can the performance be verified. In this paper we propose a new verification method of FMC performance in laboratory along with generalized solution of FMC reference command, and assess the validity of our proposition.

• 한국항공우주학회지
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• 제47권3호
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• pp.212-219
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• 2019

군사 작전 환경에서 무인 항공기의 활용도가 확대됨에 따라 효율적인 무인기 제어 방식에 대한 연구가 활발하다. 특히 신속한 임무 처리가 요구되는 군 환경에서 기존의 버튼 방식이 지닌 조작의 불편함을 해소하려는 목적으로 음성인식을 통한 무인기 제어 방식이 시도되고 있으며, 아직 초기연구 수준에 머물러 있다. 본 연구에서는 음성 기반의 무인기 제어를 위해 효율적인 음성인식 시스템 운용 체계를 제안한다. 특히 지상관제 센터에 의한 무인기 제어보다는 유/무인기 협업 환경에서 유인기 조종사가 무인기를 직접 통제하는데 효율적인 음성인식 시스템 운용 방식을 제안하며, 음성인식 실험을 통해 운용 체계의 효율성을 검증한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2051-2056
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• 2003

In this paper, a tele-manipulation in explosive ordnance disposal(EOD) applications is discussed. The ROBHAZ-DT2 is developed as a teleoperated mobile manipulator for EOD. In general, it has been thought that the robot must have appropriate functions and accuracy enough to handle the complicated and dangerous mission. However, the research on the ROBHAZ-DT2 revealed that the teleoperation causes more restrictions and difficulties in EOD mission. Thus to solve the problem, a novel user interface for the ROBHAZ-DT2 is developed, in which the operator can interact with various human senses (i.e. visual, auditory and haptic sense). It enables an operator to control the ROBHAZ-DT2 simply and intuitively. A tele-manipulation control scheme for the ROBHAZ-DT2 is also proposed including compliance control via force feedback. It makes the robot adapt itself to circumstances, while the robot faithfully follows a command of the operator. This paper deals with a detailed description on the user interface and the tele-manipulation control for the ROBHAZ-DT2. An EOD demonstration is conducted to verify the validity of the proposed interface and the control scheme.

• Strategy21
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• 통권41호
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• pp.52-84
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• 2017

After finishing Cold War, the U.S. Navy's ability to Sea control has been gradually eroded last 15-20 years. The global security environment demands that the surface Navy rededicate itself to sea control, as a new group of potential adversaries is working to deny U.S. navy command of the sea. China has been increasing their sea denial capability, such as extended anti-surface cruise missile and anti-surface ballistic missile. To cope with this situation, the U.S. Naval Surface Forces Command has announced Surface Forces Strategy: Return to Sea Control. It is a new operating and organizing concept for the U.S. surface fleet called 'distributed lethality'. Under distributed lethality, offensive weapons such as new ASCMs are to be distributed more widely across all types of Navy surface ships, and new operational concept for Navy surface fleet's capability for attacking enemy ships and make it less possible for an enemy to cripple the U.S. fleet by concentrating its attack on a few very high-value Navy surface ships. By increasing the lethality of the surface ships and distributing them across wide areas, the Navy forces potential adversaries to not only consider the threat from our carrier-based aircraft and submarines, but they now consider the threat form all of those surface ships. This idea of using the distributed lethality template to generate surface action groups and adaptive force package and to start thinking about to increase the lethal efficacy of these ships. The U.S. Navy believes distributed lethality increases the Navy's sea control capability and expands U.S. conventional deterrence. Funding new weapons and renovated operating concept to field a more lethal and distributed force will enable us to establish sea control, even in contested area. The U.S. Navy's Surface Forces Strategy provides some useful implications for The ROK Navy. First the ROK Navy need to reconsider sea control mission. securing sea control and exploiting sea control are in a close connection. However, recently the ROK Navy only focuses on exploiting sea control, for instance land attack mission. the ROK Navy is required to reinvigorate sea control mission, such as anti-surface warfare and anti-air warfare. Second, the ROK Navy must seek the way to improve its warfighting capability. It can be achieved by developing high-edge weapons and designing renewed operating concept and embraced new weapon's extended capabilities.

• 한국항공우주학회지
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• 제41권12호
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• pp.1011-1017
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• 2013

음성은 사람의 가장 자연스러운 정보 전달 수단이며, 음성인식 기술은 사람이 기계를 사용하는데 있어 편의성을 높이기 위해 필요성이 점차 증대되고 있다. 현대 전투기의 조종석은 디지털 기술의 발달로 인하여 항공전자 장비의 기능이 다양하고 복잡해지고 있으며, 전투기를 조종하여 공격 임무를 수행해야 하는 조종사에게 항공전자 장비의 운용으로 인한 임무 부하량이 증대되기 마련이다. 따라서 음성인식 기술을 이용하여 항공전자장비를 운용하게 되면, 조종사는 공격 임무에 더 많은 시간과 노력을 할애할 수 있게 된다. 본 연구는 전투기 조종석에 적용 가능한 음성명령 시스템을 개발하고, 검증환경을 구축하여 음성명령 시스템의 기능 및 성능을 검증한 것이다.