• Journal of applied mathematics & informatics
• /
• 제31권5_6호
• /
• pp.813-823
• /
• 2013

In this paper, a new iterative algorithm involving quasi-nonexpansive mapping in Hilbert space is proposed and proved to be strongly convergent to a point which is simultaneously a fixed point of a quasi-nonexpansive mapping, a solution of an equilibrium problem and the set of solutions of a variational inequality problem. The results of the paper extend previous results, see, for instance, Takahashi and Takahashi (J Math Anal Appl 331:506-515, 2007), P.E.Maing $\acute{e}$ (Computers and Mathematics with Applications, 59: 74-79,2010) and other results in this field.

• 한국군사과학기술학회지
• /
• 제14권4호
• /
• pp.700-709
• /
• 2011

In this paper, we propose a novel method which can detect ordnance firing events in IR images. The proposed algorithm is comprised of effective target detection and robust clutter rejection methods based on the temporalspatial cooperative filter. And additional clutter reduction is performed based on the proposed two features, NTFF (Number of Temporal Filter Frames) and SNS(Size-Normalized Signal). Experimental results show the effectiveness and feasibilities of our proposed algorithm.

• Journal of the Optical Society of Korea
• /
• 제20권6호
• /
• pp.739-744
• /
• 2016

We have designed a new TIR(Total Internal Reflection) structure for generating an LED lens which can produce a rectangular beam with small divergence angle in two perpendicular directions for an optical guidance system. The lens can control the divergence angle in the horizontal direction to be a small value of about $8^{\circ}$ with a $1mm{\times}1mm$ LED source, also in the vertical direction it can be about $7^{\circ}$, with optical collection efficiency higher than 0.83. After the lens is manufactured, the work demonstrates that the lens is suitable for an optical guidance system.

• Journal of Mechanical Science and Technology
• /
• 제19권10호
• /
• pp.1864-1874
• /
• 2005

This paper describes a wearable multi-modal user interface design and its implementation for a teleoperated field robot system. Recently some teleoperated field robots are employed for hazard environment applications (e.g. rescue, explosive ordnance disposal, security). To complete these missions in outdoor environment, the robot system must have appropriate functions, accuracy and reliability. However, the more functions it has, the more difficulties occur in operation of the functions. To cope up with this problem, an effective user interface should be developed. Furthermore, the user interface is needed to be wearable for portability and prompt action. This research starts at the question: how to teleoperate the complicated slave robot easily. The main challenge is to make a simple and intuitive user interface with a wearable shape and size. This research provides multi-modalities such as visual, auditory and haptic sense. It enables an operator to control every functions of a field robot more intuitively. As a result, an EOD (explosive ordnance disposal) demonstration is conducted to verify the validity of the proposed wearable multi-modal user interface.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제12권5호
• /
• pp.2414-2428
• /
• 2018

In order to solve the problem that the current network security situation assessment methods just focus on the attack behaviors, this paper proposes a kind of network security situation assessment method based on Markov Decision Process and Game theory. The method takes the Markov Game model as the core, and uses the 4 levels data fusion to realize the evaluation of the network security situation. In this process, the Nash equilibrium point of the game is used to determine the impact on the network security. Experiments show that the results of this method are basically consistent with the expert evaluation data. As the method takes full account of the interaction between the attackers and defenders, it is closer to reality, and can accurately assess network security situation.

• 한국지구물리탐사학회:학술대회논문집
• /
• 한국지구물리탐사학회 2006년도 공동학술대회 논문집
• /
• pp.9-14
• /
• 2006

자기쌍극자 모멘트의 깊이, 방향, 크기 등에 관한 평가는 자기탐사자료로부터 폭발물과 기타 자성체를 구분하는데 유용한 정보를 제공한다. 이러한 평가는 지질학적 잡음, 자기분산체, 주변 쌍극자기장 중첩 등의 이유로 방해를 받을 수 있다. 임의의 극성을 갖는 단일 혹은 다중 쌍극자 이상체의 효과적 계산을 위하여, 역산내부 필터 및 배경 자기장의 구배 평가를 포함하는 개선된 역산법을 개발하였다. 관측값들은 보간하여 격자화하였으며, 관측점으로부터 가장 가까운 계산점만을 사용하도록 표시하였다. 이러한 자료에 역산내부 필터를 적용하기 위하여는 빈간격 필터가 필요하다. 게다가 상당히 빈 곳이 많은 자료나 조사지 가장자리 및 구석 부분 자료들을 처리하기 위해서는 역산내부 필터를 수정하여야 한다. 이러한 목적으로 가장자리에 적용가능한 빈간격 구배제거 필터를 고안하고 시험하였다. 한국 속초의 청초호와 미국 매릴랜드의 육군 애벌딘 무기시험장에서 기록한 자기탐사자료에 적용한 결과를 소개한다.

• 국방과기술
• /
• 11호통권141호
• /
• pp.56-67
• /
• 1990

1990년대에는 미국 영국, 서독을 비롯한 여러나라들이 자국의 방위산업 구조를 재평가 및 분석해야만 할 것이다. 보다 깊이 살펴보면, 원하는 방산품을 조달할 때 신뢰의 기준은 가격이 싸다거나 정비유지가 용이하다거나 하는 점이 아님을 분명히 알게 될 것이다. 또한 FN Herstal, Colt, Royal Ordnance’s NSAF, 그리고 H&K사 등과 같은 회사들의 경우, 소화기 생산과 관련된 현안들에 대한 조사를 지연시킬수록 그만큼 자신들의 회사의 사활을 위협받게 될 것이다

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

• 한국군사과학기술학회지
• /
• 제14권5호
• /
• pp.948-956
• /
• 2011

In this paper, mechanism design of the explosive ordnance disposal(EOD) manipulator for small unmanned ground vehicle(SUGV) is presented from the conceptual to detailed design. EOD manipulator has been widely developed in the world due to the growing threat of the improvised explosive devices at war. It has distinctive characteristics, such as small size and high loading performance, compared to the industrial manipulator which is fixed on the floor. Design of new EOD manipulator must take into account various functional requirements and constraints simultaneously. We focused on developing the EOD manipulator that has suitable size for the SUGV and maximum 15kg payload capacity. Design approach taken in this paper is based on axiomatic design procedure and comparison among many possible candidates of each joint structure to obtain appropriate entire structure of EOD manipulator.

• 기계저널
• /
• 제44권6호
• /
• pp.34-39
• /
• 2004

형상기억합금(SMA : Shape Memory Alloy)은 일반적인 금속이나 합금에서는 찾아볼 수 없는 형상기억효과(shape memory effect)와 초탄성 (superelasticity) 거동을 보이고 있다. 이러한 특성은 1951년에 금-카드뮴(Au-Cd) 합금에서 처음으로 발견되었으며, 1963년에 미국 해군병기연구소(Naval Ordnance Laboratory)에서 니켈-티타늄 (Ni-Ti) 합금에서 형상기억효과를 발견한 후로 널리 상용화되었다. 니티놀(nitinol)이라고 불려지는 니켈-티타늄 계열의 형상기억합금은 단위 부피당 많은 에너지를 낼 수 있고, 내 부식성(corrosion resistance)과 생화학적 적합성(bio-compatibility)이 뛰어나다. 또한 100,000사이클 이상의 긴 사용수명을 갖기 때문에 작동기(actuator)로서 우수한 특징을 갖는다. (중략)