• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.5
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• pp.535-542
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• 2012

Recently, the study on small-sized reconnaissance robot has been progressed through grafting robot technology to military fields for minimizing the casualties. Especially, throwable robots have been focusing for their's efficiency in anti-terror operation. However, it is impossible to launch throwable robot to long range(approximately 100m) by hand. So we need another type of robots, so called launchable robots, which can launch farther and is more accurate by launcher. In this paper, we presented the process of developments of launchable robots('launchbot') which are available for remote launch from collection of user's opinions to field test. Based on the opinions of users, we established the goal of development, designed and manufactured the robots. Through the field test, we found that our launchable robot satisfied the performance requirements.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.4
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• pp.266-273
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• 2019

The efficiency and effectiveness of mission performance can be greatly changed according to the operating conditions such as the number of manned aircraft, flight altitude, and so on, in performing search and reconnaissance missions using a large number of small reconnaissance unmanned aerial vehicles. However, it is not easy to determine which operating conditions are most reasonable. Therefore, in this study, we developed an unmanned airplane flight simulation that can detect and identify the target while avoiding collision according to autonomous flight, suggesting a way to derive operating conditions when operating a large number of unmanned aerial vehicles.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.6
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• pp.1291-1298
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• 2023

Surveillance reconnaissance sensor network is used for surveillance in wartime and area of operation. In this paper, we propose a target localization method using the detection signal strength of seismic sensors. Relay equipment calculates the target location using coordinate information and detection signal strength of the seismic sensors. Target localization error deviation due to environmental factors was minimized by subtracting the dynamic offset when calculating the target location. Field test shows improvement of target localization through reduction of errors. The average error was decreased to 3.62m. Up to 62% improved result was obtained compared to weighted centroid localization method.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.149-158
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• 2024

This paper presents a robust autonomous navigation and reconnaissance system for tracked robots, designed to handle complex multi-floor indoor environments with stairs. We introduce a localization algorithm that adjusts scan matching parameters to robustly estimate positions and create maps in environments with scarce features, such as narrow rooms and staircases. Our system also features a path planning algorithm that calculates distance costs from surrounding obstacles, integrated with a specialized PID controller tuned to the robot's differential kinematics for collision-free navigation in confined spaces. The perception module leverages multi-image fusion and camera-LiDAR fusion to accurately detect and map the 3D positions of objects around the robot in real time. Through practical tests in real settings, we have verified that our system performs reliably. Based on this reliability, we expect that our research team's autonomous reconnaissance system will be practically utilized in actual disaster situations and environments that are difficult for humans to access, thereby making a significant contribution.

• Journal of the Korea Institute of Military Science and Technology
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• v.27 no.2
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• pp.177-188
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• 2024

The strategic UAV for theater level ISR(Intelligence, Surveillance and Reconnaissance) mission typically has numerous ground targets over area of responsibility(AOR) or area of operation(AO). It is necessary to automatically incorporate these multitude of ground targets into mission planning process in order to collect ISR images before actual flight mission. In addition, weather information such as wind direction and/or velocity may have significant impacts on the qualities of collected sensor images, especially in SAR(Synthetic Aperture Radar) images. Thus weather factors in the operation altitude should also be considered in the mission planning stage. In this study, we propose a novel mission planning scheme based on target scheduling and deviation correction method incorporating weather factors.

• Magazine of the Korean Society of Agricultural Engineers
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• v.11 no.3
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• pp.1762-1765
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• 1969

• Proceedings of the Korean Society of Computer Information Conference
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• 2016.07a
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• pp.7-8
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• 2016

Ad-hoc 네트워크 기술이 발달함에 따라 FANET(Flying Ad-Hoc Notworks)을 이용한 그룹 무인기 정찰이 요구되고 있다. 본 논문에서는 자율비행을 위한 효율적인 그룹 무인기 정찰을 위하여 새로운 이동성 모델을 제안한다. 제안하는 모델은 Random Waypoint에 기반 하는 모델로써 정찰되지 않은 구역의 선택 확률을 높여 균형적 탐색을 유도한다. 시뮬레이션을 이용하여 제안하는 모델이 기존의 Random Waypoint 에 비해 80% 정찰비율 시간 향상 면에서 우수함을 보인다.

• Proceedings of the Korean Geotechical Society Conference
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• 2010.09b
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• pp.161-170
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• 2010

This paper is results of analyzing causes of damage and rainfall characteristics to investigate characteristics of landslide occurrence and its causes at Inje area in Gangwondo around July in 2006 through collection of related data, literature review and field reconnaissance. From results of analyzing the geometrical characteristics of landslide slope, the slope width of showing the most probable frequency were in the range of 10~50m and the most frequent slope angle was in the range of $30{\sim}40^{\circ}$. The most probable elevation of slope was 200~300m. For the slope direction of landslides, the most frequent directions were NW and SE.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.2
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• pp.81-86
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• 2012

Reconnaissance robots can reduce the danger of hazardous places by providing information before human personnel take action. For the usage, robot platform should be small and light. However, this fact leads to a scaling issue with terrain that landscape poses a huge obstacle for the vehicle. The problem can be solved by the inspiration of nature. This paper presents design of the locomotive mechanism inspired by Pill bugs. The mechanism was designed by the principles of a pill bug's locomotion and experiments were conducted to validate the mechanism.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.6
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• pp.761-769
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• 2012

In this paper, we propose a low-power design strategy to minimize energy-consumption for surveillance and reconnaissance sensor networks. The sensor network consists of many different nodes with various operations such as target detection, packet relay, video monitoring, changing protocols, and etc. Each sensor node consists of sensing, computing, communication, and power components. These components are integrated on a single or multiple boards. Therefore, the power consumption of each component can be different on various operation types. First, we identified the list of components and measured power consumption for them from the first prototype nodes. Next, we focus on which components are the main sources of energy consumption. We propose many energy-efficient approaches to reduce energy consumption for each operation type.