• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.1
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• pp.160-163
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• 2021

In this paper, we present a path search scheme for the safe movement of the swarm of unmanned systems in unknown dangerous areas. Some of the swarm searches for the primary and secondary paths before the majority of swarm move through dangerous areas. In terms of rapid movement from the dangerous area and preparation for an accident, the primary path is searched first in the destination's direction. The secondary path is searched by considering the distance between the paths to guarantee a safe distance. The computer simulations show that the proposed scheme is suitable for the swarm of unmanned systems.

• ETRI Journal
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• v.43 no.6
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• pp.1013-1023
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• 2021

In this study, we propose a practical path planning method that combines the A^* search algorithm and minimum snap trajectory generation. The A^* search algorithm determines a set of waypoints to avoid collisions with surrounding obstacles from a starting to a destination point. Only essential waypoints (waypoints necessary to generate smooth trajectories) are extracted from the waypoints determined by the A^* search algorithm, and an appropriate time between two adjacent waypoints is allocated. The waypoints so determined are connected by a smooth minimum snap trajectory, a dynamically executable trajectory for the quadrotor. If the generated trajectory is invalid, we methodically determine when intermediate waypoints are needed and how to insert the points to modify the trajectory. We verified the performance of the proposed method by various simulation experiments and a real-world experiment in a forested outdoor environment.

• Journal of the Korea Institute of Military Science and Technology
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• v.26 no.1
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• pp.31-43
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• 2023

In this paper, we propose a method for generating a global path for an unmanned vehicle using public data of road section information. First, the method of analyzing road section information of the Ministry of Land, Infrastructure and Transport is presented. Second, we propose a method of preprocessing the acquired road section information and processing it into meaningful data that can be used for global routes. Third, we present a method for generating a global path using the preprocessed road section information. The proposed method has proven its effectiveness through actual autonomous driving experiments of unmanned ground vehicles.

• The Journal of the Acoustical Society of Korea
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• v.36 no.2
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• pp.89-99
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• 2017

Multi-rotor type UAV (Unmanned Aerial Vehicle)s are expanding their applications not only for military purposes but also for private industries such as aerial photography and unmanned delivery vehicles. For wider use of unmanned aerial vehicles, studies should be carried out to improve aerodynamic efficiency and reduce noise of propellers, which can be achieved based on techniques of predicting aerodynamic performance and noise in a given environment. In this study, aerodynamic and noise prediction techniques were developed for a small unmanned aerial vehicle propeller, and it was verified by comparing it with actual measurement results. Thrust and torque due to the change of r/min and the frequency spectral prediction at a given position secured the reliability of the prediction method, which provides a basis for the shape design of the propeller.

• Korean Journal of Agricultural Science
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• v.45 no.1
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• pp.114-119
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• 2018

This study analyzed the trends of patents for unmanned technology used in agriculture. The target countries for this survey of patent data were Korea, the USA and Japan as well as the countries in Europe. The indices used in this study to analyze the patents were the CPP (Cites Per Patent), PII (Patent Impact Index), and PFS (Patent Family Size). The total effective patents for unmanned technology used in agriculture were 1,080 cases. The number of patents in the USA, Japan, Europe, and Korea were 541, 326, 128 and 85 cases, respectively. Among the total effective patents, the evaluation scores for selected important patents were calculated by applying commonly used weights to each index, and the top 10 patents were selected as important patents. The results showed that all the top ten patents are owned by the United States and that the United States is an advanced country in the field of unmanned technology used in agriculture. The evaluation score of the important patents using the existing method was biased toward the PII index among the three patent evaluation standards, and the effects of the number of claims and the PFS were relatively small. Therefore, a reliable patent analysis in the field of unmanned technology used in agriculture needs to reflect the overall evaluation factors taking into consideration the scope of the evaluation factors.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.16 no.2
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• pp.69-80
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• 2017

In or To use, manage, and preserve sustainable water resources for the current and future generations amid the threat of abnormal climate, it is necessary to establish a smart water grid system, the next-generation intelligent water management system. In this study, sensors, which make use of the five senses to watch, listen, and detect machine vibration, bearing temperature, machine operation sounds, current, voltage, and other symptoms that cannot be verified when the irrigation facilities are running, are used to establish various decision-making criteria appropriate to on-site situations. Based on such criteria, the unmanned conditions in the facilities were verified and analyzed. Existing technologies require on-site workers to check any defects caused by overloading of machines, which is the biggest constraining factor in the application of an unmanned control system for irrigation facilities. The new technology proposed in this study, on the other hand, allows for the unmanned analysis of the existence of machine vibration. This controls the decision-making process of any defect based on the analysis results, and necessary measures are taken automatically, resulting in improved reliability of the unmanned automation.

• Journal of Satellite, Information and Communications
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• v.12 no.1
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• pp.76-80
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• 2017

With the fast growing popularity of small UAVs (Unmanned Aerial Vehicles), recent UAV systems have been designed and utilized for the various field with their own specific purposes. UAVs are opening up many new opportunities in the fields of electronics, sensors, camera, and software for pilots. Increase in awareness and mission capabilities of UAVs are driving innovations and new applications driven with the help of low cost and its capability in undertaking high threat task. In particular, small unmanned aerial vehicles should fly in environments with high probability of unexpected sudden change or obstacle appearance in low altitude situations. In this paper, current researches regarding techniques of autonomous flight of smal UAV systems are introduced and we propose a draft idea for planning paths for small unmanned aerial vehicles in adversarial environments to arrive at the given target safely with low cost sensors.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.05a
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• pp.515-517
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• 2018

Access to public facilities such as substations, dams and railway facilities is strictly controlled, and unmanned surveillance equipment has been introduced and operated recently due to the development of IT technology and the government's cost reduction policy. However, if an unmanned surveillance system is broken, surveillance space, information leakage caused by intruders, and damage to facilities may occur. Also, it is necessary to check periodical visit by the manager in order to check the surveillance facilities, which causes additional management costs. In order to solve this problem, we designed a system to check the operation status of the unmanned monitoring facility in real time, attempt to recover automatically when a problem occurs, and notify the administrator of the problem. The designed system consists of an NVR that receives and judges information such as image, sound, and lighting condition, and a control device that detects and restores the state of the unmanned monitoring facility. The system proposed in this paper is expected to contribute to the improvement of the economic efficiency due to the minimization of surveillance space due to the failure of the unmanned monitoring facility and the reduction of the inspection cost.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.7C
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• pp.527-537
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• 2012

In this paper, we propose unmanned vehicle based tracking network (UVTN) architecture and algorithms which employ multiple autonomous unmanned ground vehicles (AUGV) to efficiently follow targets in a group. The goal of UVTN is to maximize the service coverage while tracking target nodes for monitoring or providing the network access. In order to achieve this goal, UVTN performs periodic expansion and contraction which results in optimized redistribution of AUGV's in the network. Also, enhanced algorithms such as fast contraction and longest first are also discussed to improve the performance of UVTN in terms of the average coverage ratio and traveled distance. Simulation results show that the proposed UVTN and enhanced algorithms can effectively track the moving target and provide the consistent coverage.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.16 no.4
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• pp.13-24
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• 2017

This paper presents a sequentially combined method of determining location conditions, the number of unmanned parcel service box and their optimal locations. First of all, block, accessibility and main public facilities are considered as location conditions and then set-covering model and p-median model are adopted for deciding the number of unmanned parcel service box and optimal locations, respectively. A case study for a region composed of small housings and multiplex housings in Ansan is conducted to prove the validation and application of the proposed method. The result indicates that 2 unmanned parcel service boxes are necessary in specific public places. The research contributes to resonable choice of unmanned parcel service boxes, crime reduction relevant to delivery man impersonation and economic benefit due to parcel service industry growth.