• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.47.6-47
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• 2002

UAV(Unmanned Aerial Vehicle) has become one of the most popular military/commercial aerial robots in the new millenium. In spite of all the advantages that UAVs inherently have, it is not an easy job to develop a UAV because it requires very systematic and complete approaches in full development envelop. The ground test & evaluation phase has the utmost importance in the sense that a well developed system can be best verified on the ground. In addition, many of the aircraft crashes in the flight tests were resulted from the incomplete development procedure. In this research, a verification procedure of the whole airborne integrated system was conducted including the flight management sys...

• 항공우주시스템공학회지
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• 제9권4호
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• pp.8-15
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• 2015

Unmanned Aircraft System(UAS) is a huge and complicated system that is composed of UAV, ground control system, datalink system, and mission equipments. We have applied system engineering to development of UAS. Configuration management is very important activity for efficient developments. The Configuration management process comprises four distinct disciplines (Configuration identification, Configuration control, Configuration status accounting, and Configuration audit). This paper explains the configuration management system of UAS development project which ADD executes and introduces several examples of these four disciplines.

• 한국시뮬레이션학회논문지
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• 제27권4호
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• pp.47-60
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• 2018

오늘날 여러 산업분야에서 활용되고 있는 무인화기술은 자율기술이 성숙함에 따라 장기적으로는 인공지능차원의 자율판단이 가능한 수준으로까지 발전할 것으로 예상된다. 군사 분야에 있어 무인체계의 활용성을 높이기 위해서는 사람이 수행하던 임무를 무인체계가 대신함에 따른 효율성 및 효과의 정도를 체계적 정량적으로 분석하기 위한 기법 개발이 요구된다. 이에 본 논문에서는 유 무인체계가 혼합 편성된 미래 기갑수색부대가 수색정찰 임무계획 수립 시 대두되는 수색경로 대안을 효과적으로 분석할 수 있도록 전술행위를 규칙기반(rule-based)으로 표현하고, 유 무인 수색정찰 에이전트를 모델링하는 방법을 제안한다. 먼저, 기갑수색부대의 무인차량, 소형전술차량, 전투원 등 전투개체를 에이전트 개념으로 모델링하고, 각각의 기동, 탐색, 전투원 하차지점 선정, 경로선정 등을 행동규칙화 하여 NetLogo를 이용해 구현한다. 제안한 모델은 작전지역 내 기동로 여건, 적 위협 요소, 정찰자산 등을 고려하여 적정 경로를 선정하고, 경로상의 정찰면적, 정찰소요시간, 작전효과(기여도) 등의 산출이 가능하여, 향후 지상무인체계 효과 분석 시 다양한 목적으로 활용될 수 있을 것으로 기대된다.

• Journal of Multimedia Information System
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• 제4권4호
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• pp.195-204
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• 2017

Mobile robots are used for years as a valuable research and educational tool in form of available open-platform designs and Do-It-Yourself kits. Rapid development and costs reduction of Unmanned Air Vehicles (UAV) and ground based mobile robots in recent years allowed researchers to utilize them as an affordable research platform. Despite of recent developments in the area of ground and airborne robotics, only few examples of Unmanned Surface Vehicle (USV) platforms targeted for research purposes can be found. Aim of this paper is to present the development of open-design USV drone with integrated multi-level control hardware architecture. Proposed catamaran - type water surface drone enables direct control over wireless radio link, separate development of algorithms for optimal propulsion control, navigation and communication with the ground-based control station. Whole design is highly modular, where each component can be replaced or modified according to desired task, payload or environmental conditions. Developed USV is planned to be utilized as a part of the system for detection and identification of marine and lake waste. Cameras mounted to the USV would record sea or lake surfaces, and recorded video sequences and images would be processed by state-of-the-art computer vision and machine learning algorithms in order to identify and classify marine and lake waste.

• 한국항행학회논문지
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• 제24권6호
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• pp.471-478
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• 2020

본 연구에서는 무인기가 운용 중에 고장이 발생하여 추락함으로써 발생할 수 있는 지상 충돌 위험을 정량적으로 계산하기 위한 지상 충돌 위험 모델을 개발하였다. 지상 충돌 위험 모델은 무인기 고장 확률, 무인기가 지상에 추락하여 사람과 충돌할 확률, 무인기가 사람과 충돌했을 때 인명 피해가 발생할 확률을 이용하여 계산된다. 본 연구에서는 무인기 운용의 지상 충돌 위험을 평가하기 위해 수학적으로 각 확률을 유도하였다. 또한 무인기와의 충돌에 노출되는 인구수를 추정하기 위해 인구 밀도 맵, 건폐율 맵, 차량 교통량 데이터베이스를 활용하였다. 최종적으로 대전에서 두 가지 무인기 경로에 대한 운영을 가정하여 각 무인기 경로에 대한 지상 충돌 위험을 평가하였다.

• 한국멀티미디어학회논문지
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• 제20권3호
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• pp.437-445
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• 2017

Necessity of security reinforcement has been increased these days. As a result, surveillance systems using CCTV and the patrol system by person have been applied to security zone. However, CCTV has a blind spot and CCTV itself cannot handle emergency situation. Patrol system by person is economically expensive. To overcome these disadvantages, this paper presents an image-based surveillance system using unmanned aircraft. As a default, unmanned aircraft traces lines installed on ground which represents path for patrolling. If the aircraft detects objects, then it keeps a constant distance between object without missing the object in the image. Simulation results show that the proposed system can be operated even with unmanned aircraft with low specification.

• 대한기계학회논문집A
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• 제32권4호
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• pp.340-346
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• 2008

An unmanned surveillance robot consists of a machine gun, a laser receiver, a thermal imager, a color CCD camera, and a laser illuminator. It has two axis control systems for elevation and azimuth. Because the current robot system is mounded at a fixed post to take care of surveillance tasks, it is necessary to modify such a surveillance robot to be installed on an UGV (Unmanned Ground Vehicle) system in order to watch blind areas. Thus, it is required to have a stabilization system to compensate the disturbance from the UGV. In this paper, a simulation based design scheme has been adopted to develop a mobile surveillance robot. The 3D CAD geometry model has first been produced by using Pro-Engineer. The required pan and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to compensate the motion of the vehicle which will experience the rough terrain. To test the performance of the stabilization control system of the robot, ADAMS/simulink co-simulations has been carried out.

• 한국군사과학기술학회지
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• 제16권5호
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• pp.583-589
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• 2013

In this paper, we proposed a system that efficiently provides support maps which includes the grid based terrain analysis information. To do this, we use the FDB which is defined as a GIS database that contains features with attributes attached to the features. The FDB is composed of a number of features and feature classes. In order to create support maps, it is necessary to classify feature classes that are associated with each support map and to search them in a grid map. The proposed system use a ontology model to classify semantically feature classes and the quad-tree data structure to find them in a grid map quickly. Therefore, our system is expected to be utilized for global path planning of UGV. In this paper, we show the possibility through an experimental implementation.

• Journal of electromagnetic engineering and science
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• 제15권1호
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• pp.37-43
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• 2015

We implemented a real-time radar system for an unmanned ground vehicle designed to run on unpaved or bumpy roads. The system must be able to detect slow targets in a cluttered environment and cover wide angular sections with high resolution at the same time. The system consists of array antennas, preprocessors for digital beam forming, and digital signal processors for the detection process which uses sawtooth waveforms and high-resolution estimation, and is called forward/backward spatial smoothing beamspace multiple signal classification (FBSS BS-MUSIC). We show that the sawtooth waveforms enhance the angular estimation capability of FBSS BS-MUSIC in addition to their well-known advantages of removing the ambiguity of targets and detecting slow targets with improved velocity resolution.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.367-371
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• 2004

This paper describes development of automatic flight control system for an unmanned target drone which is operated by Korean army as for anti-air gun shooting training. Current target drone is operated by pilot control of on-board servo motor via remote control system. Automatic flight control system for the target drone greatly reduces work load of ground pilot and can increase application area of the drone. Most UAVs being operated now days use high-priced sensors as AHRS and IMU to measure the attitude, but those are costly. This paper introduces the development of low-cost automatic flight control system with low-cost sensors. The integrated automatic flight control system has been developed by integrating combining power module, switching module, monitoring module and RC receiver as an one module. The performance of automatic flight control system is verified by flight test.