• 국제학술발표논문집
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• The 6th International Conference on Construction Engineering and Project Management
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• pp.310-312
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• 2015

Small Unmanned Aerial Systems (SUAS) have been gaining a special attention in the U.S. recently because it is capable of getting aerial footages conveniently and cost effectively, but also because of its potential threat to the safety of our society. Regarding the benefits, one can easily find successful cases. For example, remote controlled or pre-programmed unmanned aircraft help ranch owners monitor their livestocks or crop harvesting status cost-effectively without having to hire human pilots. The professionals in the construction industry also acknowledge the benefits they could gain from using SUAS. Some firms already use a small unmanned aircraft for monitoring their construction activities, which may help project managers figure out construction progress, resolve disputes in real time, and make proactive decisions for quality control. However, there are many technical challenges that my hinder the use of small unmanned aircraft in the construction industry. This paper explores opportunities and challenges in using unmanned aircraft to monitor concrete cracks on the surface of containment building in the nuclear power plant.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.969-976
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• 2008

A position control problem is studied for UEV(Unmanned Expedition Vehicles), which is to follow pre-determined paths via fixed way-points. Hybrid control systems are used for position control of UEV depending on the operating condition. Speed control consists of three controllers: PID control, adaptive PI control, and neural network. Heading control consists of two controllers, PID and adaptive PID control. The controllers are selected based on the changes of road conditions. We suggest an adaptive PI control algorithm for speed control and an transition management algorithm among the controllers. The algorithm adapts the road conditions and variation of vehicle dynamical characteristics and selects a suitable controller.

• 항공우주시스템공학회지
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• 제10권4호
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• pp.75-83
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• 2016

본 연구에서는 복합형 무인 회전익기의 로터드라이브시스템 개발 개념을 정립하기 위해 관련 특허를 조사하고 분석하였다. 특허를 로터드라이브시스템 개발의 관점에서 10개의 유사한 그룹별로 나누어 세부적인 검토 및 분석을 수행하였다. 결과적으로, 특허 분석 결과를 통해 비행체의 로터드라이브시스템 개발 개념을 제안한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.132.1-132
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• 2001

In this paper, we have studied for development of unmanned remote supervisory system using mobile communication network, not wire network, not to be affected by space or distance. The unmanned remote supervisory system consists of data processing unit main part and measuring systems (modules part)-temperature measuring module, humidity measuring module and human body sensing module. The data processing unit to collect and process informations of each measuring module has the functions of data communication between a mobile cellular telephone and measuring systems. Each measuring module has supervisory and warning functions for a target of supervision. And then we have designed each system and evaluated accuracy and reliability of the combined total system.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.451-459
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• 2011

Fundamentally, there are 5 systems are needed for autonomous navigation of unmanned ground vehicle: Localization, environment perception, path planning, motion planning and vehicle control. Path planning and motion planning are accomplished based on result of the environment perception process. Thus, high reliability of localization and the environment perception will be a criterion that makes a judgment overall autonomous navigation. In this paper, via map matching using vehicle dynamic model and LIDAR sensors, replace high price localization system to new one, and have researched an algorithm that lead to robust autonomous navigation. Finally, all results are verified via actual unmanned ground vehicle tests.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2019년도 춘계학술대회
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• pp.298-299
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• 2019

본 논문에서 장거리 통신이 항상 보장될 수 없는 전술 무선 네트워크 환경에서 무인전투체계들간의 안정한 상호 인증 프로토콜을 제안한다. 제안하는 프로토콜은 임의로 선택된 데이터의 해시 충돌을 이용하여 인증코드를 생성한다. 인증요청자는 이를 인증자의 공개키로 암호화여 전송한다. 인증요청자와 인증자가 정당한 인증코드를 상호 공유함으로써 인증을 수행한다. 다양한 공격 시나리오를 대상으로 제안하는 기법의 안전성을 분석한다.

• 항공우주시스템공학회지
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• 제13권3호
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• pp.40-47
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• 2019

본 논문은 무인항공기 체계(UAS; unmanned aerial system)의 비행체 탑재장비 및 지상에서 운용하는 장비의 연동 검증을 위한 체계통합실험실(SIL; system integration laboratory) 및 체계통합시험(SIT; system integration test)의 환경 구축 및 이를 통한 검증방법에 대하여 다룬다. SIL 내 구축된 지상통제체계, 데이터링크체계, 비행체 탑재장비, 임무장비(EO/IR, SAR) 등과 같은 부체계간의 인터페이스 환경 및 모의 비행을 통한 체계 운용로직의 검증방법과 실험실 레벨에서의 검증이 완료된 각 부체계를 실제 시험 환경에서 검증하는 방법에 대해 기술한다.

• 대한안전경영과학회지
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• 제24권3호
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• pp.29-37
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• 2022

The development of technology related to the Fourth Industrial Revolution and the growth of the online market due to pandemic are continuing the growth of the logistics market for product delivery. If it is difficult to deliver the product directly to the customer during delivery, storage and delivery using the unmanned courier box are being carried out. However, existing storage boxes are not actively used due to lack of usability even though they have the advantage of storing goods and delivering non-face-to-face. In addition, existing courier boxes are not prepared for cold chain transportation. The unmanned delivery storage device with ICT cold chain technology should be developed to prepare for the transition to non-face-to-face society, to improve logistics efficiency and meet user's requirements. Also, it is necessary to consider the measures to reduce the safety problems that may occur during the use and maintenance of the automatic system. This study conducted a model-based analysis for the development of unmanned delivery storage devices with ICT cold chain technology, and conducted a study to derive the system development specifications that meet the requirements and secure safety and apply them to the development process.

• 한국군사과학기술학회지
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• 제25권6호
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• pp.586-595
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• 2022

In this paper, we propose a formation control algorithm for multi-USVs according to COLREGs. First, we applied the Dynamic Window Approach algorithm that can reflect the kinematic characteristics for the path movement of USVs. Then, we propose a virtual structure-based virtual leader-follower method that applies the advantages of leader-follower and virtual structure methods among conventional formation control algorithms for stability. Next, we proposed a collision avoidance algorithm according to all COLREGs when encountering an opposing ship by adding COLREGs situational conditions to the virtual leader, and finally confirmed the feasibility of the proposed method through simulation.

• 제어로봇시스템학회논문지
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• 제14권9호
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• pp.873-880
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• 2008

This paper deals with the peer-to-peer data communication to connect each distributed levels of developed unmanned system according to the JAUS. The JAUS is to support the acquisition of unmanned system by providing a mechanism for reducing system life-cycle costs. Each of distributed levels of the JAUS protocol divides into a system, some of subsystems, nodes and components/instances, each of which may be independent or interdependence. We have to distribute each of the levels because high performance is supported in order to create several sub-processor computing data in one processor with high CPU speed performance. To complement such disadvantage, we must think the concept that a distributed processing agrees with separating each of levels from the JAUS protocol. Therefore, each of distributed independent levels send data to another level and then it has to be able to process the received data in other levels. So, peer-to-peer communication has to control a data flow of distributed levels. In this research, we explain each of levels of the JAUS and peer-to-peer communication structure among the levels using our developed unmanned ground vehicle.