• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1051-1058
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• 2011

Unmanned autonomous forklifts have a great potential to enhance the productivity of material handling in various applications because these forklifts can pick up and deliver loads without an operator and any fixed guide. Especially, automation of pallet loading and unloading technique is useful for enhancing performance of logistics and reducing cost for automation system. There are, however, many technical difficulties in developing such forklifts including localization, map building, sensor fusion, control, and so on. This is because the system requires numerous sensors, actuators, and controllers that need to be connected with each other, and the number of connections grows very rapidly as the number of devices grows. This paper presents a vision sensorbased autonomous loading and unloading for network-based unmanned forklift where system components are connected to a shared CAN network. Functions such as image processing and control algorithm are divided into small tasks that are distributed over a number of microcontrollers with a limited computing capacity. And the experimental results show that proposed architecture can be an appropriate choice for autonomous loading in the unmanned forklift.

• Journal of Convergence for Information Technology
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• v.9 no.11
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• pp.118-124
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• 2019

As Unmanned Aerial Vehicles technology has been widespread, various types of unmanned aircraft and mission equipment have been developed in line with mission diversification. Especially in Korea, small unmanned aerial vehicles have been actively developed. In addition, flight control system and mission equipment interface system for effective control of small unmanned aerial vehicles, efficient communication system configuration and operation for transmission to ground operated systems by processing data are required. This paper addresses efficient system structure and operation of communication equipment for missions and control of small unmanned aerial vehicles.

• Journal of Advanced Navigation Technology
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• v.27 no.1
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• pp.1-7
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• 2023

Mission autonomy system should be embedded on UAV (Unmanned Aerial Vehicle) for mosaic warfare where UAVs autonomously assign tasks to themselves. UxAS (Unmanned x-systems Autonomy Service) proposed by Air Force Research Laboratory is mission autonomy system for unmanned platforms. UxAS has extensible structure composed of numerous module services. However, UxAS can conduct mission autonomy process only when an operator sends an autonomy request. In this paper, We analyze the process of mission autonomy in UxAS, and propose an improved structure of UxAS where mission autonomy process is autonomously triggered by situation awareness service without the request of the operator. The proposed process was validated by simulation.

• Nuclear Engineering and Technology
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• v.56 no.3
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• pp.1116-1123
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• 2024

-In recent years, unmanned underwater vehicles (UUV) have been vigorously developed, and with the continuous deepening of marine exploration, traditional energy can no longer meet the energy supply. Nuclear energy can achieve a huge and sustainable energy supply. The heat pipe reactor has no flow system and related auxiliary systems, and the supporting mechanical moving parts are greatly reduced, the noise is relatively small, and the system is simpler and more reliable. It is more favorable for the control of unmanned systems. The use of heat pipe reactors in unmanned underwater vehicles can meet the needs for highly compact, long-life, unmanned, highly reliable, ultra-quiet power supplies. In this paper, a heat pipe reactor scheme named UPR-S that can be applied to unmanned underwater vehicles is designed. The reactor core can provide 1 MW of thermal power, and it can operate at full power for 5 years. UPR-S has negative reactive feedback, it has inherent safety. The temperature and stress of the reactor are within the limits of the material, and the core safety can still be guaranteed when the two heat pipes are failed.

• Journal of Advanced Navigation Technology
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• v.28 no.3
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• pp.331-337
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• 2024

Mission autonomy system should be embedded on UAV (unmanned aerial vehicle) for mosaic warfare where UAVs autonomously assign tasks to themselves. UxAS (unmanned x-systems autonomy service) proposed by Air force research laboratory is mission autonomy system for unmanned platforms. UxAS has extensible structure composed of numerous module services. We have developed mission autonomy system based on UxAS that performs mission allocation and path planning. In this paper, We present a method of analyzing and evaluating the mission autonomy software according to the performance evaluation index.

• Journal of the Korea Society for Simulation
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• v.29 no.2
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• pp.105-117
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• 2020

Analysis of combat effectiveness is required to consider the concept of tactical cooperative engagement between manned-unmanned weapon systems, in order to predict the required operational capabilities of future weapon systems that meets the concept of 'effect-based synchronized operations.' However, analytical methods such as mathematical and statistical models make it difficult to analyze the effects of complex systems under nonlinear warfare. In this paper, we propose a combat simulation model that can simulate the concept of cooperative engagement between manned-unmanned combat entities based on wireless communications. First, we model unmanned combat entities, e.g., unmanned ground vehicles and drones, and manned combat entities, e.g., combatants and artillery, considering the capabilities required by the future ground system. We also simulate tactical behavior in which all entities perform their mission while sharing battlefield situation information through wireless communications. Finally we explore the feasibility of the proposed model by analyzing combat effectiveness such as target acquisition rate, remote control success rate, reconnaissance lead time, survival rate, and enemy's loss rate under a small-unit armor reconnaissance scenario. The proposed model is expected to be used in war-game combat experiments as well as analysis of the effects of manned-unmanned ground weapons.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.21 no.5
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• pp.42-56
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• 2022

The thesis is automated traffic control equipment system aims to improve. Areas where improvement is needed about the existing automated traffic control equipment by applying the latest technology and to improve the things that can be derived. Reflecting the derived improvements, we intend to present a plan for the design and implementation of a new unmanned traffic control device. The main improvements were designed to change the housing material of the unmanned traffic control equipment, simplify the configuration of the equipment, reduce the weight of the equipment, and change the purpose of the software. In order to evaluate the objective performance of the improved unmanned traffic control equipment through this study, it was requested to a public certification authority. The reliability of the equipment was secured through KC certification and durability test. It is intended to present the feasibility of securing the marketability of the unmanned traffic control equipment by comparing and evaluating the construction period and installation cost with the existing unmanned traffic control equipment.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.45 no.1
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• pp.10-19
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• 2022

Recently, the Defense Advanced Research Projects Agency(DARPA) in the United States is studying a new concept of war called Mosaic Warfare, and MUM-T(Manned-Unmanned Teaming) through the division of missions between expensive manned and inexpensive unmanned aircraft is at the center. This study began with the aim of deriving the priority of autonomous functions according to the role of unmanned aerial vehicles in the present and present collaboration that is emerging along with the concept of mosaic warfare. The autonomous function of unmanned aerial vehicles between the presence and absence collaboration may vary in priority depending on the tactical operation of unmanned aerial vehicles, such as air-to-air, air-to-ground, and surveillance and reconnaissance. In this paper, ACE (Air Combat Evaluation), Skyborg, and Longshot, which are recently studied by DARPA, derive the priority of autonomous functions according to air-to-air collaboration, and use AHP analysis. The results of this study are meaningful in that it is possible to recognize the priorities of autonomous functions necessary for unmanned aircraft in order to develop unmanned aerial vehicles according to the priority of autonomous functions and to construct a roadmap for technology implementation. Furthermore, it is believed that the mass production and utilization of unmanned air vehicles will increase if one unmanned air vehicle platform with only essential functions necessary for air-to-air, air-to-air, and surveillance is developed and autonomous functions are expanded in the form of modules according to the tactical operation concept.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1375-1379
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• 2004

Unmanned Helicopter has several abilities such as vertical Take off, hovering, low speed flight at low altitude. Such vehicles are becoming popular in actual applications such as search and rescue, aerial reconnaissance and surveillance. These vehicles also used under risky environments without threatening the life of a pilot. Since a small aerial vehicle is very sensitive to environmental conditions, it is generally known that the flight control is very difficult problems. In this paper, a flight control system was designed for an unmanned helicopter. This paper was concentrated on describing the mechanical design, electronic equipments and their interconnections for acquiring autonomous flight. The design methodologies and performance of the helicopter were illustrated and verified with a linearized equation of motion. The LQG based estimator and controller was designed and tested for this unmanned helicopter.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.932-937
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• 2003

In this paper, we will explain about the unmanned vehicle control and modeling for combined obstacle avoidance and lane tracking. First, obstacle avoidance is considered as one of the important technologies in the unmanned vehicle. It is consisted by two parts: the first part includes the longitudinal control system for the acceleration and deceleration and the second part is the lateral control system for the steering control. Each system uses to the obstacle avoidance during the vehicle moving. Therefore, we propose the method of vehicle control, modeling and obstacle avoidance. Second, we describe a method of lane tracking by means of vision system. It is important in the unmanned vehicle and mobile robot system. In this paper, we deal with lane tracking and image processing method and it is including lane detection method, image processing algorithm and filtering method.