• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.5
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• pp.423-430
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• 2016

Recently, manned and unmanned aerial vehicles are faced with problems such as collision detection and avoidance, link-loss for integrated operations in NAS. Hence, on the basis of the performance data of EUROCONTROL's BADA and NASA, an environment was developed to simultaneously handle simulations of integrated operations of MAVs and UAVs along with ATC/ATM simulations, and dynamic modeling was then carried out. To validate the developed model, simulations were performed on a 6-DOF model by its segments and the results were compared to the RMSE results.

• Journal of the Korean Operations Research and Management Science Society
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• v.28 no.2
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• pp.75-89
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• 2003

Media Access Control (MAC) Protocol in IEEE 802.11 Wireless LAN standard supports two types of services, synchronous and asynchronous. Synchronous real-time traffic is served by Point Coordination Function (PCF) that implements polling access method. Asynchronous nonreal-time traffic is provided by Distributed Coordination Function (DCF) based on Carrier Sense Multiple Access with Collision Avoidance (CSMA/CA) protocol. Since real-time traffic is sensitive to delay, and nonreal-time traffic to error and throughput, proper traffic scheduling algorithm needs to be designed. But it is known that the standard IEEE 802.11 scheme is insufficient to serve real-time traffic. In this paper, real-time traffic scheduling and admission control algorithm is proposed. To satisfy the deadline violation probability of the real time traffic the downlink traffic is scheduled before the uplink by Earliest Due Date (EDD) rule. Admission of real-time connection is controlled to satisfy the minimum throughput of nonreal-time traffic which is estimated by exponential smoothing. Simulation is performed to have proper system capacity that satisfies the Quality of Service (QoS) requirement. Tradeoff between real-time and nonreal-time stations is demonstrated. The admission control and the EDD with downlink-first scheduling are illustrated to be effective for the real-time traffic in the wireless LAN.

• Current Industrial and Technological Trends in Aerospace
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• v.6 no.2
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• pp.143-153
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• 2008

This paper describes the current research trend and future development direction of autonomous flight of the aircraft. The autonomous flight means that aircraft control system recognize and cope with the emergency situation confronted during the flight by itself. Current research for autonomous flight technology is mainly performed for the application to unmanned air vehicle. Considering advent of future air traffic management system and increasing demand of the unmanned air vehicle application, however, autonomous flight technology required to be combined with future air traffic management system. In this paper, the current air traffic management system and anticipating change in future air traffic management system was investigated and research activities of autonomous flight technology was described as well as future prospect.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.2
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• pp.228-233
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• 2004

Nowadays, the robot with various and complex functions is required. previous algorithms, however, cannot satisfy the requirement. In order to solve these problems, we introduce the 2-Layer Fuzzy Controller, which has a small number of fuzzy rules corresponding to various inputs and outputs. Also, it controls robustly and effectively an object. The main problem in the fuzzy controller is how to design the fuzzy rule. This paper designs the optimal 2-layer fuzzy controller using the Schema Co-Evolutionary Algorithm. The schema co-evolutionary algorithm can find more rapidly and excellently than simple genetic algorithm does.

• Proceedings of the Korean Information Science Society Conference
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• 2006.10d
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• pp.6-9
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• 2006

IEEE 802.15.4는 저전력 무선 개인 네트워크 기술의 표준으로서 USN(ubiquitous sensor network)의 핵심 무선 통신 기술로 각광을 받고 있다. 그러나 IEEE 802.15.4는 제한된 RF 전송범위와 스타 토폴로지를 기반으로 하는 통신 기법만을 제공하고 있으며, 인접한 PAN 간(inter-PAN)의 통신 기술은 정의되어 있지 않다. 이러한 기술상의 제약으로 IEEE 802.15.4는 통신 영역이 매우 제한적이며, 이에 따라 통신시 음영지역이 발생하는 문제점을 가지고 있다. 현재까지 통신영역 확장을 위한 주요 기술적 사항인 효율적인 토폴로지 형성방법, 주소할당 및 라우팅 방법, 인접 네트워크 간의 비콘 충돌 회피 기법 등에 대한 활발한 연구가 진행되어 왔다. 이중 인접한 네트워크간의 비콘 충돌 방지 기법은 IEEE 802.15.4의 네트워크가 비콘에 의해서 관리된다는 점을 고려하였을 때 데이터 전송 및 네트워크 유지를 위해 우선적으로 해결되어야 할 사항이다. 본 연구에서는 제안된 비콘 충돌 회피 기법을 분석하고, 이중 비활성 구간(inactive portion)을 활용한 기법에 대한 구체적인 구현 방안을 제시 하였다. 또한 상용 임베디드 장치인 Nano-24에 설계한 비콘 충돌 회피 기법을 구현하여 동작을 검증, 분석하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.387-389
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• 2015

IEEE 802.11e EDCA(Enhanced Distributed Channel Access)는 4개의 AC(Access Category)를 이용하여 트래픽에 따른 우선순위를 부여하고 QoS(Quality of Service)를 제공하기 위해 표준화되었다. EDCA는 이진 백오프 알고리즘을 갖는 CSMA/CA(Carrier Sense Multiple Access with Collision Avoidance) 방법을 이용한다. EDCA에서 패킷 전송에 실패할 경우 경쟁 윈도우 값은 두 배씩 증가 되고, 성공할 경우에는 최소 경쟁 윈도우 값으로 초기화된다. 따라서 경쟁 윈도우 값이 최적의 값을 유지하지 못해 많은 패킷 충돌을 야기하여 네트워크 성능을 감소시킨다. 이 문제를 해결하기 위해 기존에 제안된 논문에서는 패킷 전송 성공 후 경쟁 윈도우 값을 최소 경쟁 윈도우 값이 아닌 채널 혼잡 정도에 따라 계산된 값으로 설정한다. 그러나 이 방법은 트래픽 종류와 상관없이 같은 방법으로 동작하기 때문에 트래픽 종류에 따른 차별적 QoS를 보장하지 않는다. 또한 계산된 경쟁 윈도우 값은 현재 값에 비해 상대적으로 낮은 값을 갖기 때문에 여전히 높은 충돌율을 갖는다. 본 논문에서는 이 문제를 해결하기 위해 새로운 프로토콜을 제안한다. 제안된 방법에서는 네트워크의 혼잡 정도를 잘 반영하기 위한 새로운 경쟁 윈도우 계산 알고리즘을 제시한다. 또한 제안된 알고리즘은 트래픽 종류에 따른 QoS 보장을 위해 트래픽 종류에 따른 차별화 파라미터를 이용한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2010.11a
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• pp.1788-1791
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• 2010

위치 측정 기술의 발달로 인해 다양한 서비스들이 개발 되어 현대 사회에 제공되고 있다. 이러한 서비스들 중 GPS는 현재 우리 사회에 깊숙이 녹아 들어와 핸드폰, 내비게이션, 배송처리, 차량 위치 파악, 긴급구조서비스, 항공 및 선박 항법장치, DSLR 등 다양한 분야에서 활용되고 있다. GPS는 위성신호를 수신하여 위치를 파악하기 때문에 위성신호를 수신할 때 공간상의 제약이 있고, 매우 민감하게 방해요소에 의해 간섭을 받을 수 있다. 차량이 충돌위험 발생시 GPS가 방해요소로 인해 수신되지 않으면 충돌회피를 위한 시스템이 제대로 작동하지 못할 우려가 있다. 본 논문에서는 GPS가 수신율이 떨어지는 터널, 고가도로, 지하주차장과 같은 장소에서의 WLAN을 기반으로 한 위치측정 기술을 이용하여 차량의 충돌회피를 방지하기 위한 프로토콜을 제안한다.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.117-129
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• 2024

This paper introduces collective navigation through a narrow gap using a curriculum-based deep reinforcement learning algorithm for a swarm of unmanned aerial vehicles (UAVs). Collective navigation in complex environments is essential for various applications such as search and rescue, environment monitoring and military tasks operations. Conventional methods, which are easily interpretable from an engineering perspective, divide the navigation tasks into mapping, planning, and control; however, they struggle with increased latency and unmodeled environmental factors. Recently, learning-based methods have addressed these problems by employing the end-to-end framework with neural networks. Nonetheless, most existing learning-based approaches face challenges in complex scenarios particularly for navigating through a narrow gap or when a leader or informed UAV is unavailable. Our approach uses the information of a certain number of nearest neighboring UAVs and incorporates a task-specific curriculum to reduce learning time and train a robust model. The effectiveness of the proposed algorithm is verified through an ablation study and quantitative metrics. Simulation results demonstrate that our approach outperforms existing methods.

• Journal of Advanced Navigation Technology
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• v.27 no.1
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• pp.36-42
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• 2023

The development of autonomous vehicles are currently being actively carried out by various companies and research institutes. Expectations for commercialization in daily life as well as specific industries are also rising. Simulators for autonomous vehicles are an essential element in algorithm development and execution considering stability and cost. In this need, various simulators and platforms for simulators are emerging, but research on simulations that reflect various meteorological environmental factors in the real world is still insufficient. This paper proposes a traffic simulation for autonomous vehicles that can consider the weather environment. The weather environment that can be set is largely classified into four categories, and an improved collision prevention algorithm to apply them is presented. Simulation development was conducted through Carla's Python API, a development tool for autonomous driving, and the performance results were compared with existing collision algorithms. Through this, we tried to propose improvements for the development of advanced self-driving vehicle simulations that can reflect various weather environmental factors in real life.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.499-505
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• 2004

In this paper, we studied about AGVs modeling and material handling automation simulation using a virtual AGV. The proposed virtual AGV model that operates independently each other is based on a real AGV. Continuous straight-line and workstation model using vector drawing method that could easily, rapidly work system modeling are suggested. Centralized traffic control, which could collision avoidance in intersection and should not stop AGV as possible, and algorithm for detour routing which performs when another AGV is working in pre-routed path are proposed. The traffic control and the algorithm have been proved efficience by simulation.