• Title/Summary/Keyword: unmanned control system

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Development of Autonomous Loading and Unloading for Network-based Unmanned Forklift (네트워크 기반 무인지게차를 위한 팔레트 자율적재기술의 개발)

  • Park, Jee-Hun;Kim, Min-Hwan;Lee, Suk;Lee, Kyung-Chang
    • 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.

Trajectory tracking control system of unmanned ground vehicle (무인자동차 궤적 추적 제어 시스템에 관한 연구)

  • Han, Ya-Jun;Kang, Chin-Chul;Kim, Gwan-Hyung;Tac, Han-Ho
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.21 no.10
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    • pp.1879-1885
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    • 2017
  • This paper discusses the trajectory tracking system of unmanned ground vehicles based on predictive control. Because the unmanned ground vehicles can not satisfactorily complete the path tracking task, highly efficient and stable trajectory control system is necessary for unmanned ground vehicle to be realized intelligent and practical. According to the characteristics of unmanned vehicle, this paper built the kinematics tracking models firstly. Then studied algorithm solution with the tools of the optimal stability analysis method and proposed a tracking control method based on the model predictive control. The controller used a kinematics-based prediction model to calculate the predictive error. This controller helps the unmanned vehicle drive along the target trajectory quickly and accurately. The designed control strategy has the true robustness, simplicity as well as generality for kinematics model of the unmanned vehicle. Furthermore, the computer Simulink/Carsim results verified the validity of the proposed control method.

Design and Flight Test of Path Following System for an Unmanned Airship (무인 비행선의 자동 경로 추종 시스템 개발 및 비행시험)

  • Jung, Kyun-Myung;Sung, Jae-Min;Kim, Byoung-Soo;Je, Jeong-Hyeong;Lee, Sung-Gun
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.5
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    • pp.498-509
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    • 2010
  • In this paper, a waypoint guidance law Line Tracking algorithm is designed for testing an Unmanned Airship. In order to verify, we develop an autonomous flight control and test system of unmanned airship. The flight test system is composed FCC (Flight Control Computer), GCS (Ground Control System), Autopilot & Guidance program, GUI (Graphic User Interface) based analysis program, and Test Log Sheet for the management of flight test data. It contains flight test results of single-path & multi-path following, one point continuation turn, LOS guidance, and safe mode for emergency.

A Flight Control System design for an Unmanned Helicopter

  • Park, Soo-Hong;Kim, Jong-Kwon;Jang, Cheol-Soon
    • 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.

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Automatic Train Operation System Requirements Examination for Driverless Operation and Application Case of Urban Maglev Train (무인운전을 위한 자동열차운전장치 시스템 요구조건 검토 및 도시형 자기부상열차 적용사례)

  • Kang, Kyeong-Yong;Cho, Young-Wan;Park, Hee-Jun;Park, Chae-Young
    • Proceedings of the KSR Conference
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    • 2011.10a
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    • pp.1100-1107
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    • 2011
  • The light-rail system which is recently being built in Korea is a train control system based on driverless operation, and the train control system for urban maglev train under construction at the moment in Youngjong-Do, Incheon is pushed ahead based on driverless operation. In this paper, it compares train operation cases with manned operation and unmanned operation to examine system requirements for unmanned driving on train and detects system requirements of automatic train operation device for unmanned operation by analyzing unmanned operation cases which are currently operating or planed project and also introduces automatic train operation of urban maglev train and verifies whether the system for unmanned driving meets the requirements.

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System Identification of a Small Unmanned Rotorcraft (소형 무인 헬리콥터의 시스템 식별)

  • Ryu, Seong-Sook;Song, Yong-Kyu
    • Journal of Institute of Control, Robotics and Systems
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    • v.15 no.1
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    • pp.44-53
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    • 2009
  • In this paper, Recursive Least Squares (RLS) and Fourier Transform Regression (FTR) methods for estimating stability and control derivatives of small unmanned helicopter are evaluated together with MMLE technique. Flight data simulated by using a commercial small-scale helicopter model are exploited to estimate the parameters with accuracies for hover and cruise modes. The performances of the system identification methods are also compared by analyzing the responses of the reconstructed systems using estimated derivatives.

Network-based Distributed Approach for Implementation of an Unmanned Autonomous Forklift (무인 자율 주행 지게차 구현을 위한 네트워크 기반 분산 접근 방법)

  • Song, Young-Hun;Park, Jee-Hun;Lee, Kyung-Chang;Lee, Suk
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.9
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    • pp.898-904
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    • 2010
  • 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. There are, however, many technical difficulties in developing such forklifts including localization, map building, sensor fusion, control and so on. Implementation, which is often neglected, is one of practical issues in developing such an autonomous device. 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. Another requirement on the integration is that the system should allow changes in the system design so that modification and addition of system components can be accommodated without too much effort. This paper presents a network-based distributed approach where system components are connected to a shared CAN network, and control functions are divided into small tasks that are distributed over a number of microcontrollers with a limited computing capacity. This approach is successfully applied to develop an unmanned forklift.

Development of the central control system using IP PBX convergence with broadcasting function (방송기능이 있는 IP PBX 융합 중앙 관제 시스템 개발)

  • Kim, Sam-Taek
    • Journal of the Korea Convergence Society
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    • v.12 no.7
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    • pp.1-6
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    • 2021
  • Currently, virus infection such as Corona 19 has become commonplace, and interest in unmanned systems is increasing in the field for non-face-to-face ICT services. In this paper, the function and performance of remotely successfully controlling a store through video and audio using an IP PBX with a broadcasting function was verified through a test. And the fully unmanned system is not gaining credibility due to various technical problems, however the central control system is a very efficient and reliable system because the controller can directly control the customer while monitoring the access and the inside of the store through the video and audio. In the future, we plan to study a completely unmanned remote control system using A.I technology.

Design of Navigation System for Low Cost Unmanned Aerial Vehicle (저가형 무인항공기 운용을 위한 항법시스템 설계)

  • Lee, Jang-Ho;Kim, Sung-Pil;Park, Mu-Hyeok;Ahn, Iee-Ki
    • Journal of Advanced Navigation Technology
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    • v.8 no.2
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    • pp.105-111
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    • 2004
  • This paper describes the design of navigation 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 nowdays 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 navigation for low cost unmanned aerial vehicle, unmanned target drone as our test bed in this paper is verified by both Hardware in the loop simulation(HILS) to test performance of GPS as GPS output frequency high and results of flight test.

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Development of Security Functional Requirements for Secure-Introduction of Unmanned Aerial Vehicle (무인항공기의 안전한 도입을 위한 보안기능요구사항 개발)

  • Kang, Dongwoo;Won, Dongho;Lee, Youngsook
    • Convergence Security Journal
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    • v.19 no.4
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    • pp.97-105
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    • 2019
  • With the possibility of wireless control of the aircraft by Nicola Tesla, Unmanned Aerial Vehicle(UAV) was mainly used for military and defense purposes with the rapid development through World War I and II. As civilian applications of unmanned aerial vehicles have expanded, they have been used with various services, and attempts have been made to control various environmental changes and risk factors of unmanned aerial vehicles. However, GPS spoofing, Jamming attack and security accidents are occurring due to the communication in the unmaned aerial vehicle system or the security vulnerability of the unmanned aerial vehicle itself. In order to secure introduction of Unmanned aerial vehicle, South Korea has established Unmanned Aerial Vehicle verification system called Airworthiness Certification. However, the existing cerfication system is more focused on test flight, design and structure's safety and reliability. In this paper, we propose a unmanned aerial vehicle system model and propose security functional requirements on unmanned aerial vehicle system in the corresponding system model for secure-introduction of Unmanned Aerial Vehicle. We suggest the development direction of verification technology. From this proposal, future development directions of evaluation and verification technology of Unmanned Aerial Vehicle will be presented.