• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1112-1117
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• 2014

Unmanned aerial vehicles (UAVs) are a popular research topic because of a great ripple effect in the future. However, current UAV technologies cannot be applied to manual aerial vehicles without any modification. As an alternative to current UAV technology, humanoid robots are adopted as pilots. If a humanoid robot controls an aerial vehicle autonomously, not only could manual aerial vehicles be utilized as UAVs, but the humanoid robot would also be put into an environment created for humans and conduct some missions suitable for humans. Humanoid robots are also able to handle tools and equipment designed for humans. In order to prove that a humanoid robot can pilot an airplane, an experiment is performed and the results of this experiment are shown in this paper.

• 한국CDE학회논문집
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• 제22권2호
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• pp.162-171
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• 2017

Unmanned military vehicles (UMVs) are most commonly characterized as dealing with dull, dirty, and dangerous tasks with automation. Although most of the UMVs are designed to a high degree of autonomy, the human operator will still intervene in the robot's operation, and teleoperate them to achieve his or her mission. Thus, operator capacity, together with robot autonomy and user interface, is one of the most important design factors in the research and development of the UMVs. Further, communication may affect the operator task performance. In this paper, we analyze the operator performance and the communication effects on the operator performance by using the extended Petri nets, called OTSim nets. The OTSim nets was designed by the authors, being extended using pure Petri nets.

• Journal of Positioning, Navigation, and Timing
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• 제10권4호
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• pp.235-242
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• 2021

Unmanned Aerial Vehicles (UAVs), which were used for military purposes, are gradually expanding their application fields under the influence of electrification and digitalization. Starting from the field of aerial imaging and Intelligence Surveillance and Reconnaissance (ISR) mission, nowadays the possibility of Urban Air Mobility (UAM), which transports passengers and cargo with drones, is widely under discussion. In order to occupy the rapidly growing global unmanned aerial vehicle market in advance, it is necessary to secure core technologies and develop key UAVs components based on the new technologies. In the navigation field, it is necessary to secure a precise position with guaranteed reliability and continuity, unrelated to the operating environments. The reliability and continuity should be secured in the algorithm level and in the H/W component levels also. In order to achieve this technical goal, the Ministry of Science and ICT has launched the 'Unmanned Vehicle Core Technology Research and Development Program' in 2019 to support the R&D on the unmanned vehicle technologies. In this paper, authors introduce the unmanned vehicle core technology research and development program to the related researchers. The authors summarize the backgrounds of the program and show the technological tasks and objectives on the sub-programs in the unmanned vehicle navigation program. We present the program schedules especially focused on the test and evaluation of the developed technologies and components.

• 한국정보전자통신기술학회논문지
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• 제12권4호
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• pp.425-433
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• 2019

본 논문에서는 10m급 무인수상정의 RCS 해석과 함께 RCS 증가 요인을 분석하고 RCS 감소 방안을 도출하였다. 기하학적 형상을 변형시키는 성형기법을 통해 레이다 단면적을 감소시킬 수 있고, 이것을 스텔스 무인수상정 개발에 활용할 수 있음을 확인한다. RCS 감소를 위해 기존의 Top Mast 부분을 함미부분으로 1m 이동시키고 경사각 5도를 준 후 0.5 m 아래로 이동시킨 다음 중앙과 주변 반사 구조물에 대한 영향을 최소화시키기 위해 주변에 Guided Wall을 추가 설치하였다. 기존 모델과의 RCS 해석 값을 비교 분석한 결과 모든 고각에 대해 감소 대책이 적용된 모델이 기존 모델보다 -3.79 dB 이상 낮아진 것을 알 수 있으며, 최대 대푯값은 기존 모델 고각 0도의 12.74 dB에서 6.32 dB로 낮아졌다. 특히, 희생각 영역을 제외한 영역에서 강한 산란 현상이 상당부분 제거된 것을 확인할 수 있다. 또한, Guide wall을 추가한 -5m ~ 2 m 부분의 경우 반사되는 신호가 최대 20 ~ 40 dB 이상 개선되어 2D ISAR 영상에 나타나지 않는 것을 알 수 있다. 무인수상정 RCS 분석은 거리방향 프로파일 분석과 ISAR 영상 분석을 통해 문제 위치를 분석, 식별하는 과정을 설명하였으며, 그에 대한 문제를 해결할 수 있는 RCS 감소 방안을 함께 제시하였다.

• 한국해양공학회지
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• 제33권6호
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• pp.620-626
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• 2019

With the development of robot technology, the expectation of autonomous mission operations has increased, and the research on robot control architectures and mission planners has continued. A scalable and robust control architecture is required for unmanned surface vehicles (USVs) to perform a variety of tasks, such as surveillance, reconnaissance, and search and rescue operations, in unstructured and time-varying maritime environments. In this paper, we propose a robot control architecture along with a new utility function that can be extended to various applications for USVs. Also, an additional structure is proposed to reflect the operator's command and improve the performance of the autonomous mission. The proposed architecture was developed using a robot operating system (ROS), and the performance and feasibility of the architecture were verified through simulations.

• 한국농공학회논문집
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• 제59권2호
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• pp.57-67
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• 2017

This study examines methods for creating terrain models of reservoirs and techniques for verifying the accuracy. Such methods and techniques use unmanned aerial vehicles which are capable of capturing high-resolution images repetitively, are highly economic, and capable of surveying wide areas. In addition, this study suggests methods of acquiring data for reservoir safety management, the methods which also employ the unmanned aerial vehicles. Therefore, this study helps solving problems that can arise when National Disaster Management System rebuilds a reservoir management database, such as a shortage of local government manpower. This study also contributes to providing element technology necessary for advancing the database.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.436-443
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• 2011

Recognition of structures in urban environments is a fundamental ability for unmanned ground vehicles. In this paper we propose the geometrical featured voxel which has not only 3-D coordinates but also the type of geometrical properties of point cloud. Instead of dealing with a huge amount of point cloud collected by range sensors in urban, the proposed voxel can efficiently represent and save 3-D urban structures without loss of geometrical properties. We also provide an urban structure classification algorithm by using the proposed voxel and machine learning techniques. The proposed method enables to recognize urban environments around unmanned ground vehicles quickly. In order to evaluate an ability of the proposed map representation and the urban structure classification algorithm, our vehicle equipped with the sensor system collected range data and pose data in campus and experimental results have been shown in this paper.

• 한국항공우주학회지
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• 제47권4호
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• pp.266-273
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• 2019

다수의 소형 정찰용 무인항공기를 이용하여 탐색 및 정찰 임무를 수행하는데 있어서 무인항공기의 운용 대수, 비행고도 등 운용 조건에 따라 임무 수행의 효율성과 효과성은 크게 변경될 수 있다. 하지만 어떤 운용조건이 가장 합리적인지 판단하기는 쉽지 않다. 따라서 본 연구에서는 자율비행에 따라 충돌을 회피하면서 표적을 탐지 및 판별할 수 있는 무인항공기 비행 시뮬레이션을 개발하여 다수의 무인항공기 운용 시 보다 효과적이고 효율적인 운용조건을 도출할 수 있는 방안을 제시하였다.

• 한국항공운항학회지
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• 제30권4호
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• pp.57-64
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• 2022

A study on propllers for unmaned aerial vehicles is conducted using the open softwares. Since the shape of the propeller is closely related to the thurst characteristics of the propulsion system, adopting an appropriate propeller will significantly reflect stable aerodynamic performances. In this study, propellers for unmanned aerial vehicles were modeled by using OpenVSP and Propel for comparison, the thrust characteristics according to the number of blades and the diameter of the propeller were analyzed. In addition, the tendency of thrust characteristics according to various propeller pitch angles was confirmed. Based on the analysis results of this study, the applicability of the propeller shape to the design of the unmanned aerial vehicle was confirmed. It is shownthat the analysis results of this study can be utilized when modeling the propeller shape in research such as a conceptual design of unmanned aerial vehicle. In this case, it should be noted that OpenVSP does not involve the viscous effect of air.

• International Journal of Aeronautical and Space Sciences
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• 제10권2호
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• pp.140-147
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• 2009

The paper presents the design, development and testing activities of the multi-rotorcraft-based unmanned aerial vehicle at the Center for Unmanned System Studies, Institut Teknologi Bandung (ITB), Indonesia. The multi-rotor system was selected as the design stepping stone for future development of personal aerial vehicle prototypes. A step-by-step design program is conducted to study the technology building blocks and critical issues associated with the design, development and operation of personal aerial vehicles. A number of multi-rotor configurations have been investigated providing basic guidelines for developing a stable unmanned aerial platform. The benefit of the presently selected configuration is highlighted and some preliminary testing results are presented.