• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.6
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• pp.815-820
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• 2013

With the development of technology, there has been a considerable increase in the number of skyscrapers in the world. Accordingly, there are increasing requirements with regard to maintenance, such as cleaning, painting, and inspection. However, it is extremely dangerous to work on the walls of buildings, and falls from buildings have accounted for a large proportion of construction accidents. In particular, as the number of buildings with irregular shapes increases, the accident rate during maintenance work has increased each year, with most accidents leading to deaths. An alternative solution must be developed with the commercialization of automatic systems. In this study, fundamental research has been conducted for drafting and commercializing an automation tool with a built-in guide system that can perform cleaning.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.262-269
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• 2016

Flight of an autonomous unmanned aerial vehicle (UAV) generally consists of four steps; take-off, ascent, descent, and finally landing. Among them, autonomous landing is a challenging task due to high risks and reliability problem. In case the landing site where the UAV is supposed to land is moving or oscillating, the situation becomes more unpredictable and it is far more difficult than landing on a stationary site. For these reasons, the accurate and precise control is required for an autonomous landing system of a UAV on top of a moving vehicle which is rolling or oscillating while moving. In this paper, a vision-only based landing algorithm using dynamic gimbal control is proposed. The conventional camera systems which are applied to the previous studies are fixed as downward facing or forward facing. The main disadvantage of these system is a narrow field of view (FOV). By controlling the gimbal to track the target dynamically, this problem can be ameliorated. Furthermore, the system helps the UAV follow the target faster than using only a fixed camera. With the artificial tag on a landing pad, the relative position and orientation of the UAV are acquired, and those estimated poses are used for gimbal control and UAV control for safe and stable landing on a moving vehicle. The outdoor experimental results show that this vision-based algorithm performs fairly well and can be applied to real situations.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37C no.10
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• pp.986-992
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• 2012

As the utilization of smart mobile devices such as smartphones increases, the desire to utilize such devices to control and monitor combat situations also arises. As smart mobile devices with various ICT get integrated with various weaponry system, a new phase of future warfare can be introduced. Moreover, smartphone-based real-time information technology for joint battle command system will be converged with surveillance control to become a leading example of convergence of cyber defense and information technology. Furthermore, mobile device security technology ideal for mobile wireless network environments can be applied to military robots. The following paper will give an overview of smart mobile device usage used for military purposes in battle command system, various security threats and the mobile device security technology to correspond to such security threats.

• Journal of Internet of Things and Convergence
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• v.6 no.2
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• pp.31-36
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• 2020

The remarkable change in the automobile industry, which is a traditional industrial field, is now evolving into a form of moving toward autonomous functions rather than humans due to various convenience functions and automatic driving or autonomous driving technologies if the person was central when driving the car. This situation is expanding to various industries such as the aviation industry and the drone market, as well as the robot market. The drone market in the aviation industry is being used in various fields due to the unmanned nature of drone operation. Among them, military drones are secret and due to the specificity of technology, details are not disclosed, but as a collection of advanced technologies, they have played a key role in drone development. In this study, the current status of China and the European Union, including the United States, which are major competitors in the drone field, was investigated, and the technologies of major countries were compared and analyzed through the characteristics and operational specifications of the drones currently in operation.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.3
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• pp.232-241
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• 2017

This paper presents an automated cow-feeding system based on an AGV and screw conveyor for domestic livestock farms, which are becoming larger and more commercialized. The system includes a hopper module for loading pellet-type mixed feed at the top of the system, a transfer module mounted with a screw conveyor to transfer feed from the hopper module to the outlet module, an outlet module composed of belt conveyors, and an electromagnetic guided driving-type AGV. The weight of the loaded feed is measured by a load cell located under the transfer module. The system reads the feed discharge information stored in RFID tags installed in each cowshed cell, and a predetermined amount of feed is discharged while the AGV is moving. A cow-feed test system was constructed to determine the design parameters of the screw conveyor in the transfer module that determine the feeding capacity. These parameters include the screw's outer diameter, the screw shaft outer diameter, and screw pitch. The parameters were applied to the finalized cow-feed system construction. A DSP-based main controller and cow-feeding algorithm for different scenarios were also developed to control the system. Experimental results confirmed that the system could supply a total of 21 kg of feed uniformly at 420 g/s for a cowshed cell which has 7 cows. The driving distance was 5 m and the speed was 0.1 m/s. Thus, the proposed system could be applied to standardized domestic livestock farms.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.1
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• pp.179-189
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• 2000

Recently, due to the increasing interests in deep sea development, all possible efforts to the development of underwater unmanned working vehicles such as AUV(Autonomous Underwater Vehicle) or underwater robot are exerted. This paper proposes a new efficient acoustic-based underwater image data communication system, which ensures a certain level of maximum throughput regardless of the propagation delay of ultrasonic and allowsfast data transmission through the multiple ultrasonic communication channel. Proposed system consists of an acoustic transducer which operates at 136kHz center frequency and it's 10kHz bandwidth, pre-amplifier, $\pi/4 QPSK$(Quadrature Phase Shift Keying) modulation/demodu-lation method, image compressing method using JPEG technique and modified Stop & Wait protocol. The experimental result of the system make it possible to transfer the underwater image as a high throughput at the basin test. The results of test are also verified which allows to desirable transmission performance compared with the existing developed system and the possibility to put the practical use of survey and investigation in the water.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.47 no.3
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• pp.95-103
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• 2024

The diversity of smart EV(electric vehicle)-related industries is increasing due to the growth of battery-based eco-friendly electric vehicle component material technology, and labor-intensive industries such as logistics, manufacturing, food, agriculture, and service have invested in and studied automation for a long time. Accordingly, various types of robots such as autonomous mobile robots and collaborative robots are being utilized for each process to improve industrial engineering such as optimization, productivity management, and work management. The technology that should accompany this unmanned automobile industry is unmanned automatic charging technology, and if autonomous mobile robots are manually charged, the utility of autonomous mobile robots will not be maximized. In this paper, we conducted a study on the technology of unmanned charging of autonomous mobile robots using charging terminal docking and undocking technology using an unmanned charging system composed of hardware such as a monocular camera, multi-joint robot, gripper, and server. In an experiment to evaluate the performance of the system, the average charging terminal recognition rate was 98%, and the average charging terminal recognition speed was 0.0099 seconds. In addition, an experiment was conducted to evaluate the docking and undocking success rate of the charging terminal, and the experimental results showed an average success rate of 99%.