• Journal of the Korea Institute of Information Security & Cryptology
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• v.34 no.4
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• pp.681-691
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• 2024

In recent decades, research and development in the field of industrial robotics, such as an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV), has been significant progress. In these advancements, it is important to use middleware, which facilitates communication and data management between different applications, and various industrial communication middleware protocols have been released. The robot operating system (ROS) is the most widely adopted as the main platform for robot system development among the communication middleware protocols. However, the ROS is known to be vulnerable to various cyber attacks, such as eavesdropping on communications and injecting malicious messages, because it was initially designed without security considerations. In response, numerous studies have proposed countermeasures to ROS vulnerabilities. In particular, some work has been proposed on generating ROS datasets for intrusion detection systems (IDS), but there is a lack of research in this area. In this paper, in order to contribute to improving the performance of ROS IDSs, we propose a new type of attack scenario that can occur in the ROS and build ROS attack datasets collected from a real robot system and make it available as an open dataset.

• Journal of the Korean Solar Energy Society
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• v.34 no.4
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• pp.17-22
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• 2014

The design of a fuel cells stack is important to get optimal output power. This study focuses on the evaluation of fuel cell system for unmaned aerial vehicles (UAVs). Low temperature proton exchange membrane (LTPEM) fuel cells are the most promising energy source for the robot applications because of their unique advantages such as high energy density, cold startup, and quick response during operation. In this paper, a 600 W open cathode LTPEM fuel cell was tested to evaluate the performance and to determine optimal operating conditions. The open cathode design reduces the overall size of the system to meet the requirement for robotic application. The cruise power requirement of 600 W was supported entirely by the fuel cell while the additional power requirements during takeoff was extended using a battery. A peak of power of 900 W is possible for 10 mins with a lithium polymer (LiPo) battery. The system was evaluated under various load cycles as well as start-stop cycles. The system response from no load to full load meets the robot platform requirement. The total weigh of the stack was 2 kg, while the overall system, including the fuel processing system and battery, was 4 kg.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.158-163
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• 2013

The fusion of the GPS (Global Positioning System) and DR (Dead Reckoning) is widely used for position and latitude estimation of vehicles such as a mobile robot, aerial vehicle and marine vehicle. Among the many types of aerial vehicles, grater focus is given on the quad-rotor and accuracy of the position information is becoming more important. In order to exactly estimate the position information, we propose the fusion method of GPS and Gyroscope sensor using the DEKF (Dual Extended Kalman Filter). The DEKF has an advantage of simultaneously estimating state value and a parameter of dynamical system. It can also be used even if state value is not available. In order to analyze the performance of DEKF, the computer simulation for estimating the position, the velocity and the angle in a circle trajectory of quad-rotor was done. As it can be seen from the simulation results using own proposed DEKF instead of EKF on own fusion method in the navigation of a quad-rotor gave better performance values.

• Journal of Advanced Navigation Technology
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• v.25 no.1
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• pp.115-123
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• 2021

Pine nuts are Korea's representative nut forest products and profitable crops. However, pine nuts are harvested by climbing the trees themselves, thus the risk is high. In order to solve this problem, it is necessary to harvest pine nuts using a robot or an unmanned aerial vehicle(UAV). In this paper, we propose a deep learning based detection method for harvesting pine nut in UAV aerial images. For this, a video was recorded in a real pine forest using UAV, and a data augmentation technique was used to supplement a small number of data. As the data for 3D detection, Unity3D was used to model the virtual pine nut and the virtual environment, and the labeling was acquired using the 3D transformation method of the coordinate system. Deep learning algorithms for detection of pine nuts distribution area and 2D and 3D detection of pine nuts objects were used DeepLabV3+, YOLOv4, and CenterNet, respectively. As a result of the experiment, the detection rate of pine nuts distribution area was 82.15%, the 2D detection rate was 86.93%, and the 3D detection rate was 59.45%.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.45 no.4
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• pp.225-232
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• 2022

Recently, unmanned logistics delivery systems, such as UAV (Unmanned Aerial Vehicle, written as drone below) and autonomous robot delivery systems, have been implemented in many countries due to the rapid development of autonomous driving technology. The development of these new types of advanced unmanned logistics delivery systems is essential not only to become a leading logistics company but also to secure national competitiveness. In this paper, the application of the unmanned logistics delivery system was investigated in terms of market trends, overall technology level of last mile delivery drone and autonomous delivery robot. The direction of response to changes in the last mile delivery service market was checked through a comparison of the technological level between domestic companies that produce last mile devices and advanced foreign companies. As a result of this technology level analysis, the difference between domestic companies and advanced companies was shown using tables and figures to show their relative levels. The results of this analysis reflect the opinions of experts in the field of last-mile delivery technology. In addition, the technology level of unmanned logistics delivery systems for each country was analyzed based on the number of related technology patents. Lastly, insights for the technology level analysis of unmanned last mile delivery systems were proposed as a conclusion.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1309-1314
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• 2003

If an agent has a learning ability using previous knowledge, then it is expected that the agent can speed up learning by interacting with environment. In this paper, we present an improved reinforcement learning algorithm using domain knowledge which can be represented by problem-independent features and their classifiers. Here, neural networks are employed as knowledge classifiers. To show the validity of our proposed algorithm, computer simulations are illustrated, where navigation problem of a mobile robot and a micro aerial vehicle(MAV) are considered.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.996-1000
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• 2003

In this paper, Fly robot with electric power, a kind of Unmanned aerial vehicle (UAV), is considered as an autonomous hovering platform, capable of vertical lift-off, landing and stationary hovering. This aircraft has four rotor and DC motors of electrical Power, which is capable of omni-direction for indoor application. In the earlier days of vertical flight experimentation developers looked at the intuitively easy control functionality of 4 rotor designs. But we need to obtain design method of suitable structures and adequate components because the existing prototypes of 4 rotor-craft don't analyze the propeller, motor characteristic and propose a methodology to optimize this system. In this paper, we will show the new 4 rotor craft with blimp, analyze design and manufacturing method of 4 rotor craft system. Also we prove propriety of our design and manufacturing method by being based on thrust and motor experiment.

• Journal of the Korean Society of Propulsion Engineers
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• v.12 no.1
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• pp.64-70
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• 2008

Thanks to the breakthroughs in micro fabrication technology, numerous concepts of micro aerospace systems including micro aerial vehicle, nano satellite and micro robot have been proposed. In order to activate these mobile micro systems, high density power in a small scale power source is required. However, we still do not have micro power source that has energy density that can support these systems. In the present article, status of micro power sources are described and alternatives that have been derived from the past experience are proposed.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.122-129
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• 2021

For the Simultaneous Localization and Mapping (SLAM) problem, a different path results in different SLAM results. Usually, SLAM follows a trail of input data. Active SLAM, which determines where to sense for the next step, can suggest a better path for a better SLAM result during the data acquisition step. In this paper, we will use reinforcement learning to find where to perceive. By assigning entire target area coverage to a goal and uncertainty as a negative reward, the reinforcement learning network finds an optimal path to minimize trajectory uncertainty and maximize map coverage. However, most active SLAM researches are performed in indoor or aerial environments where robots can move in every direction. In the urban environment, vehicles only can move following road structure and traffic rules. Graph structure can efficiently express road environment, considering crossroads and streets as nodes and edges, respectively. In this paper, we propose a novel method to find optimal SLAM path using graph structure and reinforcement learning technique.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.2
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• pp.137-148
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• 2014

A multi-rotor is an autonomous flying robot with multiple rotors. Depending on the number of the rotors, multi-rotors are categorized as tri-, quad-, hexa-, and octo-rotor. Given their rapid maneuverability and vertical take-off and landing capabilities, multi-rotors can be used in various applications such as surveillance and reconnaissance in hostile urban areas surrounded by high-rise buildings. In this paper, the unified dynamic model of each tri-, quad-, hexa-, and octo-rotor are presented. Then, based on derived mathematical equations, the operation and control techniques of each multi-rotor are derived and analyzed. For verifying and validating the proposed models, operation and control technique simulations are carried out.