• Korean Journal of Agricultural Science
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• v.38 no.2
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• pp.343-347
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• 2011

Precise traveling and tillage operation using an autonomous tractor is difficult with the data from the Geographic Information System(GIS) because it does not include the data of the width and inclination of the field to work. The minimum turing radius of the tractor could be different from the value presented by the tractor maker due to the moisture content of the field soil or operators' skill. Two programs were developed to process data obtained with the tillage path measuring system: one for recognizing coordinates of the 4 field corners, and the other for recognizing the minimum turning radius of the tractor.

• Journal of the Korean Society for Railway
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• v.9 no.3 s.34
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• pp.282-290
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• 2006

In the current train operation system, large scaled stations like Cheongnyangni and Yongsan are not remote controlled from the central operator but manually by local operator. It is because there are so many entering and exit of trains between depot and mainline which are operating through the large scaled stations and it is very effective to traffic flow on the mainline. Therefore, Kyong Bong Technology Co., Ltd. (KBTech) and Korea Railway Research Institute (KRRI) are continuing the research and development to import 'Autonomous Decentralized System (ADS)'as part of a new train operation control system which is a national policy project of MOCT (Ministry Of Construction & Transportation). The concept of the 'Autonomous Decentralized System (ADS)' has born in 1970's in Japan by the influences of molecular biology. The special features of ADS are being a system that able to do the online expansion, online maintenance and fault tolerance. This thesis introduces the concept of technology of ADS and also describes the system designing & development to apply with large scaled stations.

• Journal of Electrical Engineering and Technology
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• v.9 no.3
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• pp.1112-1118
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• 2014

In island and backcountry areas, electrical power is usually supplied by diesel generators. It is difficult for small scale diesel generators to have an economy of scale owing to the usage of fossil fuels to produce electricity. Also, there is a problem of carbon dioxide emissions that brings some environmental pollution to the entire region of the area. For solving those, this paper proposes a design method of autonomous micro-grid to minimize the fossil fuels of diesel generator, which is composed of diesel generator, wind turbine, battery energy storage system and photovoltaic generation system. The proposed method was verified through computer simulation and micro-grid operation system.

• The Journal of Korea Robotics Society
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• v.15 no.1
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• pp.39-47
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• 2020

This paper presents a control and operation system for a remotely operated vehicle (ROV). The ROV used in the study was equipped with a manipulator and is being developed for underwater exploration and autonomous underwater working. Precision position and attitude control ability is essential for underwater operation using a manipulator. For propulsion, the ROV is equipped with eight thrusters, the number of those are more than six degrees-of-freedom. Four of them are in charge of surge, sway, and yaw motion, and the other four are responsible for heave, roll, and pitch motion. Therefore, it is more efficient to integrate the management of the thrusters rather than control them individually. In this paper, a thrust allocation method for thruster management is presented, and the design of a feedback controller using sensor data is described. The software for the ROV operation consists of a robot operating system that can efficiently process data between multiple hardware platforms. Through experimental analysis, the validity of the control system performance was verified.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2023.05a
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• pp.162-163
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• 2023

As the development of the 4^th industiral revolution in the maritime industry has progressed, the technical development of autonomous ships, and the development of international regulations have been accelerated. In particular, the IMO Maritime Safety Committee(MSC) has established a road-map for the development of the non-mandatory goal-based MASS instrument(MASS Code) and started developing a non-mandatory MASS Code at MSC 105^th meeting. Many countries are actively participating in the Correspondence Group on the development of MASS Code, and the development of detailed requirements for MASS functions in the MASS Code is underway. Especially, the concept of "Mode of Operation" for MASS functions was mentioned in the Correspondence Group for the first time, and it is expected that discussions on these modes will be conducted from the IMO MASS JWG meeting to held in April 2023. The concept of "Mode of Operation" will be useful in explaining MASS and MASS functions and will be discussed in the future for the development of MASS Code. This paper reviews the contents of the IMCA M 220 document, which provides guidelines on operating modes, to conduct research on the benchmark for setting the operating modes of MASS.

• Journal of the Korea Institute of Military Science and Technology
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• v.27 no.2
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• pp.265-276
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• 2024

The future battlefield operation concept does not focus on advanced and complete weapon systems, but requires a new battlefield operation concept that can effectively demonstrate offensive power by combining a large number of low-cost, miniaturized weapons. Recently, research on the autonomous application of major technologies that make up the mission control system is actively underway. However, since the mission control system is still dependent on the operator's operating ability when operating multiple robots, there are limitations to simply applying the automation technology of the existing mission control system. Therefore, we understand how changes in operator capabilities affect multi-robot operation and propose an adaptive mission control architecture design method that supports multi-robot integrated operation by adjusting the level of autonomy of the mission control system according to changes in operator capability.

• Journal of Biosystems Engineering
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• v.25 no.2
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• pp.131-140
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• 2000

Spraying operation is one of the most essential in an orchard management and it is also hazardous to human body. for automatic and unmanned spraying , an autonomous travelling vehicle is demanded. In this study, a telemeter was developed using infrared beam which could detect trunks and obstacles measure distance and direction from the vehicle travelling in the orchard. The telemeter system was composed of two infrared LED transmitters and receivers, a beam scanning device for continuous object detection , two rotary encoders for angle detector, and a beam level controller for uneven soil surface. The detected distance and direction signal s were sent to personal computer which made for the system display the angular and distance measurements through I/O board. According to a field test in an apple farm, the system detected up to 10m distance under 12 V of transmitted beam intensity, however, it was recommended that the proper beam transmit intensity be 7 v at the 10 m distance, because of the negative effect to human body at 12 V. The error rate of this system was 0.92 % when the actual distance was compared to measured one. The system was feasible at the small error rate. The developed telemeter system was an important part for autonomous travelling vehicle provided the real time object recognition . A direction control system could be constructed suing the system. It is expected that the system could greatly contribute to the development of autonomous farm vehicle.

• Journal of Biosystems Engineering
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• v.25 no.4
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• pp.301-310
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• 2000

An autonomous tractor system was developed and its performance was evaluated. The system consisted of a tractor system of and a remote control station. The tractor and the remote control station communicated each other via wireless modems. The tractor had a DGPS(differential global positioning system), sensors, a controller and a modem. The DGPS collected position data and the tractor status was estimated. The information of tractor status and sensors was transferred to the remote control station. Then, the control station determined the control data such as steering angles using a fuzzy controller. The fuzzy controller used the information from the DGPS, sensors, and GIS(geographic information system) data. The control data were obtained by remote signal processing at the control station The control data for autonomous operation were transferred to the tractor controller. The performances of an autonomous tractor were evaluated for various speeds, different initial positions and different initial headings. About 1.3 seconds of time lag was occurred in transferring the tractor status data and the control data. Compensation the time lag, about 27cm deviation was observed at the speed of 0.5m/s and 37cm at the speed of 1m/s. Error caused mainly by the time lag and it would be reduced by developing a full-duplex radio module for controlling the remote tractor.

• ETRI Journal
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• v.44 no.4
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• pp.641-653
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• 2022

In the process of autonomous vehicle motion planning and to create comfort for vehicle occupants, factors that must be considered are the vehicle's safety features and the road's slipperiness and smoothness. In this paper, we build a mathematical model based on the combination of a genetic algorithm and a neural network to offer lane-change solutions of autonomous vehicles, focusing on human vehicle control skills. Traditional moving planning methods often use vehicle kinematic and dynamic constraints when creating lane-change trajectories for autonomous vehicles. When comparing this generated trajectory with a man-generated moving trajectory, however, there is in fact a significant difference. Therefore, to draw the optimal factors from the actual driver's lane-change operations, the solution in this paper builds the training data set for the moving planning process with lane change operation by humans with optimal elements. The simulation results are performed in a MATLAB simulation environment to demonstrate that the proposed solution operates effectively with optimal points such as operator maneuvers and improved comfort for passengers as well as creating a smooth and slippery lane-change trajectory.

• The Journal of the Korea Contents Association
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• v.19 no.12
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• pp.452-459
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• 2019

In order for an autonomous vehicle to be commercialized, it is necessary to conduct a safety test for every aspect. Considering the implementation of the autonomous vehicles technologies to the highest level, it is necessary to analyze the possible scenarios in the most complex environment as in the urban area. It should be confirmed whether autonomous vehicles can be operated with conventional traffic signal environment. It is also required to confirm the ability of autonomous vehicles in interacting with other vehicles, and coping with possible accidents on the road. In this study, the evaluation factors of autonomous vehicles in the road environment are selected by referring to the other evaluation protocols like ADAS. Study result would be reflected in establishing the autonomous vehicle evaluation method for different test environment along with various technology implementation level.