• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.1
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• pp.66-75
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• 2016

Stereoscopic image generated by depth image-based rendering(DIBR) for surveillance robot and camera is appropriate in a low bandwidth network. The image is very important data for the decision-making of a commander and thus its integrity has to be guaranteed. One of the methods used to detect manipulation is to check if the stereoscopic image is taken from the original camera. Sensor pattern noise(SPN) used widely for camera identification cannot be directly applied to a stereoscopic image due to the stereo warping in DIBR. To solve this problem, we find out a shifted object in the stereoscopic image and relocate the object to its orignal location in the center image. Then the similarity between SPNs extracted from the stereoscopic image and the original camera is measured only for the object area. Thus we can determine the source of the camera that was used.

• Journal of the Semiconductor & Display Technology
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• v.17 no.3
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• pp.59-64
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• 2018

In recent years, the solar cell market has steadily grown with the demand for new energies. And wire sawing is one of the most critical processes in manufacturing solar cell wafer which is supposed to affect the breakage of wafers most during the process and afterwards. Generally, the defects of the wafers are generated from the structural vibrations of the machine. In the sawing process, the vibrations cause unnecessary normal stress on the cut surface of wafers, and eventually create the surface damage or leave the residual stress. In this study, the dynamic properties of a wire saw have been analyzed through the frequency response test and the computer simulation. And the effects of the design alterations have been investigated to stabilize the machine structure and further to reduce the vibrations. The result shows that relatively simple design alterations of supporting structure without any change of major parts of the machine can suppress the vibrations of the machine effectively.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.299-307
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• 2023

In the midst of accelerating wars around the world, unmanned robot technology that can guarantee the safety of human life is emerging. ERP-42 is a modular platform that can be used according to the application. In the field of defense, it can be used for transporting supplies, reconnaissance and surveillance, and medical evacuation in conflict areas. Due to the nature of the military environment, atypical environments are predominant, and in such environments, the platform's path followability is an important part of mission performance. This paper focuses on reducing the minimum turning radius in terms of improving path followability. The minimum turning radius of the existing 2WS/2WD in-wheel platform was reduced by increasing the torque of the independent driving in-wheel motor on the rear wheel to generate oversteer. To determine the degree of oversteer, two GPS were attached to the center of the front and rear wheelbases and measured. A closed-loop speed control method was used to maintain a constant rotational speed of each wheel despite changes in load or torque.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.5
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• pp.555-564
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• 2016

This paper proposes a time slot allocation scheme for military patrol environments. This proposal comes from analysis of traffic properties in a military patrol environment. In the near future, robots are expected to explore enemy grounds and measure threat, taking the place of human patrol. In order to control such robots, control messages must be extremely accurate. One mistake from the control center could cause a tragedy. Thus, high reliability must be guaranteed. Another goal is to maintain a continual flow of multimedia data sent from patrol robots. That is, QoS (Quality of Service) must be guaranteed. In order to transmit data while fulfilling both attributes, the per-path based centralized TDMA slot allocation scheme is recommended. The control center allocates slots to robots allowing synchronization among robots. Slot allocation collisions can also be avoided. The proposed scheme was verified through the ns-3 simulator. The scheme showed a higher packet delivery ratio than the algorithm in comparison. It also performed with shorter delay time in the downlink traffic transmission scenario than the algorithm in comparison.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.5
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• pp.889-898
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• 2021

Currently, due to the demographic cliff phenomenon in Republic of Korea, A serious defense vacuum could occur due to the lack of South Korean military's personal strength. As a result, The South Korean military has a possibility to implement the polices the prepare for military provocations and preemptive strikes by the North Korean military while resolving the South Korean defense vacuum caused by the shrinking population. It seems like that the only way for the South Korean military to solve the shortage of personal strength due to the population decline is to reduce the number of Mechanized Units(MU) other than, infantry and automate, and autonomous driving the weapons system of the Mechanized Units(MU). In this paper, we propose the use of the virtual autonomous driving of the self propelled artillery K-9's in self selection of the position and occupation of position and self positioning in the position. At the same time in this paper, the self propelled artillery K-9 model robot is used to simulate and the explain about the operation method, necessity and feasibility in the self propelled artillery K-9. In addition, this paper predicted the problems that would arise if the South Korean military deployed autonomous driving self propelled K-9, in real combat.

• Journal of Positioning, Navigation, and Timing
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• v.1 no.1
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• pp.35-43
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• 2012

The UGV is one of the special field robot developed for mine detection, surveillance and transportation. To achieve successfully the missions of the UGV, the accurate and reliable navigation data should be provided. This paper presents design and implementation of multi-sensor-based open architecture integrated navigation for localization of UGV. The presented architecture hierarchically classifies the integrated system into four layers and data communications between layers are based on the distributed object oriented middleware. The navigation manager determines the navigation mode with the QoS information of each navigation sensor and the integrated filter performs the navigation mode-based data fusion in the filtering process. Also, all navigation variables including the filter parameters and QoS of navigation data can be modified in GUI and consequently, the user can operate the integrated navigation system more usefully. The conventional GPS/INS integrated system does not guarantee the long-term reliability of localization when GPS solution is not available by signal blockage and intentional jamming in outdoor environment. The presented integration algorithm, however, based on the adaptive federated filter structure with FDI algorithm can integrate effectively the output of multi-sensor such as 3D LADAR, vision, odometer, magnetic compass and zero velocity to enhance the accuracy of localization result in the case that GPS is unavailable. The field test was carried out with the UGV and the test results show that the presented integrated navigation system can provide more robust and accurate localization performance than the conventional GPS/INS integrated system in outdoor environments.

• Proceedings of the CALSEC Conference
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• 1999.07a
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• pp.277-299
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• 1999

Since Chrysler Motor Co. had experienced the digital development system in the beginning of 1990's, most of leading automobile companies are trying to apply a digital information system for their own business process reengineering based upon concurrent engineering system from product planning phase. This is called as virtual DMU(Digital Mock-Up) system instead of the traditional PMU(Physical Mock-Up) system. By using the virtual prototype, all of the design requirements and system specifications can be checked, changed and optimized more quickly and more efficiently. This paper consists of five chapters for the DMU information system. In the 1$^{st}$ chapter, the principle of digital design system is suggested by using four basic modules such as product design module, process design module, manufacturing system design module and central control module. The basic scheme of DMU is introduced with the benefits of application in the chapter 2. In the chapter 3, a digital design process of new car development is explained with the detailed DMU design and design review processes. In the chapter 4, the practical DMU manufacturing techniques and applications are introduced as CAD/CAM analyses, DPA(Digital Pre-Assembly)reviews for development, production, operation and maintenance phases, digital tolerance analyses and digital factory analyses for assembling line simulation, automated robot welding processes, production jig ＆ fixtures and painting process simulation. Finally, the activities of digital design support; CAS-styling, CAE-engineering and CAT-testing are summarized for design optimization in the chapter 5. As today's automobile manufactures and related business organizations are struggling to compete in the global marketplace, they are concentrating on efficient use of DMU information system to reduce the new car development cost, to have shorten the delivery schedule and to improve product design quality. To meet the demand of those automobile industries on digital information systems, the CALS(Computer aided Acquisition and Logistics Support) and EC(Electronic Commerce)initiative has been focused as a dominant philosophy in defense ＆ commercial industries, specially automobile industries.s.

• The Journal of the Convergence on Culture Technology
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• v.9 no.5
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• pp.397-401
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• 2023

The study presents milestones for the Korean military to win the future battlefield based on the 4th Industrial Revolution. Chapter 1 deals with the necessity of research on how advanced countries operate industrial technology in the defense sector based on the 4th Industrial Revolution. Chapter 2 examines the current technology status of the 4th Industrial Revolution in Korea and the concept of Korean combat. Chapter 3 analyzes the military robotic technology of advanced military countries through examples of unmanned combat robots in the United States, Israel, and Germany. In the end, in future battles, it will be possible to dominate the battlefield only by taking a leap into a super-connected and super-intelligent military based on a high-tech platform. Our military should also research and develop military robotics in accordance with the characteristics of each combat system, and further expand and develop the concept of combat performance to protect our core capabilities and centers from enemy cyber, electronic warfare, and space attacks.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37C no.11
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• pp.1094-1103
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• 2012

Recently, software industry regarding national defense increases system development of distributed simulation system of M&S based to overcome limit of resource and expense. It is one of key technologies for offering of mutual validation among objects and reuse of objects which are discussed for developing these systems. RTI, implementation of HLA interface specification as software providing these technologies uses Federation Object Model for exchanging information with joined federates in the federation and each federate has a characteristic that is supposed to have identical FOM in the federation. This technology is a software which is to provide the core technology which was suggested by the United state's military M&S standard framework. Simulator, virtual simulation, and inter-connection between military weapons system S/W which executes on network which is M&S's core base technology, and it is a technology which also can be used for various inter-connection between S/W such as game and on-line phone. These days although RTI is used in military war game or tactical training unit field, there is none in Korea. Also, it is used in mobile-game, distribution game, net management, robot field, and other civilian field, but the number of examples are so small and informalized. Through this developing project, we developed the core technique and RTI software and provided performance of COTS level to improve communication algorithms.