• 로봇학회논문지
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• 제15권4호
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• pp.392-397
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• 2020

Unmanned robots are very useful for autonomous security systems. These robots navigate autonomously move in a large area for surveillance. It is very important for robots that cover such a wide area to communicate with a control systems. Therefore, the control system needs various communication methods to check the status of the robot and send/receive messages. In addition, it is necessary to provide an easy interface for the user to send security mission commands to the robot. In this paper, we propose a control system based on a variety of communication techniques to perform security by safely communicating with a number of robots in a wide area space. The proposed system designed for considering user UI, data storage and management, and shows usability by constructing it in a real environment.

• 로봇학회논문지
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• 제10권1호
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• pp.24-32
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• 2015

This paper introduces a graphical user interface design that is aimed to apply to the surveillance and security robot, which is the pilot program for the army unmanned light combat vehicle. It is essential to consider the activities of robot users under the changing security environment in order to design the efficient graphical user interface between user and robot to accomplish the designated mission. The proposed design approach firstly identifies the user activities to accomplish the mission in the standardized scenarios of military surveillance and security operation and then develops the hierarchy of the interface elements that are required to execute the tasks in the surveillance and security scenarios. The developed graphical user interface includes input control component, navigation component, information display component, and accordion and verified by the potential users from the various skilled levels with the military background. The assessment said that the newly developed user interface includes all the critical elements to execute the mission and is simpler and more intuitive compared to the legacy interface design that was more focused on the technical and functional information and informative to the system developing engineers rather than field users.

• 제어로봇시스템학회논문지
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• 제13권8호
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• pp.810-816
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• 2007

A security robot system named EGIS-SR is a mobile security robot through one of the new growth engine project in robotic industries. It allows home surveillance through an autonomous mobile platform using onboard cameras and wireless security sensors. EGIS-SR has many sensors to allow autonomous navigation, hierarchical control architecture to handle lots of situations in monitoring home surveillance and mighty networks to achieve unmanned security services. EGIS-SR is tightly coupled with a networked security environment, where the information of the robot is remotely connected with the remote cockpit and patrol man. It achieved an intelligent unmanned security service. The robot is a two-wheeled mobile robot and has casters and suspension to overcome a doorsill. The dynamic motion is verified through $ADAMS^{TM}$ simulation. For the main controller, PXA270 based hardware platform based on linux kernel 2.6 is developed. In the linux platform, data handling for various sensors and the localization algorithm are performed. Also, a local path planning algorithm for object avoidance with ultrasonic sensors and localization using $StarGazer^{TM}$ is developed. Finally, for the automatic charging, a docking algorithm with infrared ray system is implemented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.590-593
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• 2005

Unmanned Helicopter has several abilities such as vertical Take off, hovering, low speed flight at low altitude. Such vehicles are becoming popular in actual applications such as search and rescue, aerial reconnaissance and surveillance. These vehicles also used under risky environments without threatening the life of a pilot. Since a small unmanned helicopter is very sensitive to environmental conditions, it is generally known that the flight control is very difficult problems. The nonlinear adaptive fuzzy controller design procedure and its applications for altitude control of unmanned helicopter were described in the paper. This research was concentrated on describing the design methodologies of altitude controller design for small unmanned helicopter acquiring autonomous take off and vertical movement. The design methodologies and performance of the altitude controller were simulated and verified with an adaptive fuzzy controller. Throughout simulation results, I showed that the proposed adaptive controllers have enhanced control performance such as robustness, effectiveness and safety, in the altitude control of the unmanned helicopter.

• 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.

• 융합신호처리학회논문지
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• 제22권1호
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• pp.1-6
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• 2021

최근에 IT 기술의 발전과 비용을 절감하는 방식으로 무인감시설비가 도입되어 운영되고 있다. 무인감시설비는 효율적이고 경제적인 측면으로 장점이 있지만, 무인감시설비의 고장, 오작동이 발생하면서 감시 공백과 침입자로 인한 시설 파손 및 정보 유출 등 피해가 발생 되는 단점이 있다. 그리고 무인감시설비의 점검 차원에서 담당자의 상시 방문이 필요하고 이에 따른 관리 비용이 발생하고 있다. 본 논문에서는 무인감시설비의 상태를 실시간 점검하여 오작동과 같은 문제를 감시설비의 상태 확인 및 자동복구하고 담당자에게 실시간으로 상황을 문자메시지로 통보하는 시스템을 설계하였다. 설계할 시스템은 영상, 음향, 조명 등의 무인감시설비의 주요 장비의 작동 상태에 관한 정보를 수신하고 판단하는 통합형 네트워크 비디오 서버(NVR)와 무인감시설비의 상태를 감지하고 전원 복구하는 제어장치와 SMS 서버를 이용한 실시간 문자메시지로 구성되어 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1375-1379
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• 2004

Unmanned Helicopter has several abilities such as vertical Take off, hovering, low speed flight at low altitude. Such vehicles are becoming popular in actual applications such as search and rescue, aerial reconnaissance and surveillance. These vehicles also used under risky environments without threatening the life of a pilot. Since a small aerial vehicle is very sensitive to environmental conditions, it is generally known that the flight control is very difficult problems. In this paper, a flight control system was designed for an unmanned helicopter. This paper was concentrated on describing the mechanical design, electronic equipments and their interconnections for acquiring autonomous flight. The design methodologies and performance of the helicopter were illustrated and verified with a linearized equation of motion. The LQG based estimator and controller was designed and tested for this unmanned helicopter.

• Journal of Advanced Marine Engineering and Technology
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• 제37권7호
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• pp.737-742
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• 2013

Recently, unmanned aircrafts for safe measurement in hazardous locations have been developed. In a method of operation of unmanned aircraft vehicles (UAV), there are two methods of manual control and automatic control. Small UAVs are used for low altitude surveillance flights where unknown obstacles can be encountered. Obstacle avoidance is one of the most challenging tasks which the UAV has to perform with high level of accuracy. In this study, we used a laser range finder as an obstacle detector in automatic navigation of unmanned aircraft to patrol the destination automatically. We proposed a system to avoid obstacles automatically by measuring the angle and distance of the obstacle using the laser range finder.

• 로봇학회논문지
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• 제18권3호
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• pp.233-240
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• 2023

In this paper, we proposed a hybrid type robot that simultaneously surveillance and reconnaissance on the ground and in the air. It was possible to expand the surveillance and reconnaissance range by expanding the surveillance and reconnaissance area of the ground robot and quickly moving to the hidden area through the drone. First, ground robots go to mission areas through drones and perform surveillance and reconnaissance missions for urban warfare or mountainous areas. Second, drones move ground robots quickly. It transmits surveillance and reconnaissance images of ground robots to the control system and performs reconnaissance missions at the same time. Finally, in order to secure the interoperability of these hybrid robots, basic performance and environmental performance were verified. The evaluation method was tested and verified based on the KS standards.

• 전자공학회논문지B
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• 제32B권11호
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• pp.1405-1416
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• 1995

An effective algorithm for implementation of unmanned surveillance system which detects moving object from image sequences, predicts the direction of it, and drives the camera in real time is proposed. Outputs of proposed algorithm are coordinates of location of moving object, and they are converted to the values according to camera model. As a pre- processing, extraction of moving object and shape discrimination are performed. Existence of the moving object or scene change is detected by computing the temporal derivatives of consecutive two or more images in a sequence, and this result of derivatives is combined with the edge map from one original gray level image to obtain the position of moving object. Shape discri-mination(Target identification) is performed by analysis of distribution of projection profiles in x and y directions. To reduce the prediction error due to the fact that the motion cha- racteristic of walking man may have an abrupt change of moving direction, an order adaptive lattice structured linear predictor is proposed.