• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.21 no.6
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• pp.284-298
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• 2022

It is necessary to acquire information on traffic safety facilities installed on the roadways specifically for the operation of autonomous vehicles. The purpose of this study is to prepare a Korean version of an integrated message-set design as a way to provide to autonomous vehicles standardized information on traffic safety facilities. In this study, necessary facilities are classified according to four criteria (no legal basis; not providing information to autonomous vehicles; providing duplicate information; not standardized, and too difficult to generalize) based on information that must be provided to operate autonomous vehicles. The priority of information delivery (gross negligence followed by behavior change) was classified according to the importance of the information to be provided during autonomous driving, and the form was defined for the classification code in the information delivered. Finally, the information location and delivery method of traffic facilities for compliance with SAE J2735 were identified. This study is meaningful in that it provides a plan for roadway operations by suggesting a method for providing information to autonomously driven vehicles.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.46 no.2
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• pp.160-167
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• 2023

This study focuses on the development of a Last-Mile delivery service using unmanned vehicles to deliver goods directly to the end consumer utilizing drones to perform autonomous delivery missions and an image-based precision landing algorithm for handoff to a robot in an intermediate facility. As the logistics market continues to grow rapidly, parcel volumes increase exponentially each year. However, due to low delivery fees, the workload of delivery personnel is increasing, resulting in a decrease in the quality of delivery services. To address this issue, the research team conducted a study on a Last-Mile delivery service using unmanned vehicles and conducted research on the necessary technologies for drone-based goods transportation in this paper. The flight scenario begins with the drone carrying the goods from a pickup location to the rooftop of a building where the final delivery destination is located. There is a handoff facility on the rooftop of the building, and a marker on the roof must be accurately landed upon. The mission is complete once the goods are delivered and the drone returns to its original location. The research team developed a mission planning algorithm to perform the above scenario automatically and constructed an algorithm to recognize the marker through a camera sensor and achieve a precision landing. The performance of the developed system has been verified through multiple trial operations within ETRI.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.14 no.2
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• pp.134-139
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• 2021

Currently, the autonomous vehicle market is commercializing a level 3 autonomous vehicle, but it still requires the attention of the driver. After the level 3 autonomous driving, the most notable aspect of level 4 autonomous vehicles is vehicle stability. This is because, unlike Level 3, autonomous vehicles after level 4 must perform autonomous driving, including the driver's carelessness. Therefore, in this paper, we propose the Emergency-notification and Driver-response Confirmation System(EDCS) for an autonomousvehicle safety that notifies the driver of an emergency situation and recognizes the driver's reaction in a situation where the driver is careless. The EDCS uses the emergency situation delivery module to make the emergency situation to text and transmits it to the driver by voice, and the driver response confirmation module recognizes the driver's reaction to the emergency situation and gives the driver permission Decide whether to pass. As a result of the experiment, the HMM of the emergency delivery module learned speech at 25% faster than RNN and 42.86% faster than LSTM. The Tacotron2 of the driver's response confirmation module converted text to speech about 20ms faster than deep voice and 50ms faster than deep mind. Therefore, the emergency notification and driver response confirmation system can efficiently learn the neural network model and check the driver's response in real time.

• Journal of Internet of Things and Convergence
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• v.10 no.5
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• pp.27-37
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• 2024

In the context of multi-vehicle and multi-task logistics distribution within a park, traditional algorithms are often hindered by high computational complexity and slow convergence rates. Particle Swarm Optimization (PSO) has gained popularity in path planning for autonomous delivery vehicles due to its straightforward algorithmic principles, broad applicability, and comprehensive search capabilities. However, the conventional PSO is susceptible to premature convergence, leading to local optima. To address this, this study incorporates the Tent map into the PSO to enhance the algorithm's global search ability and prevent premature convergence. Benchmark function tests demonstrate that the improved Particle Swarm Optimization algorithm (TPSO), as proposed in this study, exhibits faster convergence and greater accuracy.In the instance verification section, X Park was selected as an example to construct a multi-vehicle and multi-task model for the logistics distribution within the park. The TPSO algorithm proposed in this paper was used to solve the model, and finally, the superiority of the TPSO algorithm was verified through comparative simulation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.2
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• pp.323-329
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• 2001

In this paper, we present a collaborative method for material delivery using a distributed vehicle agents system. Generally used AGV(Autonomous Guided Vehicle) systems in FA require extraordinary facilities like guidepaths and landmarks and have numerous limitations for application in different environments. Moreover in the case of controlling multi vehicles, the necessity for developing corporation abilities like loading and unloading materials between vehicles including different types is increasing nowadays for automation of material flow. Thus to compensate and improve the functions of AGV, it is important to endow vehicles with the intelligence to recognize environments and goods and to determine the goal point to approach. In this study we propose an interaction method between hetero-type vehicles and adaptive fuzzy logic controllers for sensor-based path planning methods and material identifying methods which recognizes color. For the purpose of carrying materials to the goal, simple color sensor is used instead vision system to search for material and recognize its color in order to determine the goal point to transfer it to. The proposed method reaveals a great deal of improvement on its performance.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.3
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• pp.435-440
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• 2020

The application of the unmanned vehicles in various fields has been attracting attention, and the development of a service utilizing unmanned vehicles has been proceeding. As the service market using the unmanned vehicles rapidly increases, the demand for the development of software for performing the mission with unmanned vehicles is increasing. In particular, as the demand for unmanned vehicle utilization services for public missions such as fire detection, mail delivery, and facility management increases, the importance of developing mission software for unmanned vehicle is increasing. To develop common mission software, architecture design should be made so that unmanned vehicle service provider can easily develop software using reusable libraries or functions through analysis commonly required by various public institutions. In this paper, we discuss the research trends of mission software for public mission unmanned vehicles. In addition, the architecture design of developing formal mission software is proposed. Finally, we propose a data transfer architecture between mission software and data platform.

• Electronics and Telecommunications Trends
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• v.39 no.4
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• pp.10-20
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• 2024

Recent advancements in autonomous flight technologies for Unmanned Aerial Vehicles (UAVs) have greatly expanded their applicability for various tasks, including delivery, agriculture, and rescue. This article presents a comprehensive survey of path planning techniques in autonomous navigation and exploration that are tailored for UAVs. The robotics literature has studied path and motion planning, from basic obstacle avoidance to sophisticated algorithms capable of dynamic decision-making in challenging environments. In this article, we introduce popular path and motion planning approaches such as grid-based, sampling-based, and optimization-based planners. We further describe the contributions from the state-of-the-art in exploration planning for UAVs, which have been derived from these well-studied planners. Recent research, including the method we are developing, has improved performance in terms of efficiency and scalability for exploration tasks in challenging environments without human intervention. On the basis of these research and development trends, this article discusses future directions in UAV path planning technologies, illustrating the potential for UAVs to perform complex tasks with increased autonomy and efficiency.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.5
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• pp.42-49
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• 2001

In This paper, we present a collaborative method for material delivery using a distributed vehicle agents system. Generally used AGV(Autonomous Guided Vehicle) systems in FA(Factory Automation) require extraordinary facilities like guidepaths and landmarks and have numerous limitations for application in different environments. Moreover in the case of controlling multi vehicles, the necessity for developing corporation abilities like loading and unloading materials between vehicles including different types is increasing nowadays for automation of material flow. Thus to compensate and improve the functions of AGV, it is important to endow vehicles with the intelligence to recognize environments and goods and to determine the goal point to approach. In this study we propose an interaction method between hetero-type vehicles and adaptive fuzzy logic controllers for sensor-based path planning methods and material identifying methods which recognizes color. For the purpose of carrying materials to the goal, simple color sensor is used instead of intricate vision system to search for material and recognize its color in order to determine the goal point to transfer it to. The technique for the proposed method will be demonstrated by experiment.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38B no.1
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• pp.34-45
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• 2013

Due to its self-configuring nature, the tactical mobile ad hoc network is used for communications between tactical units and the command and control center (CCC) in battlefields, where communication infrastructure is not available. However, when a tactical unit moves far away from the CCC or there are geographical constraints, the data link between two communicating nodes can be broken, which results in an invalid data route from the tactical units to CCC. In order to address this problem, in this paper we propose a hierarchical connectivity maintenance scheme, namely ADLCoM (Autonomous Data Link Connectivity Maintenance). In ADLCoM, each tactical unit has one or more GW (gateway), which checks the status of data links between tactical units. If there is a possibility of link breakage, GWs request ground or aerial unmanned vehicles to become a relay for the data link. The simulation results, based on tactical scenarios, show that the proposed scheme can significantly improve the network performance with respect to data delivery ratio.

• Journal of Korean Library and Information Science Society
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• v.52 no.1
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• pp.27-54
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• 2021

This study examines the overall contents of robots, drones, and autonomous driving that can be applied to libraries among autonomous objects, and proposes a plan that can be introduced and applied to libraries in the future based on this. As a result of the study, in the case of the building, robots and drones can be used to apply from collection inspection, collection transport, collection arrangement, collection classification, book location guidance, book recommendation, loan/return, library general guidance, and reference information service. Outside of the building, robots, drones, and autonomous vehicles can be used for book delivery service, book return service, and unmanned mobile libraries. This study is a basic research for the introduction and application of autonomous objects in the library, and follow-up studies such as perception survey and application model development for systematic introduction should be conducted in the future.