• 제어로봇시스템학회논문지
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• 제15권10호
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• pp.1047-1055
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• 2009

Since nuclear and chemical materials could damage people and disturb battlefield missions in a wide region, nuclear/chemical reconnaissance systems utilizing multiple mobile robots are highly desirable for rapid and safe reconnaissance. In this paper, we design a nuclear/chemical reconnaissance system including mobile robots. Also we propose time-efficient trajectory planning algorithms using grid coverage and contour finding methods for reconnaissance operation. For grid coverage, we performed in analysis on time consumption for various trajectory patterns generated by straight lines and arcs. We proposed BCF (Bounded Contour Finding) and BCFEP (Bounded Contour Finding with Ellipse Prediction) algorithms for contour finding. With these grid coverage and contour finding algorithms, we suggest trajectory planning algorithms for single, two or four mobile robots. Various simulations reveal that the proposed algorithms improve time-efficiency in nuclear/chemical reconnaissance missions in the given area. Also we conduct basic experiments using a commercial mobile robot and verify the time efficiency of the proposed contour finding algorithms.

• 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.

• 한국군사과학기술학회지
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• 제11권6호
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• pp.127-134
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• 2008

An autonomous reconnaissance ground robot performs its duty in various different environments such as mountain-scape, desert and under-water through changing its shape and form according to the environment it is working in. Making a prototype robot for each environment requires extra cost and time. It is also difficult to modify the problem after production. In this paper, we propose the adoption of M&S(Modeling & Simulation) environment for the production and design of the autonomous reconnaissance ground robot. The proposed method on the M&S environment contributed to the more effective and less time consuming production of the robot through the Pre-Modeling and Pre-Simulation process. For example, we showed the design and implementation of the autonomous reconnaissance ground robot under the proposed environment and tools.

• 한국군사과학기술학회지
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• 제16권1호
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• pp.74-80
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• 2013

In this paper, we have proposed a vapor cycle refrigeration system as a cooling system to provide cooling air to the aircraft external reconnaissance stores. In the proposed vapor cycle system, receiver which prevents refrigerant from subcooling was eliminated and thermal expansion valve was replaced with electronic expansion valve. The vapor cycle refrigeration system is aimed to provide cooling air to the reconnaissance stores which is added to the aircraft in the form of external store. The wide temperature range of ambient air from the flight conditions can decrease the cooling performance and can make the refrigeration system unstable in low ambient temperature. Performance characteristics of the vapor cycle refrigeration system has been experimented under air conditions which is derived from the flight envelope. From the experiments, the vapor cycle refrigeration system has been proved to provide enough cooling air to the reconnaissance equipment and to be stable under all the flight conditions.

• 한국군사과학기술학회지
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• 제21권1호
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• pp.61-68
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• 2018

In this paper, we described about methods and results to verify the Tx/Rx beam characteristics of a planar active phased array antenna as using a near-field measurement. The near-field system can effectively measure multiple beams and predict the performance degradation due to the partial failure of individual elements. Also, it can accurately predict the EIRP relating to detection performance of the active phased array radar. We briefly described the near-field measurement method to verify the Tx/Rx beam characteristics, and then verified the effectiveness of measurement method by analyzing the measured results.

• 한국군사과학기술학회지
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• 제12권5호
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• pp.563-570
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• 2009

In the future, most military activities will be replaced by robots. Because of many dangerous factors in battlefield, reconnaissance should be performed by robot. Reconnaissance robot should be small for not being detected, be light and simple structure for personal portability and overcome unexpected rough terrain for mission completion. In case of small and light robot, it can't get enough friction force for movement. Therefore small reconnaissance robot need jumping function for movement. In this paper we proposed a biologically inspired jumping mechanism. And we adjusted moment and jumping angle by using four bar linkage, especially varying coupler length.

• 한국군사과학기술학회지
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• 제13권3호
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• pp.438-444
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• 2010

Surveillance and reconnaissance sensor network system is an application system based on ubiquitous sensor network technology. This technique is to avoid accidental close combat, to minimize the consumption of limited military resources and personnel, and to provide battlefield situational awareness information for the unit's future combat missions. In this paper, we have proposed a echelons scale identification scheme based on information obtained from surveillance and reconnaissance sensor network system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 추계학술대회 논문집
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• pp.235-236
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• 2012

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.855-856
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• 2013

• 한국군사과학기술학회지
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• 제22권5호
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• pp.705-715
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• 2019

The purpose of this study is to analyze the necessity of organizing an exclusive unit to perform the division Engineering Reconnaissance, and how to organize exclusive unit. To this end, first, it was analyzed whether exclusive unit organization was necessary by using organization-conditions and AHP. Next, through ARENA model simulation and task-analysis, it was determined how many people would be organized, and how the class structure would be appropriate. As a result, first, it is reasonable to organize the Engineering Reconnaissance unit as an exclusive unit, and the best way is to organize all-time(war/peace time). Second, the exclusive unit should be organized into a total of 10 persons(2~3 cadres, 7~8 soldiers). We hope that the research will contribute to the rational procedure of our military unit structure organization and set the standards for applying the quantitative methodology.