UUV Platform Optimal Design for Overcoming Strong Current

Min-Gyu Kim,Hyungjoo Kang,Mun-Jik Lee,Gun Rae Cho,Ji-Hong Li,Cheol Kim 한국해양공학회 2021 韓國海洋工學會誌 Vol.35 No.6

This paper proposes an optimal design method for an unmanned underwater vehicle (UUV) platform to overcome strong current. First, to minimize the hydrodynamic drag components in water, the vehicle is designed to have a streamlined disc shape, which help maintaining horizontal motion (zero roll and pitch angles posture) while overcoming external current. To this end, four vertical thrusters are symmetrically mounted outside of the platform to stabilize the vehicle’s horizontal motion. In the horizontal plane, four horizontal thrusters are symmetrically mounted outside of the disc, and each of them has the same forward and reverse thrust performances. With these four thrusters, a specific thrust vector control (TVC) method is proposed, and for external current in any direction, four horizontal thrusters are controlled to generate a vectored thrust force to encounter the current while minimizing the vehicle’s rotation and maintaining its heading. However, for the numerical simulations, the vehicle’s hydrodynamic coefficients related to the horizontal plane are derived based on both theoretical and empirically derived formulas. In addition to the simulation, experimental studies in both the water tank and circulating water channel are performed to verify the vehicle’s various final performances, including its ability to overcome strong current.

무인전투차량 요구사항분석 연구: 원격통제 및 자율주행 중심으로

김동우,최인호 한국시스템엔지니어링학회 2022 시스템엔지니어링학술지 Vol.18 No.2

Remote-controlled and autonomous driving based on artificial intelligence are key elements required for unmanned combat vehicles. The required capability of such an unmanned combat vehicle should be expressed in reasonable required operational capability(ROC). To this end, in this paper, the requirements of an unmanned combat vehicle operated under a manned-unmanned teaming were analyzed. The functional requirements are remote operation and control, communication, sensor-based situational awareness, field environment recognition, autonomous return, vehicle tracking, collision prevention, fault diagnosis, and simultaneous localization and mapping. Remote-controlled and autonomous driving of unmanned combat vehicles could be achieved through the combination of these functional requirements. It is expected that the requirement analysis results presented in this study will be utilized to satisfy the military operational concept and provide reasonable technical indicators in the system development stage.

자율비행항공기와 관련한 민사법적 책임

오지용 충북대학교 법학연구소 2022 과학기술과 법 Vol.13 No.1

The existing aircraft operator's liability, in which a person is involved in the operation of an aircraft, can be viewed as an intermediate liability or limited no-fault liability where the burden of proof is switched. However, the legal nature of the operator's liability for autonomous flying aircraft operated by the autonomous flight system should be considered differently from the existing one. In other words, the aircraft owner of an autonomous flying aircraft bears no-fault liability that cannot claim immunity even if the owner does not directly intervene in the operation of the aircraft. Therefore, the ‘force majeure’ exemption provision of Article 931, No. 4 of the Commercial Act, which is the immunity provision for aircraft operators, should be excluded from application in the case of autonomous flying aircraft. If an aircraft accident occurs due to the negligence of the victim, the aircraft owner cannot be held liable. Consequently, it is necessary to enact a special law for autonomous flying aircraft on no-fault liability that stipulates the above limiting factors as a condition subsequent. Until then, for the gap in regulation, it is reasonable to apply mutatis mutandis rules related to operation under the Compulsory Motor Vehicle Liability Security Act applicable to autonomous vehicles. This is because civil legal responsibilities related to the operation of autonomous flying aircraft are in line with civil legal responsibilities related to the driving of autonomous vehicles

Microphone System Based Path Following Control of Quadrotor Unmanned Vehicle Autonomous Flight

Tae-Young Yoon,Hyuk-Jun Chang 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11

Currently, interest in autonomous driving of small quadrotors in various ways is increasing. In most cases, quad-rotor autonomous driving is mainly performed with vision data acquired using cameras. However, this method is challenging to implement in an environment where using a camera is difficult, such as in a space with insufficient light. In this work, we designed a low-cost autonomous-driving system for a drone using a microphone sensor instead of vision data using a camera. The microphones are connected to a data acquisition system (DAQ) to read data, and the laptop connected to the DAQ controls the operation of the drone using the data values in real time. We used a microphone sensor to measure the sound of the quadrotor to estimate its position and set up several flight paths to test the autonomous flight of quadrotor. Unlike drones that use vision data, our research has presented a new method in the field of quadrotor autonomous driving by implementing autonomous driving of drones using a microphone sensor.

무인 잠수정 연구 개발 동향 분석 및 발전 방안

이지은(Ji Eun Lee) 한국산학기술학회 2019 한국산학기술학회논문지 Vol.20 No.9

무인 잠수정은 접경지역이나 적 잠수함이나 잠수정이 출몰하는 위협지역에서 감시 정찰 임무 가능한 주요 무기체계로 국내 · 외에서 활발한 연구 개발이 진행되고 있다. 무인 잠수정의 주요 활용처는 민수 분야에서는 해저 자원 탐사, 재난 예측, 해저 지형 조사 등에 활용가능하고, 국방 분야에서는 위협 지역이 등에서 적 잠수함/정 등에 대한 대잠 정찰, 기뢰 제거 등에 활용 가능하다. 본 논문에서는 무인 잠수정의 무게별, 임무별 주요 분류에 대해서 살펴보고, 무게별 주요분류 기준에 따라 휴대용급, 경량급, 중량급, 대형급 무인 잠수정의 국외 개발 동향을 조사 · 분석한다. 이를 기반으로 국내 무인 잠수정 개발 동향을 조사 · 분석하여 국외 대비 국내 현황을 살펴본다. 또한 앞서 조사 · 분석된 국내 · 외 주요 무인잠수정 개발 현황을 통하여, 본 논문에서는 미래 국내 무인 잠수정의 핵심 기술로 은밀성 강화와 통합 전장 운영이 가능한 자율제어 기술, 수중 장기 체류가 가능한 차세대 에너지원 기술, 소형화 및 경량화 기반의 정밀 센서 기술 등 미래 무인잠수정에 대한 발전 방안을 제시한다. An unmanned underwater vehicle is a major weapon system that allows surveillance and reconnaissance missions in border areas or threatening areas where enemy submarines are present. Unmanned underwater vehicles can be used to explore underwater resources, predict disasters, and survey the topography of the ocean floor in the civilian fields, while in the defense fields, it can be used for anti-submarine reconnaissance and mine countermeasures. In this paper, we first investigate the main classification of unmanned underwater vehicles, and foreign R&D trends are analyzed based on the main classification criteria by weight, such as portable, light, heavy and large-scale unmanned underwater vehicles. Then we examine the trends in the development of domestic unmanned underwater vehicles. Finally, through the analysis of both domestic and foreign unmanned underwater vehicles, we present future development trends of unmanned underwater vehicles in order to set defense goals to counter the anticipated threats and diversified potential environment.

AEB, FCW시스템의 시험평가 방법에 관한 연구

우종운(Jongwoon Woo),김명일(Myungil Kim),이선봉(Seonbong Lee) 한국자동차공학회 2013 한국자동차공학회 부문종합 학술대회 Vol.2013 No.5

Active safety functions such as Autonomous Emergency Braking System(AEB) and Forward Collision Warning (FCW) have been introduced in road vehicles. The purpose is to try avoiding potential car accidents through active support to the driver. Therefore, it is important to evaluate the vehicle safety system. This paper presents an assessment method that involve a frontal collision. The aim of this paper is to present both an assesment method and unmanned target vehicle. To test the AEB and FCW systems different accident scenarios has to be simulated with a test vehicle approaching a slower vehicle dummy (so-called "soft target"). The employed unmanned soft target is designed to minimize the potential for damage, which is modeled by its appearance and its radar or lidar characteristics according to a real vehicle rear.

자동 발렛 파킹을 위한 테스트 플랫폼 설계 및 주행 검증

우훈제(HoonJe Woo),손성효(SungHyo Son),문희창(HeeChang Moon),성경복(KyungBok Sung),김정하(JungHa Kim) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5

This paper introduces an automated valet parking system (AVP) which applies an autonomous driving concept into the current parking assistant system (PAS). The present commercial PAS technology is limited into vehicle. It means vehicle only senses and controls by and for itself to assist the parking. Therefore, the present PAS is restricted to simple parking events. But AVP includes wider parking events and planning because it uses infra-sensor network as well as vehicle sensor. For the realization of AVP, the commercial steering system of a compact vehicle was modified into steer-by-wire structure and various sensors like LRF (Long Range Finder) and camera were installed in a parking area. And local & global server decides where and when the vehicle can go and park in the testing area after recognized the status of environment and vehicle from those sensors. GPS solution was used to validate the AVP performance. More various parking situations, vehicles and obstacles will be considered in the next research stages based on these results. And we expect this AVP solution with more intelligent vehicles can be applied in a big parking lot like a market, an amusement park, etc.

추가 학습이 빈번히 필요한 비포장도로에서 주행로 탐색에 적합한 GLSL 기반 ALNN Algorithm

구본우,김준겸,이은주 한국정보전자통신기술학회 2019 한국정보전자통신기술학회논문지 Vol.12 No.1

Unmanned Autonomous Vehicle’s driving road in the national defense includes not only paved roads, but also unpaved roads which have rough and unexpected changes. This Unmanned Autonomous Vehicles monitor and recon rugged or remote areas, and defend own position, they frequently encounter environments roads of various and unpredictable. Thus, they need additional learning to drive in this environment, we propose a Additional Learning Nearest Neighbor (ALNN) which is modified from Approximate Nearest Neighbor to allow for quick learning while avoiding the 'Forgetting' problem. In addition, since the Execution speed of the ALNN algorithm decreases as the learning data accumulates, we also propose a solution to this problem using GPU parallel processing based on OpenGL Shader Language. The ALNN based on GPU algorithm can be used in the field of national defense and other similar fields, which require frequent and quick application of additional learning in real-time without affecting the existing learning data. 국방 분야에서 무인 차량의 주행로는 포장 도로 뿐만 아니라, 자주 다양한 변화를 갖는 야지의 비포장 도로 등이 포함된다. 이 무인 차량은 주로 험지나 오지에서 감시 및 정찰, 진지 방어 등을 수행하므로 자율 주행을 위해서 예측하지 못했던 다양한 주행로와 환경을 수시로 접하게 되며, 이에 따라 추가 학습이 필요하다. 본 논문에서는 ‘Forgetting’ 문제를 피하면서 거리 비교와 Class 비교를 통해 빠르게 추가 학습이 가능하도록 Approximate Nearest Neighbor를 수정한 GPU 기반 Additional Learning Nearest Neighbor(ALNN) 알고리즘을 제안한다. 또 ALNN 알고리즘은 학습 데이터가 누적될수록 연산 속도가 저하되는 문제가 있고, 본 연구에서는 OpenGL Shading Language 기반의 GPU 병렬 처리를 사용하여 이를 해결하였다. ALNN 알고리즘은 기존의 학습 데이터에 영향을 주지 않으면서 빠르게 추가 학습이 가능하여, 빈번히 실시간으로 재학습이 필요한 국방 등의 분야에 활용될 수 있다.

UGV의 운용적합성 평가를 위한 운용 시험 시나리오 연구

강규민,이경수 사단법인 한국자동차안전학회 2023 자동차안전학회지 Vol.15 No.4

This paper develops scenarios to evaluate the safety performance of Unmanned Ground Vehicle on military circumstances. The scenarios were created using Pegasus Project 6-layer format. These scenarios consist of straight road, curved road, merging road and crossroad. We adapt these scenarios to unpaved road. The characteristics of unpaved roads were divided into roughness, friction coefficient and road frequency. This adaption is validated via computer simulation. We observe the scan lines of vehicle become tangled of the straight road that make the cognitive abilities of the vehicle low and the lane-keeping is unable when vehicles entering curved off-roads over 40 km/h. The developed scenarios will contribute to enhancing stability from the perspective of introducing autonomous driving technology to Korean military.

Study on Ellipse Fitting Problem for Vision-based Autonomous Landing of an UAV

Youeyun Jung,Dongjin Lee,Hyochoong Bang 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10

In this paper, we studied for the ellipse fitting problem when an unmanned aerial vehicle (UAV) reaches near a landing marker for vision-based autonomous landing. Due to limited field of view of a camera, the entire shape of the landing marker cannot be captured as the vehicle approaches it. Also, depending on the vehicle’s pose, the shape of the maker is shown distortedly. In order to overcome these problems, we designed the novel landing marker using concentric circles and the letter ‘H’. By calculating the conic parameters from portions of ellipse curves, we can estimate accurate relative navigation for the precise autonomous landing. Several basic image processing algorithms are employed to find the ellipse curves before estimating the ellipse parameters and the center of the marker using the direct least square method. From indoor experiments, we analyzed the ellipse fitting performance based on well-fitted and ill-fitted ellipses. Additionally, we studied how we can improve the ill-fitted case.