http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
국방로봇 발전 방향 연구 : 해외 개발 사례의 시사점 분석
조정산(Jungsan Cho),서재홍(Jaehong Seo),한상철(Sangchul Han) 국방로봇학회 2023 국방로봇학회 논문집 Vol.2 No.4
This paper analyses noteworthy implications related to current defense robots to research strategies for develoingdefense robot technology that will be at the forefront of the scientific and technological powerhouse being prepared by the military. As technologies such as Artificial Intelligence and the Internet of Things, referred to as the Fourth Industrial Revolution, develop rapidly, the future military is being portrayed with artificial intelligence and robots based on science and technology. Representative examples include automatic loading devices for self-propelled howitzers and tanks that utilize factory automation technology. The explosive development of drones, driven by IoT, motor, battery, communication and sensor technologies used in smart-phones, has had such a significant impact on our military that it has created a dronebot battle group. Because of this influence, expectations for unmanned systems in the future battlefield are also significantly increasing. In this reality, to consider the development strategy of defense robots, we analyze the implications of the current notable Boston Dynamics and Chinas unmanned system technology and analyze expectations and levels of artificial intelligence and robots. Based on this, we summarize what needs to be innovated in the military, industry, academia, and research institutes to become an advanced country in unmanned systems.
손인근(Inkeun Son),박상준(Sangjoon Park),김용철(Yongchul Kim) 국방로봇학회 2024 국방로봇학회 논문집 Vol.3 No.1
We have been witnessing innovative improvements in unmanned autonomous robot technologies and also facing enlarged their applications in the military. Even at Ukraine-Russia war, AI(artificial intelligence)-enhanced platforms have been being operated. It is very noteworthy that there are concerns about manipulating AI technologies even though AI is still in the early stage of growth. To dispel the constantly raised fears, a few nations have announced military AI principles and following guidelines. They intended to convince their credibility in developing and operating AI capabilities in military operations. However, the main object is to show the reliability of current AI systems, which are mainly based on weak AI and so can not execute beyond on-the-loop of human interventions. This paper is to deal with following AI issues that will be publicly agendicized when AI-enhanced platforms with limited autonomy are operated in battle field. Even unmanned autonomous robots have constrained autonomy, there must be ethical challenges in real operation environments. Thus, we make an issue of military ethical challenges and propose directions for future manned and unmanned team systems and following AI ethics.
김경환(Kyung-Hwan Kim),김정엽(Jung-Yup Kim) 국방로봇학회 2024 국방로봇학회 논문집 Vol.3 No.2
This paper proposes a centroidal dynamics-based body posture control method for a quadrupedal walking robot to maintain balance. To control the body posture as desired, the current state of the robot is estimated through a Kalman filter, with the estimated state defined as the position and velocity of the body center in the ground coordinate system, as well as the foot position. The input to the Kalman filter is the linear acceleration obtained from the IMU attached to the body, and the measurements are set as the foot positions and velocities in the leg coordinate system calculated through joint encoders and kinematics. Firstly, for body posture control of the robot, the weight of the significantly lighter legs compared to the robot body is ignored, and the robot body is assumed as a single rigid body, defining a Centroidal Dynamics model suspended in the air. The reference forces to be applied to the body based on Centroidal Dynamics are calculated through the error between the reference body posture and the actual body posture, and a cost function minimizing the difference between the actual and reference body forces generated by the ground reactions at the feet is formulated, subject to the constraint of limited foot friction, using Quadratic Programming (QP). The optimal ground reaction forces at the feet are derived through QP and the joint torques of the legs are then calculated to generate to perform the body posture control of the quadruped walking robot. The effectiveness of this body posture control method is validated through dynamic simulations of the quadruped robot, PongBot.
혼합형 정찰 로봇의 Visual Odometry 및 물체 탐지 알고리즘에 대한 연구
임승현(Seunghyun Lim),강연(Yeon Kang),김태환(Taehwan Kim),윤동원(Dongwon Yun) 국방로봇학회 2024 국방로봇학회 논문집 Vol.3 No.2
This study introduces the hybrid throwable reconnaissance robot and explores foundational research on its visual odometry and object detection capabilities. CFH-based hybrid throwable reconnaissance robot combines the advantages of wheeled and spherical robot designs, featuring a CFH structure for improved shock absorption. Given the robots role in collecting critical information in military operations to ensure troop safety and survivability, it is imperative to equip it with technologies for accurate self-positioning and object detection within its environment. Therefore, we developed an embedded system prototype of CFH-based throwable reconnaissance robot to implement on-board visual odometry and object detection. A monocular visual odometry algorithm was implemented on the embedded system prototype, achieving 13-15 frames per seconds (FPS). Using transfer learning, we trained an object detection algorithm on seven classes relevant to the battlefield, applied to the prototype with 15-20 FPS and an average mAP@50 of 0.868. Through these implementations, the study demonstrates the potential of CFH-based throwable reconnaissance robots in enhancing military operations by providing movement estimation and efficient object detection capabilities, thereby contributing to the safety and effectiveness of military personnel in complex operational environments.