• IEMEK Journal of Embedded Systems and Applications
• /
• v.6 no.5
• /
• pp.273-280
• /
• 2011

In this paper, we describe the structural reinforcement approach of the throwing-type firefighter assistance robot which can be thrown into a fire site to monitor inside the place and search trapped people while ensuring a firefighter's safety. The reinforcement design is focused on high strength with low weight for the robot. The in-depth structural analysis of the platform is carried out to track down the weakest part, especially with the 1.8m height of drop test. The analysis is verified by comparing with the 1.8m height of the drop test of the throwing-type firefighter assistance robot. The optimal approach for improving the strength of the weakest part aims at topological equivalent and equivalently stress distributed shape.

• Annual Conference of KIPS
• /
• 2007.05a
• /
• pp.881-884
• /
• 2007

Home Automation System은 가정에서 사용되는 여러 가전기기들을 통합하여 제어함으로써 가정을 안락하고, 편리하게 해주는 동시에 에너지 효율을 극대화하여 인간의 생활수준을 향상시키는 기술을 말한다. 본 논문에서는 PXA255기반의 임베디드 시스템 보드에 Linux 커널을 포팅하고 웹서버를 탑재하여 홈 오토메이션 서버를 개발하였다. 또한 확장 입출력 포트에 에어컨, 환풍기, 가스 센서 등을 연결하여, Zigbee 센서 모듈을 직렬 포트에 연결하였다. 보드에 연결된 장치들은 인터넷 상에서 제어하도록 디바이스 드라이버 및 제어 프로그램을 설계 구현하였다.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.7 no.2
• /
• pp.61-70
• /
• 2012

This paper describes terrain-adaptive attitude controller for a hybrid mobile platform which operates in wheel & track mode. The wheel mode of the hybrid mobile platform allows quick driving performance in the flatland, while the track mode provides adaptive movement in the rough ground or stairway. The switching of the platform between two modes is automatically controlled by attitude controller algorithm. In addition, in the track mode, the platform automatically adjusts its attitude angle to overcome the obstacles in front. This paper demonstrates the attitude controller for the aforementioned wheel-track hybrid mobile platform in order to overcome terrain obstacles by using an adaptive method. The driving performance of the hybrid mobile platform has been tested and verified in various surrounding environments in both wheel and track mode. Further, this paper presents the experiments by using the track structure of mobile platform on forming adaptive attitude under various types of obstacles. The practicability and effectiveness of the proposed attitude controller of the platform has been demonstrated in urban building and a test-bed.

• Journal of the Korean Society for Precision Engineering
• /
• v.26 no.2
• /
• pp.63-70
• /
• 2009

This paper proposes a novel path finding approach of a mobile robot using RF strength in sensor network. In the experiments based on the proposed method, a mobile robot attempts to find its location, heading direction and the shortest path in the indoor environment. The experimental system consisting of mesh network shares node data and send them to base station. The triangulation and the proposed Grid method calculate the location and heading angle of the robot. In addition, the robot finds the shortest path by using the base station attached on it to receive data of environment around each node. Kalman filter reduces the straight line error when the robot estimates the strength of received signal. The experimental results show the effectiveness of the proposed algorithm.

• The Journal of Korea Robotics Society
• /
• v.6 no.1
• /
• pp.1-9
• /
• 2011

An increasing number of researches and developments for personal or professional service robots are attracting a lot of attention and interest industrially and academically during the past decade. Furthermore, the development of intelligent robots is intensively fostered as strategic industry. Until now, most of practical and commercial service robots are worked by remotely operated controller. The most important technical issue of remote control is a wireless communication, especially in the indoor and unstructured environments where communication infrastructures might be destroyed by various disasters. Therefore we propose a multi-robot following navigation method for securing the valid communication distance extension of the remote control based on WPAN(Wireless Personal Area Networks). The concept and implementation of following navigation are introduced and the performance verification is performed through real navigation experiments in real or test-bed environments.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.6
• /
• pp.558-565
• /
• 2011

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for surveillance, reconnaissance, search and rescue, etc. We considered a terrain-adaptive and transformable hybrid robot platform that is equipped with rapid navigation capability on flat floors and good performance in overcoming stairs or obstacles. The navigation mode transition is determined and implemented by adaptive driving mode control of the mobile robot. In order to maximize the usability of wheel-track hybrid robot platform, we propose a terrain-adaptive and user-friendly remote controller and verify the efficiency and performance through its navigation performance experiments in real and test-bed environments.

• Journal of the Korean Society for Precision Engineering
• /
• v.27 no.2
• /
• pp.60-69
• /
• 2010

Lookup-Table (LUT) based fuzzy controller for obstacle avoidance enhances operations faster in multiple obstacles environment. An LUT based fuzzy controller with Positive/Negative (P/N) fuzzy rule base consisting of 18 rules was introduced in our paper$^1$ and this paper shows a 50-rule P/N fuzzy controller for enhancing performance in obstacle avoidance. As a rule, the more rules are necessary, the more buffers are required. This paper suggests LUT sharing method in order to reduce LUT buffer size without significant degradation of performance. The LUT sharing method makes buffer size independent of the whole fuzzy system's complexity. Simulation using MSRDS(MicroSoft Robotics Developer Studio) evaluates the proposed method, and in order to investigate its performance, experiments are carried out to Pioneer P3-DX in the LabVIEW environment. The simulation and experiments show little difference between the fully valued LUT-based method and the LUT sharing method in operation times. On the other hand, LUT sharing method reduced its buffer size by about 95% of full valued LUT-based design.

• The Journal of Korea Robotics Society
• /
• v.5 no.3
• /
• pp.270-277
• /
• 2010

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.9
• /
• pp.883-890
• /
• 2006

Nowadays, CPS is used widely, especially in cases which need more precise position information, such as car navigation systems and even in the mobile robot for position measuring in the outdoor environment. RTK (Real-Time Kinematics) and DGPS (Differential Global Positioning System) have more precise accuracy than the general-purposed GPS. However can't easily use them because of high prices and large size of equipments. In order fur the mobile robot to obtain precise position information it is important that CPS receiver has portability and low price. In this study, we introduce a new GPS data acquisition system that offers the precise position data using the DGPS mechanism and satisfying low cost and portability. In addition to this, we propose an improved data compensation algorithm that offers more accurate position information to the outdoor mobile robot by compensating the error rate of CPS data measured from the three points with geometrical rotation and distance formula. Proposed method is verified by comparing with the precise real position data obtained by RTK. Proposed method has more than 70% performance enhancement.

• Journal of Radiation Protection and Research
• /
• v.21 no.2
• /
• pp.117-124
• /
• 1996

Source intensities in terms of the exposure rates at 1m from the fresh and spent DUPIC fuels, made from standard and extended turnup PWR fuels, were analyzed. Two cases were studied based on the degree of elimination of removable elements. Homogeneous mixture model was applied to get the exposure rate. The exposure rate turned out to be very high and sensitive to Cs elimination during the dry process. About 90% of exposure can be reduced in the case of fresh DUPIC fuel made from 10-year cooled spent PWR fuels if Cs is fully removed during the dry process. The main radiation source in spent fuels is Cs-137. The dry storage of spent DUPIC fuel may need a longer wet storage period and require a further review.