• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 추계학술대회 논문집
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• pp.55-56
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• 2007

• 한국정밀공학회지
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• 제26권3호
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• pp.68-72
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• 2009

Millions of landmines still have been buried in various countries around the world. Unfortunately, landmines make the correct detection of humanitarian organizations very difficult. For this purpose, new technologies such as improved sensors, efficient manipulators and mobile robots are needed. Our effort is to develop a small mobile robot for landmine detection. The mobile robot consists of sensor module, GPS, RF communications equipment, IR camera, motors, and controllers, etc. This paper describes the current configuration of development in landmine detecting tracked robot. Specifically we are concerned with the sensor module of the mobile robot. Our results show that graphs have measured a small metal instead of a real landmine because of the big danger of students experiments on detection with real landmines.

• 한국정밀공학회지
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• 제22권9호
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• pp.155-161
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• 2005

Up to now, a lot of unmanned demining systems have been developed. However, some inferiority surely exist by reason of their large platform and explosive mechanism. To settle this inferiority, non-explosive demining system adaptable to a mobile robot already has been developed. Brief experiment indoors showed that developed demining system can remove landmines well. But, out of doors, several problems are detected. In this research, a study on the performance improvement of developed non-explosive demining system is mainly discussed. To overcome downhill effect, mechanical sensor composed of shaft and spring is used. It is confirmed that clearance depth control using the mechanical sensor is a good solution for the inclination of the system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 추계학술대회 논문집
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• pp.119-120
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• 2007

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 춘계학술대회 논문집
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• pp.73-74
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• 2007

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.867-872
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• 2007

A tracked robot has an excellent mobility on the rough terrain. Especially, a tracked robot for driving has to get structural function in the every field. In this paper, we propose a tracked robot of a small rear wheel typed. Also compared and estimated a driving analysis about the tracked robot in considered the general environment. Compared 2 models are different in size of rear wheels but front wheels are same size each other. From comparing model, the radius of front wheels is 100mm and the radius of rear wheels is 100mm. The radius of front wheels is 100mm and the radius of rear wheels is 70mm from proposed tracked robot. Depend on these radiuses of values we are known driving torque values of an actuating wheel using Recurdyn. And estimated stress of rotated track by an actuating wheel using Ansys. finally, the designed robot has size of $600mm\;{\times}\;330mm\;{\times}\;150mm$, weight is 27kg and the tracked robot is actuated by 2 geared DC motors.

• 로봇학회논문지
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• 제5권3호
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• pp.270-277
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• 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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2393-2395
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• 2001

The mobile robot is used as an instrument of transportation in automated plant. But the greater part of the moving method is the wheel-type. The wheel-type robot is easier control than the track-type, However the track-type is better than the wheel-type in bad landform(bend landform, an incline plane, stairs). In this paper, we propose the navigation algorithm of track-type robot in order to improve a defect of wheel-type. We experiment in bend landfrom and even ground to differentiate the navigation method. To estimate robot pose, we use the 80196 in a close distance and the vision-board in a long distance. Each data is managed in main PC and then the part of managing correspond to every sensor. We also use twelve supersonic wave-sensors to recognize external surroundings. As the result of experiment, we analyze the algorithm of control and make possible surroundings-adaptation.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.804-809
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• 2004

This paper introduces a link-type tracked vehicle which is developed for demining operations. The vehicle consists of three parts - front frame, rear frame and body. The front frame is connected to the rear frame by a rotational passive adaptation mechanism which is a driving mechanism of the vehicle. Additionally, the demining system which is adaptable to mobile robot is developed to clear small Anti-Personnel(AP) mines with inexplosive method. In other words, assembled rakes unearth mines by their opposite rotation to the direction of the robot. Finally, the motions of demining rakes and design parameters of the demining system are analyzed.

• 대한기계학회논문집A
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• 제26권2호
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• pp.314-321
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• 2002

An endoscope is usually inserted into the human body for the inspection of the gullet, stomach, and large intestine (colon) and this may cause discomfort to patients and damage to tissues during diagnostic or therapeutic procedures. This situation necessitates a self-propelling endoscope. There are many kinds of mechanism to move in a rigid pipe. However, these methods are difficult to apply directly to the endoscope. The main reason is that human intestine cannot be considered as a uniform, straight, and rigid pipe. This paper proposes a flexible loop wheel mechanism, which is adaptable to the human intestine. This mechanism is designed and fabricated by a simple modeling, and tested by an experiment. Finally, the actuator is inserted into the pig colon.