• Proceedings of the Korea Information Processing Society Conference
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• 2023.11a
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• pp.1169-1170
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• 2023

본 논문에서는 험지 환경에서 순찰하는 모바일 로봇의 이동 가능성(traversability)을 수행하기 위해 로봇에 탑재되는 Jetson AGX Orin에서의 실시간 Semantic Segmentation을 달성하는 것을 목표로 하였다. 험지 환경을 위한 OFFSEG 모델을 활용하였으며, 다운샘플링, 파라미터 최적화 등 각종 경량화 기술을 적용하여 지연 시간을 단축시켰다. 또한 현장과 유사한 환경에서의 테스트를 통해 처리 시간을 목표로 하는 100ms에 근접한 시간으로 단축할 수 있었다.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.6
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• pp.803-812
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• 2017

This paper proposes a local path planning method for stable autonomous driving in rough terrain. There are various path planning techniques such as candidate paths, star algorithm, and Rapidly-exploring Random Tree algorithms. However, such existing path planning has limitations to reflecting the stability of unmanned ground vehicles. This paper suggest a path planning algorithm that considering the stability of unmanned ground vehicles. The algorithm is based on the genetic algorithm and assumes to have probability based obstacle map and elevation map. The simulation result show that the proposed algorithm can be used for real-time local path planning in rough terrain.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.557-558
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• 2012

• ICROS
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• v.13 no.1
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• pp.41-45
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• 2007

• Disaster Prevention Review
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• v.14 no.4
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• pp.118-119
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.793-794
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• 2011

• Journal of Advanced Navigation Technology
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• v.14 no.5
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• pp.697-709
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• 2010

The patrol robot is a typical extreme robot for the military use. It helps soldiers by detecting and informing a potential risk instead, and warning earlier. Also, these kinds of extreme robots need good ability to conquest rough road. In this paper, we studied new mechanism through which we can get high speed on the flat road with round shape wheels, and simultaneously can get good ability to overcome rough road with blade-shape wheels. The shape of the wheels is being self-adaptively changed automatically according to the condition of the road without using additional actuator.

• Journal of the Korea Convergence Society
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• v.12 no.5
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• pp.93-99
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• 2021

Recently, the miniaturization and digitalization for the inspection devices of point-of-care testing (POCT) are rapidly evolving. In the urine test, a lot of researches on index paper technology are being conducted because people can be self-diagnosed through visual color comparison using a urine test paper, Dipsick. The purpose of this study is to analyze the RGB values from the color changes on Dipstick Pad, which isused for urine test, using a smartphone camera. To this end, the primary, analytes in urine wasdiabetes-related parameters such as glucose, ketone body and pH, which is the most frequently tested elements, and we pursuited to quantify the changes in dipstick color caused from artificial urine containing different ranges of sugar, ketone body, and pH. In this experiment, changes in RGB values under bright and dark illuminances were compared, and changes in RGB value were monitored as a function of concentration of analytes under the ambient illumination of laboratory. As a result, color separation at the bright luminance region was good, but it did not appearat the low luminance region, and the changed profiles in RGB value under different illuminances was suggested to correct the problem of the color separation algorithm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.315-316
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• 2010

• ICROS
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• v.18 no.1
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• pp.26-30
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• 2012

생체 모방 로봇은 생명체에서 영감을 얻어 새로운 로봇분야를 개척하고 기존의 로봇으로는 하기 힘들었던 한계점들을 극복하는데 목적이 있다. 이러한 생체 모방 로봇은 간단한 생물체의 형태 혹은 메커니즘의 모방으로부터 시작되어 바퀴가 갈 수 없었던 험지, 혹은 하수구, 좁은 통로에서 사용될 수 있는 로봇들을 개발하는 데 초점이 맞추어져 있었다. 이러한 로봇들의 예로써는 크게 이족 보행, 4족 보행, 다족 보행 로봇 등 생물체의 이동 메커니즘을 모방한 로봇들이 있다. 이러한 연구들은 기존 로봇에 사용되었던 재료, 제작 방법을 이용한 것이었다. 하지만 최근 생체 모방 로봇 기술은 새로운 접근 방법, 새로운 재료를 이용한 제작방법으로 기존의 로봇과는 다른 형태로 진화하고 있다. 이러한 기술은 경량화 기술, 초 소형화 기술, 3차원 프린팅 기술 그리고 소프트 물질을 이용한 제작 방법 등이 있다.