• Proceedings of the Korean Institute of Building Construction Conference
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• 2023.11a
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• pp.267-268
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• 2023

Unmanned patrol robots are currently being developed for autonomous data survey in construction sites. As the amount of data acquired by robots increases, it is important to utilize proper metadata and system to manage data flow. In this study, we developed three materials, metadata design, robot system and web system, in the purpose of automating construction site data survey using unmanned patrol robots. The metadata was mainly designed to represent when and where raw data was acquired. To identify the location of data acquired, localization data from SLAM algorithm was converted to suit the construction drawings. The robot system and web system were developed to generate, store and parse the raw data and metadata automatically. The materials developed in this study was adopted to Boston Dynamics SPOT, a quadruped robot. Autonomous data survey of 360-picture and environment sensor was tested in two construction sites and the robot worked as intended. As a further study, development on the autonomous data survey to improve the convenience and productivity will be continued.

• International Journal of Internet, Broadcasting and Communication
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• v.16 no.4
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• pp.168-173
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• 2024

This paper proposes a solution for innovating crime prevention and real-time response through the development of the Smart Drone Police System. The system integrates big data, artificial intelligence (AI), the Internet of Things (IoT), and autonomous drone driving technologies [2][5]. It stores and analyzes crime statistics from the Statistics Office and the Public Prosecutor's Office, as well as real-time data collected by drones, including location, video, and audio, in a cloud-based database [6][7]. By predicting high-risk areas and peak times for crimes, drones autonomously patrol these identified zones using a self-driving algorithm [5][8]. Equipped with video and voice recognition technologies, the drones detect dangerous situations in real-time and recognize threats using deep learning-based analysis, sending immediate alerts to the police control center [3][9]. When necessary, drones form an ad-hoc network to coordinate efforts in tracking suspects and blocking escape routes, providing crucial support for police dispatch and arrest operations [2][11]. To ensure sustained operation, solar and wireless charging technologies were introduced, enabling prolonged patrols that reduce operational costs while maintaining continuous surveillance and crime prevention [8][10]. Research confirms that the Smart Drone Police System is significantly more cost-effective than CCTV or patrol car-based systems, showing a 40% improvement in real-time response speed and a 25% increase in crime prevention effectiveness over traditional CCTV setups [1][2][14]. This system addresses police staffing shortages and contributes to building safer urban environments by enhancing response times and crime prevention capabilities [4].

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.140-146
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• 2007

This paper demonstrates the development of a mobile robot for patrol. We fuse differential GPS, angle sensor and odometry data using the framework of extended Kalman filter to localize a mobile robot in outdoor environments. An important feature of road environment is the existence of curbs. So, we also propose an algorithm to find out the position of curbs from laser range finder data using Hough transform. The mobile robot builds the map of the curbs of roads and the map is used fur tracking and localization. The patrol robot system consists of a mobile robot and a control station. The mobile robot sends the image data from a camera to the control station. The remote control station receives and displays the image data. Also, the patrol robot system can be used in two modes, teleoperated or autonomous. In teleoperated mode, the teleoperator commands the mobile robot based on the image data. On the other hand, in autonomous mode, the mobile robot has to autonomously track the predefined waypoints. So, we have designed a path tracking controller to track the path. We have been able to confirm that the proposed algorithms show proper performances in outdoor environment through experiments in the road.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.9
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• pp.883-895
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• 2007

In this work, we present the development of a patrol robot which is intended to navigate outdoor rough terrain. Proposed mechanism consists of six legs for overcoming an obstacle, and six wheels for traveling. Also, in order to absorb vibration in rough terrain effectively, the slide-spring system and tubed type tire are adopted to each leg and each wheel. The control system of robot consists of several imbedded boards for management of lots of diverse devices such as sensors designed for rough terrain, motor controllers, camera, micro controller and so on. And the base system of the robot is designed to operate in real time and to surveille in the vicinity of the robot, and the robot system is controlled by wireless LAN connected to GUI-based remote control system, while CAN communication connects the control board and the device controllers for sensors and motor controllers. For operating this robot system efficiently, we propose the control algorithms for autonomous navigation using GPS, stabilization maintenance by posture control, obstacle-avoidance by impedance control, and obstacle-overcoming with interference-avoidance between wheels. The performance of the robot and the proposed algorithms are tested and proved by a set of experiments in outdoor rough terrain.

• Proceedings of the Korean Society of Computer Information Conference
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• 2019.07a
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• pp.437-438
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• 2019

본 논문에서는 ROS(Robot Operating System)기반으로한 로봇(Robot)에 레이저 거리 센서(LiDAR)를 설치하여 SLAM(Simultaneous Localization and Mapping : 동시적 위치 추적 지도 작성)기법으로 맵 정보를 습득하고, 저장하여 이를 기반으로 장애물과 건물의 실내 복도 안전하고 정확하게 순찰 할 수 있도록 하였다. 또한, 순찰 로봇(Robot)에 장착된 Raspberry카메라와 OpenCV 영상인식 기술을 이용하여 실시간 영상으로 실내 복도를 순찰하면서 사전에 설정된 특이사항이 있을 시 발견하고 기록하도록 시스템을 개발하였다.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.24 no.3
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• pp.77-85
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• 2024

In this dissertation, a we designed and implemented a patrol robot that integrates a thermal imaging camera, speed dome camera, PTZ camera, radar, lidar sensor, and smartphone. This robot has the ability to monitor and respond efficiently even in complex environments, and is especially designed to demonstrate high performance even at night or in low visibility conditions. An orbital movement system was selected for the robot's mobility, and a smartphone-based control system was developed for real-time data processing and decision-making. The combination of various sensors allows the robot to comprehensively perceive the environment and quickly detect hazards. Thermal imaging cameras are used for night surveillance, speed domes and PTZ cameras are used for wide-area monitoring, and radar and LIDAR are used for obstacle detection and avoidance. The smartphone-based control system provides a user-friendly interface. The proposed robot system can be used in various fields such as security, surveillance, and disaster response. Future research should include improving the robot's autonomous patrol algorithm, developing a multi-robot collaboration system, and long-term testing in a real environment. This study is expected to contribute to the development of the field of intelligent surveillance robots.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.810-816
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• 2007

A security robot system named EGIS-SR is a mobile security robot through one of the new growth engine project in robotic industries. It allows home surveillance through an autonomous mobile platform using onboard cameras and wireless security sensors. EGIS-SR has many sensors to allow autonomous navigation, hierarchical control architecture to handle lots of situations in monitoring home surveillance and mighty networks to achieve unmanned security services. EGIS-SR is tightly coupled with a networked security environment, where the information of the robot is remotely connected with the remote cockpit and patrol man. It achieved an intelligent unmanned security service. The robot is a two-wheeled mobile robot and has casters and suspension to overcome a doorsill. The dynamic motion is verified through $ADAMS^{TM}$ simulation. For the main controller, PXA270 based hardware platform based on linux kernel 2.6 is developed. In the linux platform, data handling for various sensors and the localization algorithm are performed. Also, a local path planning algorithm for object avoidance with ultrasonic sensors and localization using $StarGazer^{TM}$ is developed. Finally, for the automatic charging, a docking algorithm with infrared ray system is implemented.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.9
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• pp.785-798
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• 2004

This paper introduces the development of a range sensor based integrated navigation system for a multi-functional indoor service robot, called PSR (Public Service Robot System). The proposed navigation system includes hardware integration for sensors and actuators, the development of crucial navigation algorithms like mapping, localization, and path planning, and planning scheme such as error/fault handling. Major advantages of the proposed system are as follows: 1) A range sensor based generalized navigation system. 2) No need for the modification of environments. 3) Intelligent navigation-related components. 4) Framework supporting the selection of multiple behaviors and error/fault handling schemes. Experimental results are presented in order to show the feasibility of the proposed navigation system. The result of this research has been successfully applied to our three service robots in a variety of task domains including a delivery, a patrol, a guide, and a floor cleaning task.

• Korean Security Journal
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• no.14
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• pp.485-516
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• 2007

Jeju Special Self-Government Province adopted an autonomous police system for the first time since 60 years in Korean police. The purpose of autonomous police system is to offer a police service to be suitable in regional conditions. But Jeju autonomous police system for nearly one year after adoption is criticized to be established on the ground of political reason but not local decentralization. Actually Jeju autonomous police has not a clear cut jurisdiction and operation scope because of the jurisdiction duplication between national and autonomous police. The original task is confined on environment and sightseeing so on given to administration police for local self-government. So criminal investigation authority on general crimes is not to Jeuju autonomous police on account of special judicial police. First, it is the structural rationalization of Jeju autonomous police system. It speaks that Jeju provincial police bureau and police station have to be as national police institution, on the other hand, patrol district station and police box have to be as autonomous police institution. Of course, functional division has to be followed. National police performs managing all the assembly and demonstration by the management law on assembly and demonstration including the suppression against any large scale demonstration and disturbance, also the investigation on serious crimes just as international crimes and broaden area crimes including all the felony. Together national police performs the duty concerned to all the foreign affairs and national securities in along with the investigation on traffic accidents. On the other hand, autonomous police performs the function for citizen's life safety as crime prevention and the enforcement on the violation against police operation law, together the traffic management and the regulation on traffic violations. and the investigation on minor crime as simple violence or petty larceny including the management on local big events. Second, the budgetary of autonomous police is rationalized by the share of budgeting between Korean government and Jeju special self-government province. Third, urgent arrest authority on general crime and the rights of claims for the summary trial on minor crimes are given to autonomous police. Of course, this problem is resolved naturally in case of giving the investigation rights to autonomous police on minor crimes.

• Korean Security Journal
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• no.10
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• pp.355-385
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• 2005

As the system of autonomous police that has been debated for long time is fixed to be introduced by the program of participatory government, this treatise intends to analyze main contents and review controversial items in order to present supplementary measures. The program of participatory government to introduce autonomous police in Korea focuses on converting the autonomous police of Korea from centralized police administration in order to provide 'customized security service' that is appropriate to the regional environment. Thus, if relevant city, county or district considers that it is required to introduce the system autonomous police, the assembly may enforce the decision by enacting ordinance. For enforcement, organization in the unit of section will be established in the line of mayor, county headman and district office. The main role will be security service that is closely related to the life of inhabitants such as crime prevention, patrol, traffic crackdown, etc. as well as public health, sanitation and environmental control which are being performed by autonomous organization at present. However some expected controversial items may be summarized in the following 3 points on the premise of accepting the program of government. First, the point at issue related to the basic function of police. The basic function of police is generally understood as order keeping function such as anterior and preventive job and law enforcing function such as posterior and suppressing job. By the way, the program of government does not endow the autonomous police with investigation right for general crime, thereby raising the controversy that our autonomous police is nothing but the assistant of police. Furthermore, the present national police also expresses its dissatisfaction to the transfer of authority. Second, the issue of balance of security service between self-governing bodies may be raised. The security environment is different between self-governing bodies and thus demand of security is different. Therefore, the security service of autonomous police will reveal difference in qualitative aspect for each self-governing body. Moreover, it can be easily anticipated that the quality of security service may be different as per the financial independence degree. Third, the point at issue anticipated with the operation funded by the budget of self-governing body. As autonomous police is operated by the budget of self-governing body, the following problems may be raised; (1) since police administration is subordinated to general administration, the concentration may be weakened (2) the cooperation between policy agencies may be impeded (3) owing to the difficult in possessing spare police, the mobility of police may be somewhat reduced.