• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.943-944
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• 2006

In this paper, we implemented the autonomous mobile robot which can recognize and avoid obstacles, then move to its destination using a camera and ultrasonic sensors. The mobile robot can avoid both stationary obstacles with a camera and moving obstacles with ultrasonic sensors. It can find the self-location with the map-based system, that is, it attempts to localize by collecting sensor data, then updating some belief about its position with respect to a map of the environment.

• 대한임베디드공학회논문지
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• 제13권1호
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• pp.33-43
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• 2018

In this paper, we describe an sound tracking mobile robot suitable for areas where GPS is not available. Sound sensors are attached to four sides of the robot in order to locate the person in a danger, and the robot is supposed to move to the yelling person. The traveling distance of the mobile robot is calculated by the encoder attached to the wheel of the mobile robot. The moving direction of the mobile robot is measured by a gyro sensor on the robot. When the person in danger pushes a button of the mobile robot, the mobile robot transmits the trajectory data to a designated server.

• 제어로봇시스템학회논문지
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• 제7권9호
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• pp.733-740
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• 2001

네트워크와 RF 통신이 가능한 감시용 로봇에 대해 소개한다. 이 로봇은 4 바퀴와 4개의 링크로 구성된 메카니즘으로 인하여 자유로운 위치 조절이 가능하며, 이미지와 데이터를 RF를 통하여 전송하는 기능을 지니고 있다. 또한 네트워크 상에서 데이터와 카메라 이미지가 전송된다. 이 로봇은 로봇 주위에 일어나는 상황을 모니터링하고 4개의 암 구조를 통하여 넓은 영역을 확보한다. 이 로봇은 4개의 링크를 통하여 무게 중심을 조정하여 경사지에서의 안정성을 보장한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1597-1600
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• 1997

Most autonomous mobile robots view things only in front of them. As a result they may collide against objects moving from the side or behind. To overcome the problem we have built an Active Omni-directional Range Sensor that can obtain omni-directional depth data by a laser conic plane and a conic mirror. Also we proposed a self-localization algorithm of mobile robot in unknown environment by fusion of Odometer and Active Omn-directional Range Sensor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
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• pp.266-268
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• 2005

Recently, the ability of sensing obstacles by oneself and creating suitable moving path in mobile robots are required to provide various kinds automation services. Therefore, in this paper, we studied the avoidance behavior of mobile robots from dynamic obstacles using potential function that minimizes distance and time. We examined the performance of the proposed algorithm by comparing the method of based on the geometrical experience in simulations.

• 정보통신설비학회논문지
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• 제10권3호
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• pp.98-102
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• 2011

This paper proposes a method of a touch-based remote control and sensor information acquisition of a mobile robot using a smart phone. An application in a smart phone processes the acquired sensor information and conducts autonomous navigation. By touching the screen of the smart phone, a series of points obtained from designated curve traces are analyzed and provide control of a robot. This study develops a mobile application that acquires and handles data from a mobile robot and sends appropriate action commands through remote control using Bluetooth communication with a smart phone. The utility and performance of the proposed control scheme have been successfully verified through experimental tasks using an actual smart phone and a mobile robot.

• 한국인터넷방송통신학회논문지
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• 제10권3호
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• pp.35-41
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• 2010

본 논문에서는 안드로이드 기반의 서비스 로봇 제어를 위한 유비쿼터스 인터페이스를 제안한다. 로봇의 호스트 컴퓨터인 서버에서 전방의 영상, 지도 정보와 로봇의 현재 위치를 표현한 그래픽, 및 로봇의 모션에 대한 그래픽 영상을 안드로이드 클라이언트에 전달하고, 안드로이드는 그 결과를 화면상에 표현한다. 안드로이드는 로봇을 원격제어하거나 목표위치 지정 및 로봇의 동작을 제어하기 위한 정보를 버튼으로 표현하고 그 정보를 서버에 전달하여 안드로이드 기반의 유비쿼터스 인터페이스가 가능하도록 한다. 로봇의 이동과 동작을 제한된 크기의 스마트폰 화면에서 제어하기 위해 원격이동 모드, 자동이동 모드 및 원격조작 모드를 구현한다. 실험에서는 모토로이 안드로이드 폰을 이용한 인터페이스를 구현하여 실제 서비스 로봇 제어에 적용한 결과를 통해 제안한 인터페이스가 로봇 제어를 위한 유비쿼터스 인터페이스로서 응용될 수 있음을 보여준다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 하계종합학술대회 논문집
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• pp.1113-1116
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• 1999

For mobile robot, the navigation effectiveness can be improved by providing autonomy, but this autonomy requires the mobile robot to detect unknown obstacles and avoid collisions while moving it toward the target. This paper presents an effective method for autonomous navigation of the mobile robot in structured environments. This method uses ultrasonic sensor array to detect obstacles and utilizes force relationship between the obstacles and the target for avoiding collisions. Accuracy of sensory data produced by ultrasonic sensors is improved by employing error eliminating rapid ultrasonic firing (EERUF) technique. Navigation algorithm controlling both the velocity and steering simultaneously is developed, implemented to the mobile robot and tested on the floor filled with the cluttered obstacles. It is verified that from the results of the field tests the mobile robot can move at a maximum speed of 0.66 m/sec without any collisions.

• Journal of Mechanical Science and Technology
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• 제20권8호
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• pp.1159-1168
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• 2006

In this paper, a new revolute mobile robot arm with five degree of freedom (d.o.f) was developed for autonomous moving robots. As a control system for the robot arm, a distributed control system composed of the main controller and five motor controllers for arm joints was developed. The main controller and the motor controllers w ε re developed using the ARM microprocessor and the TMS320c2407 microprocessor, respectively. A new trajectory tracking algorithm for the motor controllers was devised employing pre-generated off-line trajectory data. Also, a 3-D simulator based on the openGL software to simulate the motion of the robot arm was developed. To validate the performance of the robot system, experiments to track a specified trajectory were performed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.67-68
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• 2006

In this paper, a new revolute cooperating robot arms with 12 d.o.f was developed for autonomous moving robots. The robot ann was designed to have the load capacity of 10 Kg. For this, a new joint actuator based on the fourbar link mechanism was employed. As a control system for the robot arm, a distributed control system was developed composed of the main controller and five motor controller for the ann joints. The main controller and the motor controller were developed using the ARM microprocessor and the TMS320c2407 processor, respectively. To validate the performance of the robot system, an experiment to support 10 Kg payload was performed.