• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.1044-1046
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• 2022

'22년 중대재해처벌법과 항만안전특별법이 본격 시행되었다. 이에 대비하기 위하여 본 논문에서는 위험물 컨테이너에서 발생하는 안전사고를 사전에 방지하는 지능형 컨테이너 및 청소 로봇을 제안한다. 지능형 컨테이너 및 청소 로봇은 다음과 같은 기능을 수행한다. 첫째, 유해물질 감지 센서와 산소 센서 등을 통해 컨테이너 상태를 실시간으로 관리한다. 둘째, 유해물질 유출 및 산소 농도가 부족한 경우 위험 컨테이너로 변경 관리한다. 셋째, 컨테이너 내부 유해물질 청소를 위해 로봇을 호출하고 지능형 청소 로봇은 방제약품과 흡착포를 통해 컨테이너 내부를 청소한다. 넷째, 위험 컨테이너는 자동문 개폐관리 기능을 통해 유해물질 청소 완료 전까지 문을 폐쇄하여 안전사고를 방지한다. 본 논문은 제시한 기능을 통해 위험물 컨테이너에서 발생하는 작업자 질식사 등의 사고를 감소시키는 것을 목표로 한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.925-927
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• 2022

본 논문에서는 자율주행을 통해 보도를 청소하는 동안 분실물을 인지할 수 있는 로봇 시스템을 개발하였다. 분실물의 종류는 딥러닝 모델에 의해 지정되고 학습되며 로봇은 이를 인식하여 저장한다. 보도 경계 및 장애물을 감지하기 위해 Image-Segmentation 기술을 사용하였으며, 물체 감지에 사용되는 depth 카메라(d435)를 사용하였다. 학습하기 위한 딥러닝 모델로 YOLOv5 를 사용하였으며, 그 결과 정해진 사물을 인식하는 데 평균 84%의 정확도를 보였다. 이 시스템을 로봇에 적용할 경우 예상되는 효과로는 정확한 보도 인식으로 로봇이 경로를 이탈하지 않도록 하는 것, 유실물품의 신속하고 안전한 인계 등이 있다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.05a
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• pp.463-466
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• 2017

The purpose of this paper is to develop a module capable of all-directional driving different from conventional wheeled robots, and to solve the problems of the conventional mobile robot with side driving performance degradation, It is possible to overcome the disadvantages such as an increase in the time required for the unnecessary driving. The all - direction spherical wheel drive module for driving a ball - balancing robot is required to develop a power transfer mechanism and a driving algorithm for driving the robot in all directions using three rotor casters. 3DoF (Axis) A driver with built-in forward motion algorithm is embedded in the module and a driving motor module with 3DoF (axis) for driving direction and speed is installed. The movement mechanism depends on the sum of the rotation vectors of the respective driving wheels. It is possible to create various movement directions depending on the rotation and the vector sum of two or three drive wheels. It is possible to move in different directions according to the rotation vector field of each driving wheel. When a more innovative all-round spherical wheel drive module for forward movement is developed, it can be used in the driving part of the mobile robot to improve the performance of the robot more technically, and through the forward-direction robot platform with the drive module Conventional wheeled robots can overcome the disadvantage that the continuous straightening performance is lowered due to resistance to various environments. Therefore, it is necessary to use a full-direction driving function as well as a cleaning robot and a mobile robot applicable in the Americas and Europe It will be an essential technology for guide robots, boarding robots, mobile means, etc., and will contribute to the expansion of the intelligent service robot market and future automobile market.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.1025-1031
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• 2007

GPS is widely used for positioning applications and attitude of a vehicle can be found also with multiple antennas. However, extremely weak signal level prevents GPS from indoor operation. DR with accelerometers and gyros and landmark based localization method used for indoor applications increase complexity and cost. In this paper, a simple but very efficient ultrasound based attitude determination system which determines both position and attitude in WSN is given. The range between transmitter and receivers are measured using the arrival time difference between ultrasound and RF signal. The 3 dimensional positions can be found using more than 3 range measurements. Furthermore, if more than 2 transmitters are used, the attitude can be determined using the baseline vectors obtained by differencing transmitter and receiver positions. The prototype system is implemented to evaluate the performance of the proposed method. In addition, an error analysis shows the relation between the attitude error and basel me length, quality of measurement and orientation of a vehicle. The static and dynamic experiments performed by micro mobile robot shows accurate position with less than 1.5cm error and attitude with less than 1 degree error can be obtained continuously with 20cm baseline. It is expected that these results can be adapted without modification to indoor applications such as home cleaning robot and autonomous wheelchair maneuvering.

• Journal of the Korea Society of Computer and Information
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• v.22 no.7
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• pp.17-29
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• 2017

IRecently, researches on the recognition of indoor user situations through various sensors in a smart home environment are under way. In this paper, the case study was conducted to determine the operation of the robot vacuum cleaner by inferring the user 's indoor situation through the operation of home appliances, because the indoor situation greatly affects the operation of home appliances. In order to collect learning data for indoor situation awareness model learning, we received feedbacks from user when there was a mistake about the cleaning situation. In this paper, we propose a semi-supervised learning method using user feedback data. When we receive a user feedback, we search for the labels of unlabeled data that most fit the feedbacks collected through genetic algorithm, and use this data to learn the model. In order to verify the performance of the proposed algorithm, we performed a comparison experiments with other learning algorithms in the same environment and confirmed that the performance of the proposed algorithm is better than the other algorithms.

• Proceedings of the Korea Information Processing Society Conference
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• 2007.11a
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• pp.775-778
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• 2007

로봇의 응용과 활용분야는 현 산업의 주요 이슈가 되고 있다. 현재 싱글로봇의 효율적인 운영을 넘어 넓은 공간에서 중복적인 공간 탐색을 최소화하기 위한 멀티 로봇 운영 기법은 중요한 연구 주제 중에 하나로 부각되고 있다. 멀티 로봇을 효율적으로 운영하기 위해서는 멀티 로봇 시스템의 각 싱글 로봇의 움직임을 파악하여 효율적으로 업무를 할당 할 수 있는 관리체계가 필요하다. 멀티 로봇의 업무 할당과 중복 탐색 최소화를 위해 본 논문에서는 중앙 서버와 RFID 시스템을 이용한 청소 멀티 로봇 운영 기법을 제안한다. 제안한 시스템은 로봇의 localization, navigation 및 mapping을 효율적으로 수행하기 위해 RFID를 활용하고 최적의 청소 공간 할당을 위하여 중앙 서버가 멀티 로봇을 효율적으로 관리한다. 청소 멀티 로봇 시스템에서는 싱글 로봇과 비교하여 효율적인 로봇의 운영을 보장할 뿐만 아니라 각 싱글 로봇의 상태와 주변 상태를 고려한 fault-tolerance를 제공함으로써 로봇 운영의 신뢰성을 보장할 수 있다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.3
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• pp.741-746
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• 2015

Recently, as mobile operating system market and wireless communication technology have been rapidly developed, many devices such as smart phones, air conditioners, smart TVs, cleaning robot, and cameras become available with android operating system. Accordingly, collecting variety of information through many everyday use devices with network connections is now enabled. However, in the current market, most devices are controlled individually developed applications, and there is growing need to develop a master application that can control multiple devices. In this paper, we propose and implement a system that can control multiple android-based devices on a Wired/Wireless router(AP) registered through web server. we expect such an effort can attribute to future IoT researches.

• Journal of the Korean Geotechnical Society
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• v.28 no.10
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• pp.69-77
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• 2012

Clogging of drainage pipes by scale is an important problem in civil engineering works. Although scale deposits can be removed by acid treatment or water jetting, these treatments are costly and have many disadvantages. In this study, scale samples from tunnel drainage pipes were analyzed using SEM-EDS and XRD. The main ingredient in scale was $CaCO_3$ of the calcite crystal form. Drainage experiments and recirculation type experiments were conducted to control and remove scale deposits, which were determined through visual and weight measuring analysis. As a result, Quantum Stick has the effect of limiting formation of scale.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.854-856
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• 2014

Has been released of make it possible to control the using for smart devices of a wide variety home appliances and electronics in smart appliances in accordance with the one person multi devices. In addition, is increasing rapidly for the number of the product on cleaning robot and refrigerator, air conditioning, TV, etc. these devices are using the implement up DLNA system. And at home and abroad for development and has provided with Iot and Alljoyn such systems. But currently using home appliances or electronic devices of there are a lot of the operating system non installed than the installed products. In addition, smart appliances do not use for user than buying existing electronic products a lot more. In addition, more occur for smart appliances of that do not use for the user on smart appliances rather than buying existing electronics. In this paper, Suggested and implemented for system of control such as smart devices to existed home appliance on not have an operating system, Using mobile device for want users to quantify the data to transfer from arduino board.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.845-847
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• 2014

In recent years, the mobile OS market, enlargement and, at the same time, Android has mounted various smart phones and feature air conditioning, smart TV, cleaning robot, camera, etc. that the number is being spread at a rapid pace. But a lot of devices to control the modules and applications at once, this is not a device for controlling the dissemination of applications all in one place, and in charge of the devices that allow you to manage applications are lacking. Accordingly, in this paper, use the Web Server registered in the appliance can be controlled by management, Web access, is proposing and designing the system. This is the current research is actively in progress in the field of IoT (Internet of Things) would be utilized.