• 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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.104.3-104
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• 2002

A quadruped stair robot introduced here plays a role in monitoring and moving some place where an operator can not reach or when he may not keep watching. It has several features that travels and poses variable position by four caterpillars and quadruped typed arms, transmits an image and command data via RF wireless and network communication. The robot can balance itself when it moves up and down on a slope by using the quadruped mechanism. The robot vision scans ahead before it moves, and the captured image is transferred to a main computer via a RF image module. The main computer analyzes the obstacle, and when it is found the obstacle, the robot avoids from the obstacle and keep moving f...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.356-361
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• 1990

This paper presents a new self organizing fuzzy linguistic control (SOFLC) strategy for application to an arc welding process control. The proposed SOFLC is based on on-line modification of the control rules according to the extent of deviation of the one step ahead predictive output of the process from the desired output. The Predictive output of the process is estimated by a fuzzy predictor which is updated from the input and output data of the process. The rule base of the fuzzy subsets describing the control rules is modified by the improving mechanism based on the hill climbing approach. Simulation results show that this proposed SOFLC improves the response of the process in presence of the variation of the process dynamic characteristics.

• 한국정보처리학회논문지
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• 제7권4호
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• pp.1141-1149
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• 2000

This paper proposes new cost error measurement method and analyzes the optimistic and pessimistic cost errors statistically which is resulted from an asynchronous parallel Simulated annealing (SA) in distributed memory multicomputers. The traditional cost error measurement scheme has inherent problems which are corrected in the new method. At each temperature the new method predicts the amount of cost error that an algorithm will tolerate and still converge by the hill-climbing nature of SA. This method also explains three interesting phenomenon of he cost error analytically. So the new cost error measurement method provides a single mechanism for the occurrence of cost error and its control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.30.1-30
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• 2001

This paper describes a new cooperative strategy for two wheelchairs to climb a step. These two wheelchairrobots are connected with a simple linkage mechanism between the rear of one wheelchair and the front of another. Two wheelchair robots climb a step one after the other. In this research, We did not use a method by Which a robot lifts up and supports its weight using any special actuator but a method of handling the robot's moment of rotation by the force of the link which come from the assisting robot. This method is especially influenced by the height of the two robot's link positions. So we study this method from the viewpoint of changing the two-link positions....

• 대한소아치과학회지
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• 제32권1호
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• pp.55-66
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• 2005

천궁의 메탄올 수용액 추출물의 진정 작용을 밝히기 위하여 staircase test를 시행하였으며, 근육이완 효과를 검색하기 위하여 rotarod test를 시행하였다. 진정 작용의 기전 구명을 위하여 GABA 및 glycine 수용체에 작용하는 약물인 picrotoxin, yohimbine, isoniazid, strychnine 등의 약물을 이용하여 발작 유도에 걸리는 시간을 비교 관찰하였다. 또한 생체에서의 안전성을 검증하기 위하여 Irwin의 행동시험 및 신경세포에 대한 독성을 평가하기 위하여 MTT test를 실시하여 다음의 결과를 얻었다. 1. Staircase 실험에서 천궁 추출물을 10mg/kg 용량으로 경구 투여했을 때 climbing수는 대조군과 차이가 없었으나, rearing수에서는 대조군에 비하여 42%의 감소를 보였다. 2. 30mg/kg의 용량으로 경구 투여했을 때, climbing수는 대조군과 차이가 없었으나, rearing수에서는 51%의 감소를 유발하였다. 3. 근육이완 작용을 탐색하기 위한 rotarod 실험에서는 대조군과 차이를 나타내지 않았다. 4. 천궁 추출물의 투여는 picrotoxin, isoniazid, yohimbine에 의한 발작에서는 큰 변화를 유발하지 않았으나, strychnine에 의한 발작 유도시간은 41%의 증가를 유발하였다. 5. 일반 행동에서도 특이한 변화를 유발하지 않았으며, 신경세포에 적용했을 때 특이한 독성 반응을 나타내지 않았다. 천궁의 메탄을 수용액 추출물은 현저한 진정 작용을 유발하며, 그 작용 기전으로서 glycine의 작용을 증가시켜 chloride ion의 세포내 유입으로 인한 억제성 신경전도를 유도한다고 사료된다. 또한 근육이완 작용도 나타나지 않았으며, 특이한 생체독성도 유발되지 않은 것으로 보아, 향후 치과임상에서 진정요법의 한 수단으로서 사용될 수 있다는 가능성을 제시한다.

• 한국지능시스템학회논문지
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• 제26권5호
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• pp.383-389
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• 2016

본 논문은 선박의 외벽 청소를 위하여 영상기반의 용접부 인식기능을 탑재한 선체 블라시팅 로봇을 제시하였다. 본 로봇제작의 목표로서 선체 청소로봇의 설계 및 제작과정과 영상을 이용한 용접 비드 인식에 따른 성능 결과를 제시하였다. 그리고, 로봇제작에 따른 메카니즘과 로봇시스템의 제어기 제작 과정과 수직상승 메카니즘, 영상 시스템, 원격제어 기능을 갖는 선체 청소 특성에 대해서 기술하였다. 이러한 선체 청소로봇은 선박이 정박하는 동안에 청소를 수행하게 되므로 재도킹을 할 필요가 없는 장점이 있다. 따라서, 개발된 청소작업은 시간과 비용을 절감할 수 있고, 선체의 수직벽면의 주행이 가능하므로 부유물질 등을 수집할 수 있는 필러장치를 장착하고 있다. 개발된 로봇시스템의 동작 및 통신 성능테스트 결과를 통하여 성능평가 결과를 제시하였다.

• 제어로봇시스템학회논문지
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• 제16권11호
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• pp.1060-1067
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• 2010

In this paper, we present a new type of spherical robot having two arms. This robot, called KisBot, mechanically consists of three parts, a wheel-shaped body and two rotating semi-spheres. In side of each semi-sphere, there exists an arm which is designed based on slider-crank mechanism for space efficiency. KisBot has hybrid types of driving mode: rolling and wheeling. In the rolling mode, the robot folds its arms through inside of itself and uses them as pendulum, then the robot works like a pendulum-driven robot. In the wheeling mode, two arms are extended from inside of the robot and are contacted to the ground, then the robot works like a one-wheel car. The Robot arms can be used as a brake during rolling mode and add friction to the robot for climbing a slope during wheeling mode. We developed a remote controlled type robot for experiment. It contains two DC motors which are located in the center of each semi-sphere for main propulsion, two RC motors for each arm operation, speed controllers for each semi-sphere, batteries for main power source, and other mechanical components. Experiments for the rolling and wheeling mode verify the hybrid driving ability and efficiency of the our proposed spherical robot.

• Smart Structures and Systems
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• 제13권6호
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• pp.1041-1063
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• 2014

This work introduces a two-module robotic pipe inspection system with ultrasonic NDE device to evaluate the integrity of pipe structures. The proposed robotic platform has high mobility. The two module mobile robot platform overcomes pipe obstacle structures such as elbow, or T-branch joints by cooperative maneuvers. Also, it can climb up the straight pipeline at a fast speed due to the wheel driven mechanism. For inspection of pipe structure, SH-waves generated by EMAT are applied with additional signal processing methods. A wavelet transform is implemented to extract a meaningful and specific signal from the superposed SH-wave signals. Intensity ratio which is normalized the defect signals intensity by the maximum intensity of directly transmitted signals in the wavelet transforms spectrum is applied to evaluate defects quantitatively. It is experimentally verified that the robotic ultrasonic inspection system with EMAT is capable of non-destructive inspection and evaluation of defects in pipe structure successfully by applying signal processing method based on wavelet transform.

• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.193-200
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• 2012

Mobility is one of the most important issues for search and rescue robots. To increase mobility for small size robot we have focused on the mechanism and algorithm inspired from centipede. In spite of small size, using many legs and flexible long body, centipede can overcome high obstacles and move in rough terrains stably. This research focused on those points and imitated their legs and body that are good for obstacle negotiation. Based on similarity of a centipede's legs and tracks, serially connected tracks are used for climbing obstacles higher than the robot's height. And a centipede perceives environments using antennae on its head instead of eyes. Inspired from that, 3 IR sensors are attached on the front, top and bottom of the first module to imitate the antenna. Using the information gotten from the sensors, the robot decides next behavior automatically. In experiments, the robot can climb up to 45 cm height vertical wall and it is 600 % of the robot's height and 58 % of the robot's length.