• 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.

• 로봇학회논문지
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• 제14권4호
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• pp.278-284
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• 2019

Legged locomotion has high mobility on irregular surfaces by touching the ground at discrete points. Inspired by the creature's legged locomotion, legged robots have been developed to explore unstructured environments. In this paper, we propose a modular crawler that can easily adjust the number of legs for adapting the environment that the robot should move. One module has a pair of legs, so the number of legs can be adjusted by changing the number of modules. All legs are driven by a single driving motor for simple and compact design, so the driving axle of each module is connected by the universal joint. Universal joints between modules enable the body flexion for steering or overcoming higher obstacles. A prototype of crawler with three modules is built and the driving performance and the effect of module lifting on the ability to overcome obstacles are demonstrated by the experiments.

• 한국산학기술학회논문지
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• 제15권5호
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• pp.2946-2952
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• 2014

본 연구는 고령사회를 앞두고 증가하고 있는 노인들의 자동차 운전에 대한 실태를 확인하고 향후 노인들의 안전한 자동차 운전에 대한 연구를 하는데 기초적인 자료로 사용하고자 하는 목적을 가지고 있다. P시에 소재하고 있는 노인복지관을 이용하고 있는 노인 128명을 대상으로 설문조사를 실시하였다. 설문조사를 통해서 노인들의 자가운전 현황을 파악하고, 자가운전을 하고 있다고 응답한 41명의 노인들을 대상으로 인지기능을 확인할 수 있는 한국판 몬트리올 인지기능평가(Montreal Cognitive Assessment Korean Version; MoCA-K)와 신경행동학적 인지상태 검사(neurobehavioral cognitive status examination; NCSE)를 실시하였다. 연구결과 대상 노인의 32%가 자동차운전을 하고 있었으며 매일 운전을 하는 경우(56.1%)가 가장 많고, 운전시간은 하루 1-2시간 정도(56.1%) 운전을 하는 경우가 가장 많았다. 차량사용목적으로는 여가활동(46.3%)에 많이 이용을 하였으며, 사고경험이 있는 노인은 31.7%였다. 인지기능검사 결과 개인에 따라서 특정항목에서 평균이하의 점수를 획득하는 경우가 있어 안전한 자동차 운전에 영향을 줄 수 있다는 것을 알 수 있었다. 그러므로 노인들의 안전한 자동차 운전을 위해서는 노인의 감소된 능력을 정확하게 측정할 수 있는 체계적인 평가시스템과 부족한 부분에 대해서 보완할 수 있는 운전재교육시스템의 의무화가 필요할 것으로 생각된다. 또한 향후 운전면허관리제도 및 갱신과 같은 노인의 운전을 위한 정부차원의 제도적 접근도 필요할 것이다.

• 한국응급구조학회지
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• 제1권1호
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• pp.100-111
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• 1997

This is the first Korea study to evaluate the effects od the safety of ambulance driving and the occurrence of ambulance traffic accidents and to provide basic informaion for the description of various factors to reduce the ambulance traffic accidents. The major insturment of this study were Krean Self-Analysis Driver Opinionnaire. Questionnaire contains 8 items which measure driver's opinions or attitudes : driving courtesy, emotion, traffic law, speed, vehicle conditions, the use of drugs, high-risk behaviors, and human factors. To take the analysis of data, the total of 350 divers were investigated ambulance divers and others in Taejon City and others (6 City) from 1996. 1. July to 1996. 31. July. The data were analyzed by the descriptive statistics and the logistic regression - path analysis - with SPSS and SAS package program. The result are as follows : 1. There was desirable attitude group(16.2%) and undesirable attitude group(17.6%) on safety ambulance driving. 2. It have suggested that risk factors of ambulance traffic accidents much affected with emotion and speed control on safety ambulance driving < Y(Accdient) = -2.64 + 0.57 $X_1$ (Emotion Control) + 0.30 $X_2$(Seed control) + E > and motor traffic acident much affected with emotion control and high-risk behavior on safety driving < Y(Accident) = -1.11 + 0.33 $X_1$(Emotion Control) + 0.29 $X_2$(High-risk Behvior) + E > 4. The primary emphassis of ambulance drivers was make us realized that improthatnt factors on safety ambulance driving were 1)making way for emergent ambulance, 2)driver's career, 3)The ability of emergency medical technics, and the knowledge or under standing of ambulance way difficut(or easy) of accdess. 5. Almost 96.6% of respondents have agreed to necessity of emergency medical technics for ambulance drivers. 6. Almost 94.6% of respondents have consented to necessity of emergtency medical technicians for ambulance driving. 7. It have suggested that the proportion of traffic accident proportion by desitable attitude group(16.7%) was much less than that of undesirable attitude group(30.8%) on safety ambulance driving(P < 0.05)/Ps) Accidents are unplanned, unforesen incidents which can lead to harmful or unfortunate outcomes, Collisons are not accidents, since the basic cause of the majority of collisons invovles high-risk human behavior. Although there are many factors which contribute to accident causation, four basic factors seem to predominate in most traffic related situations. These four factors include: the human factor, the vehicle factor, the environmental factors and destination factor(Peto G. et al. 1995).

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.720-724
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• 2004

This paper introduces a new type of driving mechanism for rescue robot that has a variable geometry single-track which satisfies the pre-conditions of rescue robot. This mechanism is a symmetric configuration that has dual directions and prepares against overturn. By using transformation, it can reduce the energy consumption in steering and rotating. And also it maximizes the ability to overcome obstacles, like steps. It is designed to make the size of robot compact and to have the low center of gravity in driving on steps. Finally, we optimized the design variables of components determining the shape of reverse-trapezoid frame to enhance the adaptability to 4 phases of climbing steps.

• 한국정밀공학회지
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• 제23권12호
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• pp.46-55
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• 2006

A robust motion controller based on self-organizing fuzzy control(SOFC) and feed-back tracking control technique is proposed for a two-wheel driven mobile robot. The feed-back control technique of the controller guarantees the robot follows a desired trajectory. The SOFC technique of the controller deals with unmodelled dynamics of the vehicle and uncertainties. The computer simulations are carried out to verify the tracking ability of the proposed controller with various driving situations. The results of the simulations reveal the effectiveness and stability of the proposed controller to compensate the unmodelled dynamics and uncertainties.

• 로봇학회논문지
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• 제4권4호
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• pp.265-272
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• 2009

IVarious driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

• 한국전기전자재료학회논문지
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• 제23권3호
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• pp.250-259
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• 2010

The ability for energy harvesting via the piezoelectric effect was studied for a unimorph element such as piezo buzzer. A simple equivalent circuit was proposed to predict the energy generated based on the internal stress. Unimorphs with a metal-cavity were used as a driving device of the generation panel. Both the AC open voltage and DC output voltage as a function of pressure period and number of element were measured. For the unimorph generation circuit, DC output voltage varies with pressure period, reaching a maximum value at $470{\mu}F$. The maximum output voltage a according to load resistance was measured at $1M{\Omega}$. Data analysis of the DC output voltage and time constant indicated that number of piezoelectric element of optimum was 60~80. It was found that piezoelectric unimorph has the possibility to be used as the driving element of the electric generation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.921-927
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• 1988

The process and results of computer simulation using bond graphs for a hydraulic system driving large rotational inertia are presented in this paper. As the large rotational inertia and its application characteristics, control criteria of this system is not position-control nor velocity-control but appropriate acceleration, deceleration and inching ability. All the components' nonlinear characteristics are modelled using bond graphs. The equationing and solution process is carried out by a package. Finally it is concluded that modelling of this kind of system by bond graphs and using a software as its solver shows good approximated results to actual experimental data, and that the proposed modelling may be useful to actual design process for this kind of hydraulic system.

• 환경영향평가
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• 제5권2호
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• pp.79-91
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• 1996

In Chapter 40, "Information for decision-making", of Agenda 21, it was Slated that, "indicators of sustainable development need to be developed to provide solid bases for decision-making at all levels and to contribute to a self-regulating sustainability of integrated environment and development systems." Sustainable development has been defined as "development that meets the needs of the present without compromising the ability of future generations to meet their own needs", An indicator that measures sustainability should therefore focus on this definition. One of the most widely used frameworks for environmental indicators is the Pressure-State-Response model proposed by the OECD. And we introduced the the Driving force-State-Response framework, the adaptation of Pressure-State-Response model, for UN sustainable development indicators. Therefore, in our country, indicators for sustainable development should be developed by using the DSR framework.