• Title/Summary/Keyword: Field Robot

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Evaluation of Field working Improvement for an Indoor Fire-fighting Robot (실내화재진압로봇의 현장운용성 향상을 위한 실용성 평가)

  • Kwark, Ji-Hyun;Lee, Woo-Jun;Kim, Jong-Kwon
    • Proceedings of the Korea Institute of Fire Science and Engineering Conference
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    • 2008.11a
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    • pp.126-131
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    • 2008
  • Fire-fighters have been struggling against heat and dense smoke caused by fire when it occurs especially at the basement or the inner place of a building. An indoor fire-fighting robot with well heat-resistance, great searching cameras and good extinguishing ability has been recently developed. It never suffocate, coming into the fire district and extinguishes fire directly. In this study, several experiment was conducted to promote field working ability of the fire-fighting robot. As a result, heat resistance, water discharge and field working appeared satisfactory.

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3D PASSAGE NAVIGATION UNDER UNKNOWN ENVIRONMENTS BASED ON DISTANCE FIELD SPACE MODEL

  • Nagata, Yoshitaka;Murai, Yasuyuki;Tsuji, Hiroyuki;Tokumasu, Shinji
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 2003.09a
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    • pp.500-503
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    • 2003
  • The navigation problem of robot is one of the main themes to deal with conficts or interferences between obstacles and the robot itself In this case, while the robot avoids obstacles on the space, the passage route should be determined efficiently. In order to solve problems above, we have come up with the distance field space medel (DFM) and then, under known environment, we have presented the distance field A algorithm for passage route path search. In this research, the method of performing the 3-dimensional passage route path search of robot under unknown environment is proposed. It is shown that the authors can build the distance search model the does not need space division by taking into account of sensor information to a distance field space model, and constructing this information as virtual obstacle information.

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Method for Collision Avoidance Motion Coordination of Multiple Mobile Robots Using Central Observation (다중 이동 로봇의 중앙 감시에 의한 충돌 회피 동작조정 방법)

  • Ko Nak Yong;Seo Dong-Jin
    • The Transactions of the Korean Institute of Electrical Engineers D
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    • v.52 no.4
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    • pp.223-232
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    • 2003
  • This paper presents a new method driving multiple robots to their goal position without collision. Each robot adjusts its motion based on the information on the goal location, velocity, and position of the robot and the velocity and position of the .other robots. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the following factors: the distance from the robot to the other robots, velocity of the robot and the other robots. To implement the concept in moving robot avoidance, relative distance between the robots is derived. Our method combines the relative distance with an artificial potential field method. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, the usual potential field method sometimes fails preventing collision or causes hasty motion, because it initiates avoidance motion later than the proposed method. The proposed method can be used to move robots in a robot soccer team to their appropriate position without collision as fast as possible.

Development of Fuzzy Steering Controller for Outdoor Autonomous Mobile Robot with MR sensor

  • Kim, Jeong-Heui;Son, Seok-Jun;Lim, Young-Cheol;Kim, Tae-Gon;Ryoo, Young-Jae;Kim, Eui-Sun
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.105.5-105
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    • 2001
  • This paper describes a fuzzy steering controller for an autonomous mobile robot with MR sensor. Using the magnetic field(Bx, By, Bz) obtained from the MR sensor, we designed fuzzy controller for driving on the road center. Fuzzy rule base was built to magnetic field(Bx, By, Bz). To develop an autonomous mobile robot simulation program, we have done modeling MR sensor, dynamic model of mobile robot and coordinate transformation. A computer simulation of the robot including mobile robot dynamics and steering was used to verify the steering performance of the mobile robot controller using the fuzzy logic Good results were obtained by computer simulation. So, we confirmed the robustness of the proposed fuzzy controller by computer ...

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A study on the Integration of Intelligent Robot Workcell using Real Time Communication (실시간 통신을 사용한 Intelligent Robot Workcell의 구성에 관한 연구)

  • Kim, Dong-Jun;Kim, Kab-Il;Jang, Hyuk-Soo;Lee, Byung-Do
    • Proceedings of the KIEE Conference
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    • 1993.07a
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    • pp.406-409
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    • 1993
  • Integration of intelligent robot workcell is now a hot issue in CIM and robotics area. This paper dealt with relatively low level essential topics. i. e., multi-robot coordination and real-time communication for the integration of intelligent robot workcell. For the coordination of multi-robot system, the tightly-coupled coordination is proposed using the various sensors. In order to handle the numerous communication data, time-critical communication network (field-bus) is introduced and investigated. Finally, intelligent robot workcell is suggested using the mini-MAP and field-bus.

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Dynamic Path Planning for Mobile Robots Using Fuzzy Potential Field Method (퍼지 포텐셜 필드를 이용한 이동로봇의 동적 경로 계획)

  • Woo, Kyoung-Sik;Park, Jong-Hun;Huh, Uk-Youl
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.61 no.2
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    • pp.291-297
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    • 2012
  • In this paper, potential field algorithm was used for path planning in dynamic environment. This algorithm is used to plan a robot path because of its elegant mathematical analysis and simplicity. However, there are some problems. The problems are problem of collision risk, problem of avoidance path, problem of time consumption. In order to solve these problems, we fused potential field with fuzzy system. The input of the fuzzy system is set using relative velocity and location of robot and obstacle. The output of the fuzzy system is set using the weighting factor of repulsive potential function. The potential field algorithm is improved by using fuzzy potential field algorithm and, path planning in various environment has been done.

Development of Underwater Cleaning Robot Control Algorithm for Cleanup Efforts in Industrial Area (산업현장 침전물 청소작업용 수중청소로봇 제어 알고리즘 기술 개발)

  • Lee, Jung-Woo;Lee, Jong-Deuk;Choi, Young-Ho;Han, Kyung-Lyong;Suh, Jin-Ho
    • Journal of Power System Engineering
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    • v.21 no.4
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    • pp.26-33
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    • 2017
  • In this paper, we developed a control algorithm to maximize the cleaning performance and the cleaning efficiency of the underwater cleaning robot platform which has been developed for various cistern environment in the industrial field. Through these research and development, we have presented the operation and application of underwater cleaning robots that have been developed, and contributed to commercialization. Finally, this results were verified the effectiveness through actual field experiments.

Industrial Needs Investigation on Technological Convergence Education: Focused on the Field of Nano-tech, Bio-tech, Robot, and Design (융합기술교육에 대한 산업체 수요조사 : 나노, 바이오, 로봇, 디자인 분야를 중심으로)

  • Jin, Sung-Hee
    • Journal of Engineering Education Research
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    • v.20 no.1
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    • pp.18-27
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    • 2017
  • This study aims to investigate industry needs for convergence education in the field of nano-technology, bio-technology, robot, and design. Firstly, the area of convergence technology in nano-tech, bio-tech, robot, and design fields was examined through the literature review and case study. The areas were validated by the experts review who consisted of four industry experts and four professors in the relevant fields. Second, a questionnaire was developed for investigating industry's needs on convergence education. The questionnaire consisted of three parts: 1) awareness of necessity for convergence education, 2) the needs for convergence new technology education from the perspective of industry, and 3) opinions on convergence education. The questionnaire was validated by three engineering education experts. Third, the survey was conducted in cooperation with the Sector Council of Industrial Resources. A total of 400 respondents responded to the questionnaires: 98 in the nano-technology field, 74 in the design field, 58 in the robotics field, and 170 in the bio-technology field. Fourth the industry needs for convergence education were analyzed and implications were suggested. The results of this study are expected to provide a guideline for developing convergence education programs in higher education.

Development of Pipe Cleaning Robot for the Industry Pipe Facility (산업배관의 이물질 청소를 위한 배관청소로봇의 개발)

  • Lee, Jae-Youl;Hong, Sung-Ho;Jeong, Myeong-Su;Suh, Jin-Ho;Chung, Goo-Bong;Han, Kyoung-Ryoung;Choi, Il-Seob
    • The Journal of Korea Robotics Society
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    • v.12 no.1
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    • pp.65-77
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    • 2017
  • In this paper, we introduce the pipe cleaning robot developed to clean the gas impurities of the iron manufacturing equipments. The pipe cleaning robot is composed of two driving modules and one cleaning module. 2-DOF joint units were developed for connections among the modules. To maximize the traction power of the driving parts, it became caterpillar type. The extension links have been developed to maintain the traction force in case the pipe inner diameters change. Three cleaning modules were developed for the effective cleaning in the pipe. The driving and cleaning performance tests of the pipe cleaning robot were proceeded in the field of the iron manufacturing equipments.

A Real-Time Obstacle Avoidance of Mobile Robot Using Nearness Diagram, Limit-Cycle and Vector Field Method (Nearness Diagram, Limit-Cycle 및 벡터장법을 이용한 이동로봇의 실시간 장애물 회피)

  • Kim, Pil-Gyeom;Jung, Yoon-Ho;Yoon, Jae-Ho;Jie, Min-Seok;Lee, Kang-Woong
    • Journal of Advanced Navigation Technology
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    • v.10 no.2
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    • pp.145-151
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    • 2006
  • In this paper, we propose a novel navigation method combined Nearness Diagram, Limit-Cycle method and the Vector Field Method for avoidance of unexpected obstacles in the dynamic environment. The Limit-Cycle method is used to obstacle avoidance in front of the robot and the Vector Field Method is used to obstacle avoidance in the side of robot. And the Nearness Diagram Navigation is used to obstacle avoidance in the nearness area of the robot. The performance of the proposed method is demonstrate by simulations.

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