• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.107-110
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• 2006

In this paper, shock response analysis considering the elastic effects of guard robot is performed using computer simulations when a machine gun of guard robot fires a shot continuously. The bodies of guard robot are modelled in flexible multi-body. The results of its analysis is compared with results of rigid bodies. The tools of computer simulation is used in Multi-body dynamics program.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1108-1114
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• 2009

Mobility is one of the most important features for a guard robot since it should be operated in rough places. A wheel-based mobile robot capable of jumping is an appropriate structure for a guard robot because it can easily satisfy the requirements for small guard robots. The jumping robot can reach a higher place more rapidly than other locomotion methods. This research proposes a small robot equipped with the jumping mechanism based on the conical spring with the variable length endtip. The variable length endtip enables the independent control of the jump force and jump angle which are related to the jump height and jump distance, respectively. Various experiments demonstrated that the proposed jumping mechanism can provide the independent control of jump force and jump angle, and improve the mobility of a small robot to overcome an obstacle. Furthermore, a combination of the jumping mechanism and the PSD sensor to measure the distance to the step enable the jumping robot to autonomously climb stairs.

• 한국인터넷방송통신학회논문지
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• 제19권6호
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• pp.47-55
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• 2019

제조 패러다임 변화에 따라 다양한 협동로봇이 신규시장을 창출하고 있다. 협동로봇은 기존 산업용 로봇 대비 쉬운 운용, 생산성 향상, 단순 작업을 하는 인력을 대체하는 목적으로 모든 산업에서 협동로봇의 수요가 증가하고 있다. 그러나 산업현장에서 협동로봇으로 인한 작업 중 사고가 빈번하게 발생하고 있으며, 작업자의 안전을 위협하고 있다. 인간 중심의 환경에서 로봇을 통한 산업현장이 구성되려면 작업자의 안전을 보장해야 하며 출동 가능성을 업애고 신뢰할 수 있는 통신을 하는 협동로봇 가드 시스템의 개발의 필요성이 있다. 센서 및 컴퓨터 비전을 통해 협동로봇의 작업 반경 내에서 발생하는 사고를 이중으로 방지하고 안전사고 위험을 감소시켜야 한다. 다양한 산업용 장비와 통신을 위한 국제 프로토콜인 OPC UA를 기반으로 시스템을 구축하고 초음파 센서와 CNN(Convolution Neural Network)적용한 영상 분석을 통한 협동로봇 가드 시스템을 제안한다. 제안 된 시스템은 작업자의 불안전한 상황에서 로봇 제어의 가능성을 평가한다.

• 한국군사과학기술학회지
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• 제11권1호
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• pp.5-14
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• 2008

In this paper, we propose operational concepts and technology requirements for guard and surveillance robots in military field. After surveying on current trend of guard robots, we present an operational scenario and technology requirements. To begin with, we discriminate the use of fixed type guard robots(fixed robots) and mobile guard and surveillance robots(mobile robots). Fixed robots are used for substituting daily guard by human soldier. In contrast, mobile robots are used for compensating shadow area where not to be covered by fixed type robots. To be specific, mobile robots adopt communication relays to extend operational range and sensor networks to collecting information. In addition, we present technology requirements composed of wireless communication system, platform, sensor nodes, unmanned driving technology, power supply system and IFF etc. In conclusion, in order to maximize co-operational functionality, fixed robots and mobile robots should be tightly related.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1195-1200
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• 2007

It is desirable that the guard robot should be small-sized and light-weighted to increase its portability. In addition, it should be able to overcome a relatively high obstacle to cope with different situations. The jumping robot can reach a higher place more rapidly than other locomotion methods. This research proposes the jumping mechanism based on the conical spring for a small robot. Both the clutch mechanism and conical spring are incorporated into the jumping mechanism. In the clutch mechanism, the spring can be immediately compressed and released by one actuator with the planetary gear train and one-way clutch. The robot equipped with the jumping mechanism can overcome the obstacles which are higher than its height. In this paper, the characteristic of the conical spring for the jumping robot is determined and the small-sized, lightweight jumping mechanism is developed. The validity of the jumping mechanism was verified by various experiments. It is shown that the robot using this mechanism can provide good mobility in the rough terrain.

• 대한기계학회논문집A
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• 제33권6호
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• pp.545-551
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• 2009

A small guard robot working indoors or outdoors can be used to report various information on its environment to an operator. The guard robot should be small-sized and lightweight to increase its portability. In addition, it should be able to overcome a relatively high obstacle to cope with various situations. To satisfy these requirements, this paper presents a small robot equipped with a novel hybrid wheel and track mechanism that can select wheels or tracks depending on the situation. The robot folds the tracks into the body in the wheel mode and only wheels are active with the tracks immobilized, which results in the fast moving speed. In the track mode, the tracks are extended to keep in contact with the ground. Furthermore, this research proposes the belt length maintenance mechanism by which the belt length is kept constant in either the wheel or track mode. Various experiments demonstrate that the proposed robot can move fast by using wheels on the smooth terrain and overcome obstacles by using tracks on the rough terrain.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1264-1270
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• 2004

In this paper, a standard robot design methodology is suggested and a software architecture for modular robot is introduced. The robot is modularized by several functions, and the module is produced according to a standard proposal. Each module requires standard interface for communicate in distributed environments. Software architecture was developed to support distributed component environment, and application development support tools are developed for user convenience. Many robot softwares are developed in a library form so that, they are being used widely robot application software development. Also a device driver was developed for the mostly used sensor and actuator. It is verified that the modular robot can be applied in various fields through guide, errand and guard scenario.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1179-1184
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• 2007

An unmaned surveillance robot consists of rifle, laser receiver, thermal imager, color CCD camera, and laser illuminator. A human guard can be replaced with such a robot to take care dangerous surveillance tasks. Currently most of surveillance robots are mounded at a fixed post to take care of surveillance tasks. In order to watch blind areas, it is necessary to modify such a surveillance robot to become a mobile robot. In this paper, simulation based design procedure of mobile surveillance robot has been introduced. 3D CAD geometry model has been produced using Pro-Engineer. Required pen and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to stabilize the system from the motion of the vehicle which experiences the rough terrain. ADAMS-Matlab co-simulation has been also carried out to validate the proposed target tracking and stabilization algorithm.

• 정보과학회지
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• 제26권4호
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• pp.73-78
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• 2008

• 해양환경안전학회지
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• 제29권4호
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• pp.389-394
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• 2023

근래 산업은 기계 자동화로 변화하고 있는 추세이며, 선박도 센서를 통해 기기 정보를 디지털 정보로 얻는다. 하지만 선박은 기기상태 점검을 위해 선원들이 정해진 시간마다 기관실을 순찰하며 기기들의 정보를 아날로그 게이지를 통해 확인하는데, 이는 순찰 중에 선원에게 발생할 수 있는 모든 안전 위험은 물론 시간과 기회비용 또한 소모된다. 자율이동로봇을 이용한 기관실 순찰 방법은 선원의 안전 위험은 물론 시간과 기회비용도 소모되지 않기 때문에 해결책으로 활발히 연구 중이다. 자율이동로봇을 이용한 아날로그 게이지 판독은 로봇이 게이지를 인식하기 위한 디지털화가 필요하다. 이를 위해 본 연구에서는 이미지 처리를 이용하였다. 아날로그 게이지 이미지는 이미지 전처리를 통해 노이즈 제거 및 특징을 부각 시켰다. 이미지 전처리를 완료한 이미지는 이미지 처리를 통해 아날로그 게이지의 중심점, 지침점, 최소값 및 최대값을 검출하였다. 이 점들을 연결한 직선을 통해 최소값부터 최대값까지의 각도 및 최소값부터 지침점까지의 각도를 획득하였다. 각도는 수식을 통해 현재 아날로그 게이지가 나타내고 있는 값을 디지털화하여 나타내었다. 실험을 통해 이미지 처리를 통한 아날로그 게이지의 디지털화가 잘되어 게이지의 현재 지시값을 근사하게 나타냄을 확인할 수 있었다. 본 알고리즘을 순찰로봇에 적용한다면 기관실 순찰을 위한 선원의 안전 위험 및 시간과 기회비용까지 보전 할 수 있을 것으로 사료된다.