• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.1
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• pp.135-141
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• 2016

Recently, the needs for the development and application of marine robots are increasing as marine accidents occur frequently. However, it is very difficult to acquire the information by utilizing marine robots in the marine environment. Therefore, the needs for the researches of sensor networks which are composed of underwater, surface and aerial robots are increasing in order to acquire the information effectively as the information from heterogeneous robots has less limitation in terms of coverage and connectivity. Although various researches of the sensor network which is based on marine robots have been executed, all of the underwater, surface and aerial robots have not yet been considered in the sensor network. To solve this problem, a collaborative control method based on the acoustic information and image by the sonars of the underwater robot, the acoustic information by the sonar of the surface robot and the optical image by the camera of the static-floating aerial robot is proposed. To verify the performance of the proposed method, the collaborative control of a MUR(Micro Underwater Robot) with an OAS(Obstacle Avoidance Sonar) and a SSS(Side Scan Sonar), a MSR(Micro Surface Robot) with an OAS and a BMAR(Balloon-based Micro Aerial Robot) with a camera are executed. The test results show the possibility of real applications and the need for additional studies.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.4
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• pp.437-442
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• 2014

Recently, the needs for the development and application of the micro marine robot (MMR) which has the advantages in terms of size and cost are increasing. However, the basis is very short in the domestic. While the obstacle avoidance sonar (OAS) which was optimized in terms of size and performance and has the ability of 4-directional detection was developed for the obstacle avoidance of the micro surface robot (MSR) fortunately, the problem that the detection performance is degraded according to the shape of the obstacle because of using the fixed sonar-beam with the limited beam width and detection range exists. To solve this problem, the MSR mechanism that implements the rotating sonar-beam using the spur gear and the servo motor is proposed in this paper. To verify the performance of the proposed mechanism, the wall-tracking of the MSR is considered and the comparison and analysis in term of detection performance and actuation command is performed with conventional fixed sonar-beam. The test results show the validity of the proposed mechanism.

• Journal of Advanced Marine Engineering and Technology
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• v.17 no.3
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• pp.60-69
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• 1993

The speed control associated with dc servo motors for direct-drive applications of mobile robot is considered in this study. Robot is moved by power wheeled steering of two dc servo motors mounted to it. In order to cooperate with micro-computer and to achieve the high-performance operation of dc servo motor, speed control system is composed of a digital Phase Locked Loop and H-type drive circuit. And the motor is driven by Pulse Width Modulations. In controlling PWM, it is modified to compose of H-type drive circuit with feedback diodes and switching transistor and design of control sequence so that it may show linear characteristics. As a result, speed characteristics of motor showed linear features. In order to get data on design of PLL control system, the parameters of 80[W[ motor & robot device is measured by simple software control. The PLL speed control system is schemed and designed by leaner drive circuit and measured parameters. A complete speed control system applied to 80[W] dc servo motor showed good linearity, stability and high response. Also, it is verified that the PLL speed control system has good compatibility as a mobile robot driver.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.61-62
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• 2015

This study presents a movable USV (Unmanned Surface Vehicle) based on Micro Controller. Recently, Micro Controller has widely used in application programming such as industry and education application. In particular, Robot is capable of collecting Marine Debris in any sea area is needed so We propose USV used IP camera for automatic driving, distance detection to control movement of USV in order to prevent of collision based on Arduino. Also, Surrounding situation taken by IP camera can be transmitted to monitor and smartphone.

• JSTS:Journal of Semiconductor Technology and Science
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• v.14 no.4
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• pp.383-390
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• 2014

This paper presents an excitatory CMOS neuron oscillator circuit design, which can synchronize two neuron-bursting patterns. The excitatory CMOS neuron oscillator is composed of CMOS neurons and CMOS excitatory synapses. And the neurons and synapses are connected into a close loop. The CMOS neuron is based on the Hindmarsh-Rose (HR) neuron model and excitatory synapse is based on the chemical synapse model. In order to fabricate using a 0.18 um CMOS standard process technology with 1.8V compatible transistors, both time and amplitude scaling of HR neuron model is adopted. This full-chip integration minimizes the power consumption and circuit size, which is ideal for motion control unit of the proposed bio-mimetic micro-robot. The experimental results demonstrate that the proposed excitatory CMOS neuron oscillator performs the expected waveforms with scaled time and amplitude. The active silicon area of the fabricated chip is $1.1mm^2$ including I/O pads.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.7
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• pp.1081-1087
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• 2015

Recently, the researches of aerial drones are actively executed in various areas, the researches of surface drones and underwater drones are also executed in marine areas. In case of surface drones, they essentially utilize acoustic information by the sonar and consequently have the local information in the obstacle avoidance as the sonar has the limitations due to the beam width and detection range. In order to overcome this, more global method that utilizes optical images by the camera is required. Related to this, the aerial drone with the camera is desirable as the obstacle detection of the surface drone with the camera is impossible in case of the existence of clutters. However, the dynamic-floating aerial drone is not desirable for the long-term operation as its power consumption is high. To solve this problem, a collaborative obstacle avoidance method based on the acoustic information by the sonar of the surface drone and the optical image by the camera of the static-floating aerial drone is proposed. To verify the performance of the proposed method, the collaborative obstacle avoidances of a MSD(Micro Surface Drone) with an OAS(Obstacle Avoidance Sonar) and a BMAD(Balloon-based Micro Aerial Drone) with a camera are executed. The test results show the possibility of real applications and the need for additional studies.