• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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• pp.679-685
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• 2006

In this paper, development of an omni-directional mobile robot with rocker-bogie link structure is addressed. The overall mobile robot system consists of the robot mechanism with embedded control architecture, wireless communication with host graphic monitoring system, and the joy stick tole-controller. In the cluttered environment with various sizes of obstacles, the omni-directionality and the traversality are required for a mobile robot, so that the robot call go around or climb over the obstacles according to the size. The mobile robot mechanism developed in this paper has both of the omni-directionality and the traversality by 4 steerable driving wheels and the 2 additional passive omni-directional wheels linked with the rocker-bogie structure. The kinematic modeling for the mobile robot is described based on the well-known Sheth-Uicker convention and the instantaneous coordinate system.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.511-515
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• 1996

A remote controlled mobile robot system has been developed and tested to monitor the radiation area in the nuclear power plant. The mobile robot system operates according to car-driving-like commands and is capable of radiation measurement and visual inspection in unmanned situations under radiation. The robot system is equipped with a radiation sensor and two cameras with appropriate illumination set-ups. The camera with auto-focus function and 8-times zoom lens is mounted on the pan/tilt rotational base and the other is mounted on the front panel of the robot system. All commands regarding the motion of the mobile robot and various sensors are given through the monitoring system which is designed to provide an integrated man-machine interface.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.803-807
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• 2003

Tele-operation and remote monitoring techniques are essential and important technologies for performing the inspection and repair tasks effectively in nuclear power plants. This paper presents the application of a mobile robot for the remote monitoring and inspection of the Calandria faces, where human access is limited because of the high-level radioactive environments during full power operation. The mobile robot was designed with reconfigurable crawler type of wheels attached on the front and rear side in order to pass through the ditch. The extendable mast, mounted on the mobile robot, can be extended up to 8 m vertically. This robot was also equipped a visible CCD/thermal infrared inspection head module and a stereo camera module for the enhancement of visual inspection.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.3
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• pp.15-21
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• 2014

The utilization range of mobile devices is becoming broader than before due to the rapid development of the mobile market. Furthermore, the demands for computer-aided management are increasing due to the extensive expansion of the installation of solar street lights. In this paper, we propose a system which can be used to observe solar street lights. The manager of the system can control and manage the solar street lights using video images on a mobile device.

• International Journal of Internet, Broadcasting and Communication
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• v.10 no.3
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• pp.35-41
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• 2018

Smart device has become an affordable main computing resource for robotic ap-plications in accordance with a fast growth of mobile internet environment. Since the computing power of smart device has been increased, smart device based ro-bot system attempts to replace traditional robot applications with laptop-based system. Methodologies for acquisition of remote sensory information and control of various types of robots using smart device have been proposed recently. In this paper, we propose a robot control system using a monitoring program and a communication protocol. The proposed system is a combination of an educa-tional programming oriented robot named EPOR-S. as small service robot plat-form and a smart device. Through a simulation study using image processing, the feasibility of combination of the proposed robot monitoring program and control system was verified.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.908-911
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• 2004

There are various researches on mobile robot systems. Connection method between server and client of mobile robot system is one of them. In the case of mobile robot system, when connection method between server and client is wireless than wire, applications may be expanded. Also in remote monitoring environment using mobile robot system, we are interested in an effective transmission of the image information between server and client. In this paper, Bluetooth is used for connection method between server and client. One of the major applications of Bluetooth is the cable replacement for mobile and peripheral devices. Using Bluetooth, we propose the control method of mobile robot system. Bluetooth offers fast and reliable transmissions of both voice and data over the globally available 2.4GHz ISM (Industrial, Scientific and Medical) band. It has the advantage of small size, low power and low cost. It has the disadvantage of limited range and limited bandwidth. Also in order to transfer effectively image information between remote site(server) and mobile robot system(client) using Bluetooth, we applied to MPEG-2 and MPEG-4 image compression techniques and the results are compared with each other.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.134.5-134
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• 2001

The capability of environment recognition is very important for mobile robot. Especially, a function of target tracking is necessary in monitoring and watching an object using mobile robot. In general, vision sensors such as CCD camera and laser range finder were used for tracking of a moving target. However, they are not only affected by intensity of illumination in environment but also require high performance processors to process large amount of data. Therefore, in this paper, we propose the construction of target tracking system for mobile robot using only ultrasonic sensors to cope with these problems.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.784-789
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• 1994

In the mobile robot research, monitoring the present status and self-navigating the robot in various environment are signifiant. This paper treates a navigation algorithm using a fuzzy logic and a sensor system - laser range finder. The navigation algorithm using a fuzzy logic is achieved by organizing the knoweledge base for self-navigation of mobile robot. In order that mobile robot is economically arrived the goal, the knowledge base is applied to acquire the informations of moving distance, direction, and velocity in every cycle time.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.223-228
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• 2001

We have been developed an intelligent mobile robot with an artificial olfactory function to recognize odours and to track odour source location. This mobile robot also has ben installed an engine for speech recognition and synthesis and is controlled by wireless communication. An artificial olfactory system based on array of 7 gas sensors has been installed in the mobile robot for odour recognition, and 11 gas sensors also are located in the obttom of robot to track odour sources. 3 optical sensors are also in cluded in the intelligent mobile robot, which is driven by 2 D. C. motors, for clash avoidance in a way of direction toward an odour source. Throughout the experimental trails, it is confirmed that the intelligent mobile robot is capable of not only the odour recognition using artificial neural network algorithm, but also the tracking odour source using the step-by-step approach method. The preliminary results are promising that intelligent mobile robot, which has been developed, is applicable to service robot system for environmental monitoring, localization of odour source, odour tracking of hazardous areas etc.

• Journal of Internet Computing and Services
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• v.7 no.2
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• pp.81-92
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• 2006

Recently, the number of mobile phone and PDA users has been rapidly increased. Such monitoring and control applications as geographical and traffic information systems are being used widely with wireless devices. In this paper, we introduce the mobile M/VC application framework that supports the rapid constructions of mobile monitoring and control (M/VC) applications. The mobile M/VC application framework uses the mobile Observer/Observable pattern that extends the Java's Observer/Observable for automatic interactions of server and client objects in wireless environments. It also provides the Multiplexer and Demultiplexer classes that supports the assembly feature of Observer and Observable objects. To construct an application using the framework, developers just need to create necessary objects from the Observable and MobileObserver classes and inter-connect them structurally(like the plug-and-play style) through the Multiplexer and Demultiplexer objects. Then, the state change of Observable objects is notified to the connected Observer objects and user's input with Observer objects is propagated to Observable objects. These mechanism is the main process for monitoring and control applications. Therefore, the mobile M/VC application framework can improve the productivity of mobile applications and enhance the reusability of such components as Observer and Observable objects in wireless environments.