• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.3
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• pp.169-175
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• 2016

There are many researches to develop robots that improve its mobility and task planning to adapt in various uneven environments. In this paper, we propose the design method and task planning of quadruped robot which can have top-bottom docking structure. The proposed quadruped robot is designed to adjust leg length using linear actuators and perform top-bottom docking and undocking using octagonal cone shaped docking module. Also, to stable walking and information gathering in the various environments, a geomagnetic sensor, PSD sensor, LRF sensor and camera. We propose an obstacle avoidance method and the topbottom docking algorithm of the two quadruped robots using linear actuator. The robot can overcome obstacles using adjusting leg length and activate the top-bottom docking function. The top-bottom docking robots of two quadruped robot can walk 4 legged walking and 6 legged walking, and use 4 arms or 2 arms the upper. We verified that the docking robots can carry objects using 4 leg of the upper robot.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.1
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• pp.47-52
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• 2013

In order to operate a search and rescue robot in hazardous area, the robot requires high mobility and adaptable locomotion for moving in unpredictable environments. In this paper, we propose the deformable soft wheel robot that can produce three kinds of driving modes; caterpillar driving mode, normal wheel driving mode, legged-wheel driving mode. The robot changes its driving mode as it faces the various obstacles such as a small gap, stairs etc. Soft film and composite materials are used for fabrication of deformable wheel structure and Shape Memory Alloy (SMA) coil spring actuators are attached on the structure as an artificial muscle. Film lamination and an composite manufacturing process is introduced and the robot design is required to be modified and compromised to applying the manufacturing process. The prototype is developed and tested for verifying feasibility of the deformable wheel locomotion.

• KIISE Transactions on Computing Practices
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• v.20 no.11
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• pp.567-572
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• 2014

In recent years, computing and networking technologies have been developed, and the communication equipments have become smaller and the mobility has increased. In addition, the demand for easily-operated speech recognition has increased. This paper proposes method of recognizing the Korean phoneme 'ㅏ'. A phoneme is the smallest unit of sound, and it plays a significant role in speech recognition. However, the precise recognition of the phonemes has many obstacles since it has many variations in its pronunciation. This paper proposes a simple and efficient method that can be used to recognize a Korean vowel 'ㅏ'. The proposed method is based on the common features that are extracted from the 'ㅏ' waveform sequences, and this is simpler than when using the previous complex methods. The experimental results indicate that this method has a more than 90 percent accuracy in recognizing 'ㅏ'.

• Korean Journal of Construction Engineering and Management
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• v.14 no.6
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• pp.49-60
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• 2013

Evacuation process has been considered as one of the most important elements to be managed in public facilities. Although the importance is highlighted through numerous literatures, disaster evacuation planning, particularly fire accidents, faces a number of human behavior related limitations for a similar application to different types of facilities/occupants. To overcome the obstacles including complexity in human behaviors, a number of simulation techniques with limited consideration on human behaviors are utilized to predict foreseeable problems in evacuation process. Therefore, this research aims to propose system dynamics models incorporating human behaviors considering different types of occupants under disaster evacuation events. Analysis on emergent human behaviors such as group forming and interactions under urgent situation are conducted based on the main stream theories in social science field. The results suggest the influences of human behavior factors including cooperative intention, information sharing, and mobility change to evacuation behavior. The implications are expected to provide safety consideration at planning/designing phase of buildings and help facility safety managers for evacuation planning with more realistic management approaches.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.8 no.4
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• pp.53-64
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• 2009

Inter-vehicular communication that propagates information without infrastructures has drawn a lot of interest. However, it is difficult to apply conventional ad-hoc routing protocols directly in inter-vehicular communication due to frequent changes in the network topology caused by high mobility of the vehicles. MMFP(Multi-hop MAC Forwarding) is a unicast forwarding protocol that transport packets based on the reachability information instead of path selection or position information. However, delivering public safety messages informing road conditions such as collision, obstacles and fog through inter-vehicular communication requires broadcast rather than unicast since these messages contain information valuable to most drivers within a close proximity. Flooding is one of the simplest methods for multi-hop broadcast, but it suffers from reduced packet delivery-ratio and high transmission delay due to an excessive number of duplicated packets. This paper presents two multi-hop broadcast protocols for inter-vehicular communication that extend the MMFP. UMHB(Unreliable Multi-Hop Broadcast) mitigates the duplicated packets of MMFP by limiting the number of nodes to rebroadcast packets. UMHB, however, still suffers from low delivery ratio. RMHB(Reliable Multi-Hop Broadcast) uses acknowledgement and retransmission in order to improve the reliability of UMHB at the cost of increase in transmission delay, which we show through simulation is within an acceptable range for collision avoidance application.

• Journal of Internet of Things and Convergence
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• v.10 no.2
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• pp.69-75
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• 2024

This paper proposes an IoT-based indoor autonomous driving system that applies SLAM (Simultaneous Localization And Mapping) and Navigation techniques in a ROS (Robot Operating System) environment based on TurtleBot3. The proposed autonomous driving system can be applied to indoor autonomous wheelchairs and robots. In this study, the operation was verified by applying it to an indoor self-driving wheelchair. The proposed autonomous driving system provides two functions. First, indoor environment information is collected and stored, which allows the wheelchair to recognize obstacles. By performing navigation using the map created through this, the rider can move to the desired location through autonomous driving of the wheelchair. Second, it provides the ability to track and move a specific logo through image recognition using OpenCV. Through this, information services can be received from guides wearing uniforms with the organization's unique logo. The proposed system is expected to provide convenience to passengers by improving mobility, safety, and usability over existing wheelchairs.

• Archives of design research
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• v.17 no.3
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• pp.353-362
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• 2004

This research has been done to evaluate the interior environmental factors in Gyungro-dang to suggest the advanced recommendations for them. For this research, the essential interior elements influencing on elderly's behavior were examined with the developed checklist, the lighting and color conditions of main hall at 14 facilities in Seoul area were analysed, and 124 subjects staying at Gyungro-dang were participated in questionaire survey for color preferences. Results showed that 1.The average installation rate of 39 items in checklist was 59%, the mandatory items such as accessible dimension were considered, but several items related to mobility and safety were not properly installed. Therefore not only guiding handrail and floor block to destination but also elimination of obstacles should be reconsidered. 2.The average of illuminances was 289 Lux dose to standard 300 Lux, but lighting quality was too low to support the activities of elderly users. The lighting control devices, combined lighting sources, and suitable lighting techniques should be applied for those facilities. 3.Most facilities were predominantly in warm colors in hue, medium or high value, low saturation, and natural atmosphere with similarity harmony. The color applications in those facilities were not functional, but similar as color preferences for the elderly except overall atmosphere. It is recommendable to include contrast harmony with classic or romantic mood.

• Korean Journal of Remote Sensing
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• v.38 no.6_3
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• pp.1827-1836
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• 2022

Disasters that occur unexpectedly are difficult to predict. In addition, the scale and damage are increasing compared to the past. Sometimes one disaster can develop into another disaster. Among the four stages of disaster management, search and rescue are carried out in the response stage when an emergency occurs. Therefore, personnel such as firefighters who are put into the scene are put in at a lot of risk. In this respect, in the initial response process at the disaster site, robots are a technology with high potential to reduce damage to human life and property. In addition, Light Detection And Ranging (LiDAR) can acquire a relatively wide range of 3D information using a laser. Due to its high accuracy and precision, it is a very useful sensor when considering the characteristics of a disaster site. Therefore, in this study, development and experiments were conducted so that the robot could perform real-time monitoring at the disaster site. Multi-sensor module was developed by combining LiDAR, Inertial Measurement Unit (IMU) sensor, and computing board. Then, this module was mounted on the robot, and a customized Simultaneous Localization and Mapping (SLAM) algorithm was developed. A method for stably mounting a multi-sensor module to a robot to maintain optimal accuracy at disaster sites was studied. And to check the performance of the module, SLAM was tested inside the disaster building, and various SLAM algorithms and distance comparisons were performed. As a result, PackSLAM developed in this study showed lower error compared to other algorithms, showing the possibility of application in disaster sites. In the future, in order to further enhance usability at disaster sites, various experiments will be conducted by establishing a rough terrain environment with many obstacles.