• Korean Journal of Remote Sensing
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• v.23 no.6
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• pp.501-506
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• 2007

Basic research is conducted to identify a target using corner reflectors which are commonly used in calibration of synthetic aperture radar (SAR) systems. At first, an omni-directional reflector is fabricated by combining four 15-cm rectangular trihedral corner reflectors. Then, its radar cross section (RCS) characteristics are measured at C-band (5.3 GHz) for vv-, hh-, hv-, and vh- polarizations at a range of horizontal angle, $-90^{\circ}{\le}{\phi}{\le}90^{\circ}$. The measured RCS angular variation of the omni-directional reflector is much smaller for vv-polarization than other polarizations, and the difference between the maximum and minimum RCSs for vv-polarization is about 8 dB. Peak RCS values are shown at $0^{\circ}$ (normal to plates) and $45^{\circ}$ (direction of bore sight). It is shown that the measurements agree quite well with numerical simulation and theoretical computation results.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2529-2534
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• 2003

A quadruped walking robot has a superior adaptablility as well as highly adaptable mobility in various environments. These special advantages are outstanding in the mobile robot group. In this work, we introduce the method for omni-directional gait and rotational gait which is the generalized control algorithm to perform any direction commands. In addition, to improve the stability of quadruped walking robot, we performed the optimization between walking angle and sequence of feet. The proposed ideas are applied to the actual design of MRWALLSPECT III(Multifunctional Robot for Wall inSpection version 3) that is designed to inspect of the large surface of industrial utilities. By implementing the proposed idea on the robot, it’s effectiveness is experimentally confirmed.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.824-827
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• 1996

Most autonomous mobile robots view things only in front of them. As a result, they may collide against objects moving from the side or behind. To overcome the problem we have built an Active Omni-directional Range Sensor that can obtain omnidirectional depth data by a laser conic plane and a conic mirror. In the navigation of the mobile robot, the proposed sensor system makes a laser conic plane by rotating the laser point source at high speed and achieves two dimensional depth map, in real time, once an image capture. The experimental results show that the proposed sensor system provides the best potential for navigation of the mobile robot in uncertain environment.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2019-2023
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• 2005

In this paper, an autonomous omni directional cleaning robot which recognizes an obstacle and a battery charger is introduced. It utilizes a robot vision, ultra sonic sensors, and infrared sensors information along with appropriate algorithm. Three omni-directional wheels make the robot move any direction, enabling a faster maneuvering than a simple track typed robot. The robot system transfers command and image data through Blue-tooth wireless modules to be operated in a remote place. The robot vision associated with sensor data makes the robot proceed in an autonomous behavior. An autonomous battery charger searching is implemented by using a map-building which results in overcoming the error due to the slip on the wheels, and camera and sensor information.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.137.4-137
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• 2001

Omni-directional mobile robots have been employed popularly in several application areas. However, the optimal design has not been considered yet. This paper introduces an optimal design methodology for omni-directional mobile robots. Optimal design parameters such as the offset distance and the wheel radius are identified with respect to isotropy. Furthermore, the force transmission ratio and actuator sizing problem are treated. Conclusivel, three cases are compared minimum actuation, two active caster wheel, and three active caster wheel, we claim that the redundantly actuated mobile robot with three active caster wheel has the best performance.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.302-305
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• 2003

In this paper, dynamic behaviors of a small-sized flying robot with 4 rotors propelled by DC motor are discussed, and a control scheme based on the dynamic model to make stable flying motions, i.e., hovering, take-off, cruising behavior, etc. is proposed. The experimental results via some flying tests show good performances for practical use. The flying robot with 6DOF is controlled only 4 DOF, and the rest of two DOF are remained under the dynamic constraints. How to give the stability of all positions and orientations and to make the omni-directional motions in spite of such restrictions is analyzed. The proposed control scheme composes of two stages. First, PD control inputs for the trust-force and orientation are calculated, next the control inputs are distributed to each rotor by using a sort of Jacobian matrix. To design and control of a low cost - small sized flying robot, vibrated gyro sensor, cheap accelerometer, IR, and ultra sonic sensors are selected.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.12
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• pp.1227-1233
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• 2011

An effective method of obstacle avoidance for omni-directional mobile robots is proposed to avoid moving obstacles in dynamic environments. Our method uses the concept of circle lists which represent the trajectories of robot and obstacles. This method predicts not only collision position but also collision time, and hence it enables the robot avoiding the most urgent collision first. In order to avoid obstacles, our method uses artificial repulsive force and contraction force. Simulation results show that the robot could avoid obstacles effectively.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.548-549
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• 2014

Omni-directional shear-horizontal magnetostrictive patch transducers have a disadvantage that magnetic flux leakage into the plate when it is installed on a ferromagnetic plate. The leakage produces poor transduction efficiency and unwanted wave mode excitation which should be avoided in guided wave inspections of large plate-like structures. In order to resolve these problems, we newly developed a method to reduce the leakage into the plate. In the method, the patch and the magnet are vertically lifted off and their optimal positions are determined by numerical simulations. Also, the verification of the developed method is successfully verified by experiments.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.75-81
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• 2013

This research would investigate deeply the operation of an omni-directional mobile robot that is able to move with high acceleration. For the high acceleration performance, the vehicle utilizes the structure of Active Split Offset Casters (ASOCs). This paper is mainly focused on inverse kinematics of the structure, hardware design to secure durability and preserve the wheels' contact to the ground during high acceleration, and localization for the real time position control.

• The KSFM Journal of Fluid Machinery
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• v.19 no.4
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• pp.43-47
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• 2016

Vertical axis wind turbine, despite of its limit in power efficiency, the simplicity in structure and maintenance is a competitive factor that keeps this type of turbine in the game until nowadays. Continuous solutions have been given to handle its major weakness and the use of omni-directional guide vane is an considerable one. In this paper, a 5kkW scale Savonius-based wind turbine enhanced with such guide vane system was design and studied. Together with reasonable blade design, the wind turbine shows promising performance compared with basic design while maintaining its original advantages.