• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.10 no.4
• /
• pp.91-97
• /
• 2010

This paper describes a development of an network based remote surveillance system using omni-directional mobile robot. the proposed surveillance system can control a mobile robot to move and examines the given place closely while the conventional surveillance system uses a fixed camera. The mobile robot in the proposed system has three omni-directional wheels to move to any given direction freely. We also developed the proposed system as robot services using Microsoft's MSRDS for a user to control the mobile robot and monitor the remote scene captured from the robot. Finally we verified the feasibility and effectiveness of the proposed system by conducting the remote operating the mobile robot and monitoring experiments in a networked environment. We also conducted a color based object detection and motion detection on image sequences acquired from a remote mobile robot in an another PC in a network environment.

• Journal of the Institute of Convergence Signal Processing
• /
• v.5 no.4
• /
• pp.308-316
• /
• 2004

As we know that there are so many restrictions controlling the autonomous robot to turn and move in an indoor space. In this research, Ive adopted the concept ‘Omni-directional wheel’ as a driving equipment, which makes it possible for the robot to move in horizontal and diagonal directions. Most of all, we eliminated the slip error problem, which can occur when the system generates power by means of slip. In order to solve this problem, we developed a ‘slip error correction algorithm’. Following this program, whenever the robot moves in any directions, it defines its course by comparing pre-programmed direction and the current moving way, which can be decided by extracted image of floor line. Additionally, this robot also provides the limited security and service function. It detects the motion of vehicle, transmits pictures to multiple users and can be moved by simple order's. In this paper, we tried to propose a practical model which can be used in an office.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.10 no.2
• /
• pp.237-242
• /
• 2009

Comparing with fixed-type Robots, Mobile Robots have the advantage of extending their workspaces. But this advantage need some sensors to detect mobile robot's position and find their goal point. This article describe the navigation teaching method of mobile robot using omni-directional position detection system. This system offers the brief position data to a processor with simple devices. In other words, when user points a goal point, this system revise the error by comparing its heading angle and position with the goal. For these processes, this system use a conic mirror and a single camera. As a result, this system reduce the image processing time to search the target for mobile robot navigation ordered by user.

• Journal of the Korean Society of Industry Convergence
• /
• v.23 no.2_2
• /
• pp.233-244
• /
• 2020

A double-parked car is the one that is parked in a crowded parking lot with its transmission gear in neutral position and its auxiliary brake released. A double-parked car can be moved by pushing it but doing so is very difficult and dangerous. In a previous study, we proposed an omni-directional mobile robot for moving a double parked car. In that study we adopted Mecanum wheels. Even though the proposed robot showed successful results, it has some drawbacks such as dependency on a load condition, complexity in control, inefficiency in power use, etc. To overcome those drawbacks, we propose a differential drive robot with ordinary two tire wheels. The proposed robot consists of two parts, one is a wheel part and the other is a body part. By selectively connecting or disconnecting those two parts with the aid of an electric brake, the proposed robot is able to have omni-directional mobility.

• Journal of Power Electronics
• /
• v.8 no.4
• /
• pp.291-300
• /
• 2008

In this paper power system and drive-train for omni-directional autonomous mobile robots with multiple energy storage units are presented. Because in proposed system, which is implemented in soccer robots, the ability of power flow control from of multiple separated energy storage units and speed control for each motor are combined, these robots can be derived by more than one power source. This capability, allow robot to diversify its energy source by employing hybrid power sources. In this research Lithium ion polymer batteries have been used for main and auxiliary energy storage units because of their high power and energy densities. And to protect them against deep discharge, over current and short circuit, a protection circuit was designed. The other parts of our robot power system are DC-DC converters and kicker circuit. The simulation and experimental results show proposed scheme and extracted equations are valid and energy management and speed control can be achieved properly using this method. The filed experiments show robot mobility functions to perform the requested motion is enough and it has a high maneuverability in the field.

• Korean Journal of Remote Sensing
• /
• v.31 no.2
• /
• pp.171-182
• /
• 2015

We propose a camera system to acquire indoor stereo omni-directional images and its calibration method. These images can be utilized for indoor precise mapping and sophisticated imagebased services. The proposed system is configured with a rotating stereo line camera system, providing stereo omni-directional images appropriate to stable stereoscopy and precise derivation of object point coordinates. Based on the projection model, we derive a mathematical model for the system calibration. After performing the system calibration, we can estimate object points with an accuracy of less than ${\pm}16cm$ in indoor space. The proposed system and calibration method will be applied to indoor precise 3D modeling.

• International Journal of Control, Automation, and Systems
• /
• v.6 no.1
• /
• pp.86-100
• /
• 2008

Most of the previously employed dynamic modeling approaches, including Natural Orthogonal Complement Algorithm, have limitations on their application to the mobile robot, specifically at singular configurations. Also, in their dynamic modeling of mobile robots, wheel dynamics is usually ignored assuming that its dynamic effect is negligibly small. As a remedy for this, a singularity-free operational space dynamic modeling approach based on Lagrange's form of the D' Alembert principle is proposed, and the singularity-free characteristic of the proposed dynamic modeling is discussed in the process of analytical derivation of the proposed dynamic model. Then an accurate dynamic model taking into account the wheel dynamics of the omni-directional mobile robot is derived, and through simulation it is manifested that the effect of the wheel dynamics on the whole dynamic model of the mobile robot may not be negligible, but rather in some cases it is significantly large, possibly affecting the operational performances of dynamic model-based control algorithms. Lastly, the importance of its accurate dynamic model is further illustrated through impulse analysis and its simulation for the mobile robot.

• Journal of Sensor Science and Technology
• /
• v.18 no.3
• /
• pp.185-189
• /
• 2009

In this paper, we present design and analysis of the omni-directional linear piezoelectric actuator which was consisted of one actuator using the half-wave vibrator. Through calculating vibration speeds on each sector of the actuator, the displacement of contact point of the actuator is theoretically confirmed to be about 33 nm. To confirm an applicable possibility of omni-directional linear piezoelectric actuator, elliptical motion for linear movement, displacement of the tip, changing directions and admittance characteristics are simulated by ATILA. Compared with theoretical result, we obtained similar data with displacement of 32.5 nm at contact point. And then the actuator is simulated elliptical trajectories for linear motions and changing directions according to combination of input signal.

• Journal of Information Processing Systems
• /
• v.1 no.1 s.1
• /
• pp.96-101
• /
• 2005

Spotlighted as an innovative information technology environment, ubiquitous computing has been actively researched on recently. Especially, domestic and global researches focus on the RFID system, which is being eyed to replace the existing bar-code system. As an essential technology for ubiquitous computing, the RFID system can be applied for various purposes. The security issues of the RFID system focus on how the low-priced tag type could have reasonable price competitiveness. The Auto-ID Center in the U.S. is spearheading the research on distribution service and omni-directional security. As for Japan, the researches on omni-directional security and EPC application are necessary in securing the technology for ubiquitous computing with support from the Ministry of Public Management Home Affairs, Posts, and Telecommunication. In this paper, a method of ensuring the availability of the RFID system service will be presented based on the ubiquitous computing environment with the existing omni-directional security and user-friendly interface. While the existing researches focus on the RF reader system and tag-based security, this paper's suggestion also considers the availability of a sen ice to suggest ways of increasing the practical usage of a low-priced RF tag.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.24 no.6
• /
• pp.638-644
• /
• 2021

Infrared guided weapons act as threats that greatly degrade the survivability of combat aircraft. Infrared weapons detect and track the target aircraft by sensing the infrared signature radiated from the aircraft fuselage. Therefore, in this study, we analyzed the infrared signature and susceptibility of supersonic aircraft according to omni-directional detection angle. Through the numerical analysis, we derived the surface temperature distribution of fuselage and omni-directional infrared signature. Then, we calculated the detection range according to detection angle in consideration of IR sensor's parameters. Using in-house code, the lethal range was calculated by considering the relative velocity between aircraft and IR missile. As a result, the elevational susceptibility is larger than the azimuthal susceptibility, and it means that the aircraft can be attacked in wider area at the elevational situation.