• 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.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.4
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• pp.374-379
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• 2014

Mobile robots with omni-directional wheels can generate instant omni-directional motion without requiring extra space to change the direction of the body. Therefore, they are capable of moving in an arbitrary direction under any orientation even in narrow aisles or tight areas. In this research, an omni-directional mobile robot based on Mecanum wheels was developed to achieve omni-directionality. A CompactRIO embedded real-time controller and C series motion and I/O modules were employed in the control system design. Ultrasonic sensors installed on the front and lateral sides were utilized to measure the distance between the mobile robot and the side wall of a workspace. Through intensive experiments, a performance evaluation of the mobile robot was conducted to confirm its feasibility for industrial purposes. Mobility, omni-directionality, climbing capacity, and tracking performance of a squared trajectory were selected as performance indices to assess the omni-directional mobile robot.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.11
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• pp.1161-1169
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• 2013

In this paper an omni-directional mobile robot is suggested for educational robot platform. Comparing to other robots, a mobile robot can be easily designed and manufactured due to its simple geometric structure. Moreover, since it is required to have low DOF motion on planar space, fabrication of control system is also simple. In this research, omni-directional wheels were adopted to remove the non-holonomic characteristic of conventional wheels and facilitate control system design. Firstly, geometric structure of a Mecanum wheel which is a most frequently used omni-directional wheel was demonstrated. Then, the organization of the mobile platform was suggested in aspects of mechanism manufacturing and electronic hardware design. Finally, a methodology of control system development was introduced for educational purpose. Due to an intuitive motion generating ability, simple hardware composition, and convenient control algorithm applicability, the omni-directional mobile robot suggested in this research is expected to be a promising educational platform.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.4
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• pp.412-417
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• 2014

This paper presents the development and control of an omni-directional holonomic mobile robot platform, which is equipped with three lateral orthogonal-wheel assemblies. Omni-directionality can be achieved with decoupled rotational and translational motions. Simulation studies on collision avoidance are conducted. A real robot is built and its hardware is implemented to control the robot. Control algorithm is embedded on DSP and FPGA chips. Hardware for motor control such as PWM, encoder counter, serial communication modules is implemented on an FPGA chip. Experimental studies of following joystick commands are performed to demonstrate the functionality and controllability of the robot.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.626-629
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• 2004

Texture imaging, which means texture image creation by co-occurrence relation, has been known as one of useful image analysis methodologies. For this purpose, most commercial remote sensing software provides texture analysis function named GLCM (Grey Level Co-occurrence Matrix). In this study, texture-imaging program for GLCM algorithm is newly implemented in the MS Visual IDE environment. While, additional texture imaging modules based on GLDV (Grey Level Difference Vector) are contained in this program. As for GLCM/GLDV texture variables, it composed of six types of second order texture function in the several quantization levels of 2(binary image), 8, and 16: Homogeneity, Dissimilarity, Energy, Entropy, Angular Second Moment, and Contrast. As for co-occurrence directionality, four directions are provided as $E-W(0^{\circ}),\;N-E(45^{\circ}),\;S-W(135^{\circ}),\;and\;N-S(90^{\circ}),$ and W-E direction is also considered in the negative direction of E- W direction. While, two direction modes are provided in this program: Omni-mode and Circular mode. Omni-mode is to compute all direction to avoid directionality problem, and circular direction is to compute texture variables by circular direction surrounding target pixel. At the second phase of this study, some examples with artificial image and actual satellite imagery are carried out to demonstrate effectiveness of texture imaging or to help texture image interpretation. As the reference, most previous studies related to texture image analysis have been used for the classification purpose, but this study aims at the creation and general uses of texture image for urban remote sensing.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.5
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• pp.700-711
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• 2022

In this study, deepwater design waves were estimated for 16 wave directions and various return periods based on statistical analysis of extreme waves observed for more than 20 years at three stations (Chilbal-do, Geomun-do, Donghae). These values were compared with design waves estimated based on the omni-directional wave data. The Weibull distribution was used as the probability distribution function whose parameters were determined by the least square method. The Kolmogorov-Smirnov test was applied for the goodness of fit test. Notably, the directional design waves were smaller than the omni-directional design wave for every wave direction. The maximum 50-year wave heights for directional sectors were 7.46 m (NNE), 12.05 m (S), and 9,59 m (SSW) at Chilbal-do, Geomun-do and Donghae whereas those for uni-directional wave data were 7.91 m, 13.82 m and 10.38 m, respectively. This implied possible under-estimation of the deepwater design waves for 16 wave directions being currently used in the design of offshore and coastal structures.

• Korean Journal of Remote Sensing
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• v.21 no.2
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• pp.121-133
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• 2005

Texture imaging, which means texture image creation by co-occurrence relation, has been known as one of the useful image analysis methodologies. For this purpose, most commercial remote sensing software provides texture analysis function named GLCM (Grey Level Co-occurrence Matrix). In this study, texture-imaging program based on GLCM algorithm is newly implemented. As well, texture imaging modules for GLDV (Grey Level Difference Vector) are contained in this program. As for GLCM/GLDV Texture imaging parameters, it composed of six types of second order texture functions such as Homogeneity, Dissimilarity, Energy, Entropy, Angular Second Moment, and Contrast. As for co-occurrence directionality in GLCM/GLDV, two direction modes such as Omni-mode and Circular mode newly implemented in this program are provided with basic eight-direction mode. Omni-mode is to compute all direction to avoid directionality complexity in the practical level, and circular direction is to compute texture parameters by circular direction surrounding a target pixel in a kernel. At the second phase of this study, some case studies with artificial image and actual satellite imagery are carried out to analyze texture images in different parameters and modes by correlation matrix analysis. It is concluded that selection of texture parameters and modes is the critical issues in an application based on texture image fusion.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• Journal of information and communication convergence engineering
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• v.15 no.1
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• pp.1-6
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• 2017

In this study, we develop and experimentally evaluate an ultra-wideband (UWB) slot antenna with a polygon tuning stub. The proposed antenna consists of a polygon slot with a $50-{\Omega}$ feed line. The effects of various parameters of the polygon-shaped slot and the polygon tuning stub on UWB applications are investigated. The optimum parameters were obtained using the Ansys HFSS software. The results of the studies on the surface current distributions of the operating frequency bands were discussed. The proposed antenna is fabricated on an inexpensive FR-4 substrate with the overall dimensions of $28.0mm{\times}30.0mm$. The measured results confirm that the proposed antenna covers frequencies from 2.58 GHz to 13.27 GHz, which is the UWB frequency range. Further, the proposed UWB antenna also exhibited that omni-directionality in the H-plane gain varied from 1.185 to 7.246 dBi. The good antenna characteristics of the proposed antenna make it suitable for UWB system applications.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.2
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• pp.117-123
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• 2014

In order to provide a mobile robot with omnidirectionality, various types of omnidirectional wheels have been developed. This paper deals with an improved design and structural analysis of a Mecanum wheel, which is the type of omnidirectional wheels most commonly used in industrial fields. A geometric formulation for manufacturingthe Mecanum wheel is presented and two types of Mecanum wheels are designed and fabricated in this research. While conventional assembled-type Mecanum wheels have a complicated structure and the high possibility of mutual interference between sub-components, a unified type of Mecanum wheel reduces the number of sub-components and increases the degree of structural rigidity. The stress and strain properties of the two designs are compared to confirm the quantitative improvement of the new design by a commercial structural analysis tool. The analysis results show that the unified type of Mecanum wheel has properties superior to the assembled type of Mecanum wheel in terms of its ability to reduce interference.