• 제어로봇시스템학회논문지
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• 제12권7호
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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.

• 한국생산제조학회지
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• 제23권4호
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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.

• 한국정밀공학회지
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• 제30권11호
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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.

• 한국지능시스템학회논문지
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• 제24권4호
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• pp.412-417
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• 2014

본 논문은 세 개의 바퀴로 구동되는 전방향 이동로봇의 제작과 제어에 대해 소개한다. 전방향성 움직임은 독립적인 회전과 병진운동을 통해 이루어진다. 전방향 이동로봇의 기구학과 동역학을 사용하여 장애물 회피에 대한 시뮬레이션도 수행하였다. 실제 로봇을 제어하기 위해 로봇을 제작하고 하드웨어를 구성하였으며, 제어 알고리즘은 DSP와 FPGA 칩에 구현하였다. 모터제어에 필요한 PWM, 엔코더 카운터, 통신 등과 같은 하드웨어는 FPGA에 구현하였다. 조이스틱을 통한 전방향 이동로봇을 제어함으로써 로봇의 동작성을 확인하였다.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
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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.

• 해양환경안전학회지
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• 제28권5호
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• pp.700-711
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• 2022

본 연구에서는 칠발도, 거문도, 동해에서 20년 이상 관측된 파랑자료를 16 방위별 극치확률분석을 통해 재현빈도별 심해설계파를 산정하였고, 이 값을 방향을 고려하지 않은 전방향파의 심해설계파와 비교하였다. Weibull 분포함수를 확률분포함수로 사용하였으며, 최소자승법을 사용해서 매개변수를 결정하였다. 추정된 분포함수는 Kolmogorov-Smirnov 방법을 사용하여 적합도를 검증하였다. 그 결과 방향별로 구한 심해설계파가 전방향파의 심해설계파보다 모든 방향에서 상대적으로 작은 것으로 나타났다. 파향별로 구한 50년 빈도 설계파고는 칠발도, 거문도, 동해에서 각각 7.46 m(NNE), 12.05 m(S), 9.69 m(SSW)가 최대값이지만, 전방향파로 구한 설계파고는 각각 7.91 m, 13.82 m, 10.38 m이었다. 이는 현재 해양 및 연안 구조물 설계에 사용하고 있는 16 방위별 심해설계파고가 과소산정되었을 가능성이 있음을 보여준다.

• 대한원격탐사학회지
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• 제21권2호
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• pp.121-133
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• 2005

화소들 사이의 관계를 고려해 Texture 영상을 생성해 내는 것을 의미하는 Texture 영상화는 유용한 영상 분석 방법 중의 하나로 잘 알려져 있고, 대부분의 상업적인 원격 탐사 소프트웨어들은 GLCM이라는 Texture 분석 기능을 제공하고 있다. 본 연구에서는, GLCM 알고리즘에 기반한 Texture 영상화 프로그램이 구현되었고, 추가적으로 GLDV에 기반을 둔 Texture 영상화 모듈 프로그램을 제공한다. 본 프로그램에서는 Homogeneity, Dissimilarity, Energy, Entropy, Angular Second Moment(ASM), Contrast 등과 같은 GLCN/GLDV의 6가지 Texture 변수에 따라 각각 이에 해당하는 Texture 영상들을 생성해 낸다. GLCM/GLDV Texture 영상 생성에서는 방향 의존성을 고려해야 하는데, 이 프로그램에서는 기본적으로 동-서, 북동-남서, 북-남, 북서-남동 등의 기본적인 방향설정을 제공한다. 또한 이 논문에서 새롭게 구현된 커널내의 모든 방향을 고려해서 평균값을 계산하는 Omni 방향 모드와 커널내의 중심 화소를 정하고_그 주변 화소에 대한 원형 방향을 고려하는 원형방향 모드를 지원한다. 또한 본 연구에서는 여러 가지 변수와 모드에 따라 얻어진 Texture 영상의 분석을 위하여 가상 영상 및 실제 위성 영상들에 의하여 생성된 Texture 영상간의 특징 분석과 상호상관 분석을 수행하였다. Texture 영상합성 응용시에는 영상의 생성시에 적용된 변수들에 대한 이해와 영상간의 상관도를 분석하는 과정이 필요할 것으로 생각된다.

• 제어로봇시스템학회논문지
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• 제18권5호
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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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• 제15권1호
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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.

• 한국기계가공학회지
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• 제13권2호
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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.