• Annual Conference of KIPS
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• 2019.10a
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• pp.802-805
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• 2019

본 논문은 이동로봇의 H/W에 관한 연구로서, 기존의 비평탄 지형의 자율주행 로봇이 수행하기 힘든 영역을 보완하기 위해 캐터필러 바퀴 기반의 플리퍼를 장착해 사물의 습득과 운반 기능을 적용함으로써 보다 정확한 주행 능력을 향상하는 방법을 제시한다.

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.270-277
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• 2010

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.5
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• pp.489-495
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• 2008

This paper offers a practical control scheme for driving mode transformation of a rescue robot already developed. The rescue robot, VSTR(Variable Single-Tracked Robot), has two driving modes, so can traverse untidy terrain and overcome obstacles such as stairs easily by use of timely driving mode transformation. Classical PI control scheme was used firstly for driving mode transformation, but stationary phenomenon, which might have a bad effect on the performance in real situation, came into existence. Therefore, we suggest a new controller, PI-based feedforward controller, which should be a good alternative for the problem, and compare it with other nonlinear control scheme.

• Annual Conference of KIPS
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• 2022.11a
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• pp.875-877
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• 2022

본 논문에서는 비평탄 지형에서 보행할 수 있는 탐사, 정찰 목적으로 설계된 12자유도 4족 보행 로봇의 구성과 주요사양을 설명하고 로봇 하드웨어의 설계 과정과 현실에서 로봇을 구동하기 전 시뮬레이션으로 로봇을 미리 구동시킨 실험결과 및 보행 안전성에 관련된 분석 결과등을 제시하고 실제로 로봇의 보행이 안정한지 확인하는 과정을 보여준다

• Annual Conference of KIPS
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• 2023.11a
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• pp.755-756
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• 2023

본 논문에서는 비평탄 지형 주행이 가능한 이동형 로봇의 구조 설계를 효율적으로 하기 위한 방법을 제안하고 실제로 구현하였다. 다양한 보행과 계단과 같은 비평탄 지형에서의 보행 메커니즘에 적합한 4개의 바퀴 및 구동 모터의 위치와 효율적 구조를 목적에 맞게 최적화 설계하였으며, 소형 로봇 플랫폼의 동작에 필요한 저전력의 효율적 구조를 제안하였다.

• Journal of the Korea Society for Simulation
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• v.28 no.2
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• pp.97-105
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• 2019

The tactical mobile ad-hoc network(MANET) consists of distributed autonomous networks between individual ground nodes, which is effective in terms of network survivability and flexibility. However, due to constraints such as limited power, terrain, and mobility, frequent link disconnection and shadow area may occur in communication. On the other hand, the satellite network has the advantage of providing a wide-area wireless link overcoming terrain and mobility, but has limited bandwidth and high-latency characteristic. In the future battlefield, an integrated network architecture for interworking multi-layer networks through a heterogeneous network gateway (HNG) is required to overcome the limitations of the existing individual networks and increase reliability and efficiency of communication. In this paper, we propose a new HNG architecture and detailed algorithm that integrates satellite network and the tactical MANET and enables reliable data transfer based on flow characteristics of traffic. The simulations validated the proposed architecture using Riverbed Modeler, a network-level simulator.

• Journal of the Korean housing association
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• v.25 no.6
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• pp.49-56
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• 2014

In this study, there is a purpose of using the GIS DB built in DEM, by analyzing the physical characteristics of the building site Yangdong village, to determine the spatial structure of the village. In order to understand the targeted spatial structure of Yangdong Village, the building site was analyzed separately by type and position. Through analysis it is clear the selection of building site relates to the slope and aspect that aquires the most solar radiation in Yangdong Village. This study shows that the amount of solar radiation in the terrain is unfavorable in parts of the village because slope and elevation affect the selection of the building site. That is, this village is confirmed to be influenced by solar radiation, according to slope and elevation, based on how the Yangdong Village is configured. And, while overcoming the adverse conditions to make the most, the village is formed according to the natural environmental conditions.

• Journal of the Korean Society for Library and Information Science
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• v.51 no.1
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• pp.5-27
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• 2017

The goal of this study is to suggest various improvements and expanding strategies of the public library ecosystem. For this goal, researcher reviewed and analyzed the realistic landscapes and social recognitions about the public library ecosystem as local public goods, and discoursed the basic principles and structural terrain of public library ecosystem based on natural ecosystem. As a result, researcher proposed multifaceted alternatives (ensure library's identity and publicity applying Law of Karma, strengthen librarian's professionalism on the premise of overcoming the Minerva's syndrome, optimize the library service and collection management based on the Pareto principle, reduce reading room and differentiated program through resolution of Halo effect, eliminate usage bias by life cycle based on the Gauss distribution, acceptance of the digital paradigm and use-friendly spatialization that ruminates the Icarus paradox, incorporate small library into public library system through a clear understanding of the Gresham's law, and enforce communication and spread social and cultural value through the practice of the Pompeii paradox).

• The Journal of the Korea institute of electronic communication sciences
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• v.19 no.5
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• pp.895-902
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• 2024

AI requires learning, and learning requires data. Some data is copyright-free, such as mountains, oceans, and terrain, while others are restricted by various laws, such as privacy and copyright laws. This thesis investigates how data subjects can voluntarily consent and participate in the collection, utilization, and distribution of their data, overcoming legal restrictions. We design a system that creates specific spaces in public places, engages businesses to define the data needed for learning, and rewards citizens for voluntarily participating in the collection of Multimodal MyData in specific spaces. In addition, a system that enables authentication, distribution, and sale/resale of generated data in connection with the government's MyData platform will be implemented. If this is led by the government, it will be possible to collect data for learning in a new way without legal sanctions for each learning domain, which will further revitalize the development and utilization of AI technology.