• Journal of Electrical Engineering and Technology
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• v.12 no.4
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• pp.1634-1640
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• 2017

The purpose of this study is based on the electromagnet robot with a four-wheel drive which can climb up and down on structures of iron wall instead of human workers. Many of studies strive to develop wall riding-robots in terms of absorption system. However, the system needs additional devices too much to work out as well as electromagnetic wheel system also has much expense to make it. In this regard, this study makes efforts to find the way how to keep steady distance between wheel and wall while using general electromagnet to reduce motor load and to move robot so easily.

• Fire Science and Engineering
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• v.29 no.6
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• pp.109-118
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• 2015

Recently, three kinds of search robot prototypes were developed to assume the role of fire fighters for search and rescue missions in special disaster areas with high heat, smoke, toxic gases, or radioactivity. To accomplish search missions, these robots should be able to endure heat, overcome various obstacles, suppress fires, and see through dense smoke. This study investigated the heat resistance, practicality, and fire fighting capacity of these robots. The results show that the small and middle-sized robots were resistant to surrounding temperatures of $100{\sim}200^{\circ}C$, and the fire-fighter-riding robot could endure up to $500^{\circ}C$ for half an hour. The fire-fighter-riding robot showed excellent extinguishing performance on an A-10 class fire model, which was extinguished within 3 min. The robots also showed various capacities for overcoming obstacles and are expected to play an active role in various special disaster areas.

• The Journal of Korea Robotics Society
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• v.8 no.4
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• pp.229-237
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• 2013

In this paper, we report a self-balancing robot wheelchair which has the capability of keeping upright posture regardless of the terrain inclination in terms of the three dimensional balancing motion. It has the mobility of five degrees of freedom, where pitching, yawing, and forward motions are generated by the two-wheeled inverted pendulum mechanism and the rolling and vertical motions are implemented by the movement of the tilting mechanism. Several design considerations are suggested for the sliding type vehicle body, wheel actuator module, tilting actuator module, power and control system, and the riding module.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.2
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• pp.186-192
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• 2014

This study presents the remote control of a board robot using an IMU sensor based on Bluetooth communication. The board robot is a kind of riding robot controlled throng wireless communication by a user. The user wears the proposed IMU sensor controller, and changes a direction of the robot by the angles of IMU sensor. Bluetooth is used for wireless communication between the board robot and its user. The IMU sensor in the remote controller is used for recognition of a number of actions, which are measured as analog signals. The user actions have five commands ('1'right '2'neutrality '3'left '4'operation '5'stop), which are transmitted from the user to the board robot through Bluetooth communication. Experimental results show that proposed IMU interface can effectively control the board robot.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.4
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• pp.341-347
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• 2013

This study presents the remote control of a board robot using a Sensing glove based on Bluetooth communication. The board robot is a kind of riding robot controlled by an user. The user wears the proposed remote glove controller, and changes a direction of the robot by different kinds of finger actions. Bluetooth is used for wireless communication between the board robot and its user. CdS cell Sensors and a LED in the glove are used for recognition of a number of finger actions, which are measured as analog signals. The finger actions have five commands ('1'right '2'neutrality '3'left '4'operation '5'stop), which are transmitted from the user to the board robot through Bluetooth communication. Experimental results show that proposed a Sensing glove can effectively control the board robot.

• Journal of Biosystems Engineering
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• v.43 no.4
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• pp.273-284
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• 2018

Purpose: Conventional headland turning typically requires repeated forward and backward movements to move the farming equipment to the next row. This research focuses on developing an upland agricultural robot with an optimized headland turning mechanism that enables a $180^{\circ}$ turning positioning to the next row in one steering motion designed for a two-wheel steering, four-wheel drive agricultural robot named the HADA-bot. The proposed steering mechanism allows for faster turnings at each headland compared to those of the conventional steering system. Methods: The HADA-bot was designed with 1.7-m wide wheel tracks to travel along the furrows of a garlic bed, and a look-ahead path following algorithm was applied using a real-time kinematic global positioning system signal. Pivot turning tests focused primarily on accuracy regarding the turning radius for the next path matching, saving headland turning time, area, and effort. Results: Several test cases were performed by evaluating right and left turns on two different surfaces: concrete and soil, at three speeds: 1, 2, and 3 km/h. From the left and right side pivot turning results, the percentage of lateral deviation is within the acceptable range of 10% even on the soil surface. This U-turn scheme reduces 67% and 54% of the headland turning time, and 36% and 32% of the required headland area compared to a 50 hp tractor (ISEKI, TA5240, Ehime, Japan) and a riding-type cultivator (CFM-1200, Asia Technology, Deagu, Rep. Korea), respectively. Conclusion: The pivot turning trajectory on both soil and concrete surfaces achieved similar results within the typical operating speed range. Overall, these results prove that the pivot turning mechanism is suitable for improving conventional headland turning by reducing both turning radius and turning time.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.6 no.1
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• pp.17-27
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• 2012

This study provides development information on Omni-Wheel Drive Rider Robot, futuristic electric scooters, with autonomous driving systems that are used for people including the disabled and senior. Also, it is meaningful in suggesting alternatives to replace motorized wheelchairs or electric scooters for the future. Prior to development of Omni-Wheel Drive Rider Robot with autonomous driving systems, it surveyed 49 people, including 18 people who own electric scooters and 31 senior people who have not. The summary of the survey is as follows. First, inconveniences during riding and exiting and short mileage due and safety driving to problems of recharging batteries are the most urgent task. For these problems, the study shows that charging time of batteries, mileage, armrests, footrests, angle of a seat are the primary considerations. Second, drivers prefer joystick over steering wheels because of convenience in one-handed driving against dangers from footrest and carriageways sloping roads, paving blocks. One-handed driving can reduce driving fatigues with automatic stop systems. Moreover, the study suggests many design factors related to navigation systems, obstacle avoidance systems, omni-wheels, automatic cover-opening systems in rainy.

• The Journal of the Convergence on Culture Technology
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• v.1 no.1
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• pp.73-77
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• 2015

Existing sports simulators on the market focus on the motion of platform or reality expression using basic visual contents, and are limited to entertainment products. Therefore, the stimulus on 5 senses is not good enough to be applied on high virtual reality. Moreover, there are not enough professional contents to be applied to an educational sports simulator. In this paper, we developed a sport platform by separating the multi axis based common platform module and the sports application module. We designed the common platform which has 4 degrees of freedom such as surge, sway, heave and yaw motion. This platform has the purpose of stabilizing motion and minimizing interference. The changeable sport module which is attached to the common module has 2 degrees of freedom such as roll and pitch, so that it can be applied to the various fields of 2 degrees of freedom virtual reality sports such as horse riding and yacht.