• Special Issue of the Society of Naval Architects of Korea
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• 2006.09a
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• pp.112-121
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• 2006

The vertical displacement of a ship on the basis of the sea level is an important parameter for its stability and control. To indicate the displacement on operating conditions, "draft marks" are carved on the hull of the ship in various ways. One of the methods is welding. The position, shape and size of the marks are specified on the shipbuilding rules by classification societies to be checked by shipbuilders. In most cases, high-skilled workers do the welding along the drawing for the marks and welding bead becomes the marks. But the inaccuracies due to human errors and high labor cost increase the needs for automating the work process of the draft marks. In the preceding work, an indoor robot was developed for automatic marking system on flat surfaces and the work proved that the robot welding was more effective and accurate than manual welding. However, many parts of the hull structure constructed at the outdoor are cowed shapes, which is beyond the capability of the robot developed for the indoor works on the flat surface. The marking on the curved steel surface requiring the 25m elevations is one of the main challenges to the conventional robots. In the present paper, the robot capable of climbing vertical curved steel surfaces and performing the welding at the marked position by effectively solving the problems mentioned earlier is presented.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1281-1284
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• 1997

In this article, the configuration of weight lifer is analyzed using manipulibility polytope. After modeling body as 7-link redundant robot, optimal joint angles during first stage are searched by dynamic programmi technique and compared with standard reference data.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.55.5-55
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• 2002

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.38.4-38
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• 2002

We propose a fast map-matching algorithm based on the length and the slope for the sequence of lines extracted from a laser range finder and a map. After finding two feature set from laser data and a map, the position and heading of the mobile robot can be determined exactly.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1259-1263
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• 2004

This paper describes position estimation algorithm using neural network for the navigation of the vision-based wheeled mobile robot (WMR) in a corridor with taking ceiling lamps as landmark. From images of a corridor the lamp's line on the ceiling in corridor has a specific slope to the lateral position of the WMR. The vanishing point produced by the lamp's line also has a specific position to the orientation of WMR. The ceiling lamps have a limited size and shape like a circle in image. Simple image processing algorithms are used to extract lamps from the corridor image. Then the lamp's line and vanishing point's position are defined and calculated at known position of WMR in a corridor. To estimate the lateral position and orientation of WMR from an image, the relationship between the position of WMR and the features of ceiling lamps have to be defined. But it is hard because of nonlinearity. Therefore, data set between position of WMR and features of lamps are configured. Neural network are composed and learned with data set. Back propagation algorithm(BPN) is used for learning. And it is applied in navigation of WMR in a corridor.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.28-38
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• 2014

This paper verifies the performance of Extended Kalman Filter(EKF) and MCL(Monte Carlo Localization) approach to localization of an underwater vehicle through experiments. Especially, the experiments use acoustic range sensor whose measurement accuracy and uncertainty is not yet proved. Along with localization, the experiment also discloses the uncertainty features of the range measurement such as bias and variance. The proposed localization method rejects outlier range data and the experiment shows that outlier rejection improves localization performance. It is as expected that the proposed method doesn't yield as precise location as those methods which use high priced DVL(Doppler Velocity Log), IMU(Inertial Measurement Unit), and high accuracy range sensors. However, it is noticeable that the proposed method can achieve the accuracy which is affordable for correction of accumulated dead reckoning error, even though it uses only range data of low reliability and accuracy.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.24 no.3
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• pp.77-85
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• 2024

In this dissertation, a we designed and implemented a patrol robot that integrates a thermal imaging camera, speed dome camera, PTZ camera, radar, lidar sensor, and smartphone. This robot has the ability to monitor and respond efficiently even in complex environments, and is especially designed to demonstrate high performance even at night or in low visibility conditions. An orbital movement system was selected for the robot's mobility, and a smartphone-based control system was developed for real-time data processing and decision-making. The combination of various sensors allows the robot to comprehensively perceive the environment and quickly detect hazards. Thermal imaging cameras are used for night surveillance, speed domes and PTZ cameras are used for wide-area monitoring, and radar and LIDAR are used for obstacle detection and avoidance. The smartphone-based control system provides a user-friendly interface. The proposed robot system can be used in various fields such as security, surveillance, and disaster response. Future research should include improving the robot's autonomous patrol algorithm, developing a multi-robot collaboration system, and long-term testing in a real environment. This study is expected to contribute to the development of the field of intelligent surveillance robots.

• Journal of The Institute of Information and Telecommunication Facilities Engineering
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• v.5 no.1
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• pp.13-24
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• 2006

This paper proposes a wireless management system for a pet dog using wireless sensor network. The developed intelligent wireless management system is compose of a central control system, auto-feeder, miniguidance robot, and wireless sensing devices. The developed system uses three types of sensed data such as light, temperature, md sounds from a pet dog and surrounded environment respectively. The presented design method using these data provides an efficient way to controlling and monitoring the pet dog. The implemented system can be used as a design framework of portable device for the pet management.

• Journal of The Institute of Information and Telecommunication Facilities Engineering
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• v.7 no.1
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• pp.1-13
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• 2007

This paper proposes a wireless management system for a pet dog using wireless sensor network. The developed intelligent wireless management system is compose of a central control system, auto-feeder, mini-guidance robot, and wireless sensing devices. The developed system uses three types of sensed data such as light, temperature, and sounds from a pet dog and surrounded environment respectively. The presented design method using these data provides an efficient way to controlling and monitoring the pet dog. The implemented system can be used as a design framework of portable device for the pet management.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.138.4-138
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• 2001

The purpose of this research is to build a quality-improved occupancy grid map for path-planning of an autonomous mobile robot(AMR) based on the measurements from a single ultrasonic sensor, which are acquired when the autonomous mobile robot explores unknown indoor environment. The AMR navigates in the unknown space by following the wall and gathers the range data using the ultrasonic sensor, from which the occupancy grid map is constructed by associating the range data with occupancy certainties. In order to increase the quality of the map we modify the Bayesian probability updating rule, reject non-systematic measurement errors and correct the predictable error of the AMR itself. These procedures are implemented and tested using an AMR, and primary results are presented in this paper.