• Journal of Korean Society of Industrial and Systems Engineering
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• v.47 no.3
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• pp.95-103
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• 2024

The diversity of smart EV(electric vehicle)-related industries is increasing due to the growth of battery-based eco-friendly electric vehicle component material technology, and labor-intensive industries such as logistics, manufacturing, food, agriculture, and service have invested in and studied automation for a long time. Accordingly, various types of robots such as autonomous mobile robots and collaborative robots are being utilized for each process to improve industrial engineering such as optimization, productivity management, and work management. The technology that should accompany this unmanned automobile industry is unmanned automatic charging technology, and if autonomous mobile robots are manually charged, the utility of autonomous mobile robots will not be maximized. In this paper, we conducted a study on the technology of unmanned charging of autonomous mobile robots using charging terminal docking and undocking technology using an unmanned charging system composed of hardware such as a monocular camera, multi-joint robot, gripper, and server. In an experiment to evaluate the performance of the system, the average charging terminal recognition rate was 98%, and the average charging terminal recognition speed was 0.0099 seconds. In addition, an experiment was conducted to evaluate the docking and undocking success rate of the charging terminal, and the experimental results showed an average success rate of 99%.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.28 no.9
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• pp.713-722
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• 2017

In the future battlefield, the role of the unmanned vehicle is very important. Currently, charging and management systems for unmanned vehicles are all wired. However, for convenience and stability, it is desirable that the charging of the unmanned vehicle uses wireless power transfer system. In this paper, we have studied the application of wireless power transfer system to the charging of unmanned vehicles. Considering the size of the unmanned vehicle and the required power, the transmission coil and the receiving coil are designed through the finite element analysis based magnetic field simulation. The coil was made according to the simulation results and the circuit simulation was performed through the measured parameter values. Finally, we show that wireless power transmission can be applied to unmanned mobile charging through actual experiments.

• Journal of the Korea Society of Computer and Information
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• v.15 no.3
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• pp.99-109
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• 2010

Since introduced in 1997, the transportation card system in Korea has been developed up to the world-top-tier technical level and gradually implemented in many other countries. Especially, the public transportations are significantly considered in terms of reducing greenhouse gas emission and environment pollution. In addition, a nation-wide transportation card system will be feasibly completed until 2013. However, for overcoming user's inconvenience, the unmanned sales/charging machines of the cards should be urgently required. In this paper, a new integrated operating system for unmanned sales/charging machines of such cards is designed and implemented by analyzing problems of the existing machines. The proposed system is hierarchically composed of multiple modules; machine initialization, work finishing, sales, charging, A/S handling, and management modules. We established and operated this machine in Seoul and Gyeonggi region. This research demonstrates that spread of the user-friendly integrated operating system improve user's convenience especially with respect to interoperability among transportation means and their areas.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.74.5-74
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• 2001

The wave power plant is a generating system to convert the wave energy resources to electric energy. ´CHUJEON A´, which is a prototype of wave power plant developed by KORDI(Korea Ocean Research and Development Institute), has been launched for its performance test. A wound rotor induction machine is adopted as a generator for the power plant to acquire constant frequency and voltage over wide range of rotor speed. Because the generator of ´CHUJEON A´ has no connection to the power grid line on land, all of the processes to generate and consume the electricity have to be conducted on the floating plant. This paper deals with the design and implementation of the unmanned control system for ´CHUJEON A´. The system includes generator control system, power conversion and charging system, data acquisition and wireless communication system ...

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.4
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• pp.415-424
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• 2004

Cooling the electronic equipment is one of the major focal points of the design process and the key to successful product launch. The two-phase loop thermosyphone which is a good candidate among many available options was investigated fur cooling of the high power amplifiers. The system is composed of evaporator which contains 6 parallel cold plates, fan cooled condenser, gas-liquid separator, and interconnecting tubes. Experiments were performed for several refrigerant charging values, hs and as a experiment result, the optimum charging value fur this system was proposed. In order to optimize the system design, the operating cycle pressure and inlet/outlet temperatures of evaporator and condenser are measured and analyzed. The effect of the three parameters such as flow rate and temperature of condenser cooling air, and thermal load on the evaporator are investigated. The lower the operating pressure and the cycle temperatures are also better to prevent the leakage of the system. The system invesigated in this paper can be directly used for cooling of a real unmanned wireless communication station.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.810-816
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• 2007

A security robot system named EGIS-SR is a mobile security robot through one of the new growth engine project in robotic industries. It allows home surveillance through an autonomous mobile platform using onboard cameras and wireless security sensors. EGIS-SR has many sensors to allow autonomous navigation, hierarchical control architecture to handle lots of situations in monitoring home surveillance and mighty networks to achieve unmanned security services. EGIS-SR is tightly coupled with a networked security environment, where the information of the robot is remotely connected with the remote cockpit and patrol man. It achieved an intelligent unmanned security service. The robot is a two-wheeled mobile robot and has casters and suspension to overcome a doorsill. The dynamic motion is verified through $ADAMS^{TM}$ simulation. For the main controller, PXA270 based hardware platform based on linux kernel 2.6 is developed. In the linux platform, data handling for various sensors and the localization algorithm are performed. Also, a local path planning algorithm for object avoidance with ultrasonic sensors and localization using $StarGazer^{TM}$ is developed. Finally, for the automatic charging, a docking algorithm with infrared ray system is implemented.

• KIPS Transactions on Computer and Communication Systems
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• v.8 no.12
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• pp.277-286
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• 2019

The Unmanned Aerial Vehicle (UAV) is one of the most precious inventions of Internet of things (IOT). UAV faces the necessity to charge battery or replace battery from the charging stations during or between services. We propose scheduling algorithms for drone power charging (SADPC). The basic idea of algorithm is considering both a deadline (for increasing deadline miss ratio) and a charging time (for decreasing waiting time) to decide priority on charging station among drones. Our simulation results show that our power charging algorithm for drones are efficient in terms of the deadline miss ratio as well as the waiting time in general in compare to other conventional algorithms (EDF or SJF). Also, we can choose proper algorithms for battery charge scheduling and charge ready battery allocation according to system parameters and user requirements based on our simulation.

• Journal of electromagnetic engineering and science
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• v.19 no.1
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• pp.48-55
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• 2019

Unmanned aerial vehicles (UAVs) using communications, sensors, and navigation equipment will play a key role in future warfare. Currently, UAVs are monitored to prevent misfire and accidents, and the conventional method adopted uses wires for data transmission and power supply. The repeated connection and disconnection of cables increases maintenance time and harms the connector. For convenience and stability, a wireless power transfer system to power UAVs is needed. Unlike other wireless power transfer (WPT) applications, the size of the receiving coils must be small, so that the WPT systems can be embedded inside space-limited UAVs. The small size reduces the coupling coefficient and transfer efficiency between the transmitting and the receiving coils. In this study, we propose a toroidal-shaped coil for a WPT system for UAVs with high coupling coefficient with minimum space requirements. For validation, conventional coils and the proposed toroidal-shaped coil were used and their coupling coefficient and power transfer efficiency were compared using simulated and measured results. The simulated and measured results were strongly correlated, confirming that the proposed WPT system significantly improved efficiency with negligible change in the space requirement.

• IEMEK Journal of Embedded Systems and Applications
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• v.18 no.2
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• pp.75-80
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• 2023

Unmanned drone stations for automatic charging have been developed in order to overcome the flying time limitation of rotary wing drones. Since the drone stations is an unmanned operating system, each of the drones will be required to have a high degree of landing accuracy. Drone precision landing has been mainly studied depended on image processing technologies, but the image processing systems make several problems, such as the mission weight, the drone cost, and the development complexity increases, and the flight time decrease. Thus, this paper researched accuracy of precision landing based on RTK (real time kinetics) for rotary wing drones. For the experiments of RTK based precision landing, a drone repeatedly performed three missions. The survey accuracies of the RTK about missions respectively were set as 0.3, 0.2, and 0.1 meters. Each mission has one take-off point, two way-points and one landing-point, and was repeated ten times. The experiment results revealed landing error distance means of around 0.258, 0.12 and 0.057 meters on each of RTK setting.

• Journal of Digital Convergence
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• v.19 no.12
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• pp.145-150
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• 2021

In order to continuously perform quarantine in public places, it is not easy to secure manpower, but using self-driving-based robots can solve problems caused by manpower. Self-driving-based quarantine robots can continuously prevent the spread of harmful viruses and diseases in public institutions and hospitals without additional manpower. The location of the autonomous driving function was estimated by applying the Pinnacle filter algorithm, and the UV sterilization system and chlorine dioxide injection system were applied for quarantine. The driving time is more than 3 hours and the position error is 0.5m.Soon, the stop-avoidance function was operated at 95% and the obstacle detection distance was 1.5 m, and the automatic charge recovery was charged by moving to the charging cradle at the remaining 10% of the battery capacity. As a result of quarantine with an unmanned quarantine system, UV sterilization is 99% and chlorine dioxide is sterilized more than 95%, which can contribute to reducing enormous social costs.