• 한국항해항만학회지
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• 제33권5호
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• pp.323-330
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• 2009

병렬기구를 이용하여 항만공사를 위한 수중로봇을 개발하였다. 수중으로 큰 피복석을 옮기기 위해 수중로봇은 크레인에 의해 권양된다. 수중로봇의 요오와 피치운동은 유압 실린더에 의해 제어되지만 롤 운동은 제어되지 않는다. 롤 운동을 위해 로봇 양쪽에 프로펠러가 장착되어 제어된다. 본 논문은 수중로봇의 롤 운동제어에 관한 것이다. 롤 운동 각도를 측정하기 위해 자이로 센서가 사용되었다. 로봇의 롤 운동을 2차 비선형 시스템으로 나타내고 반복 리스트 스퀘어 방법과 적응인식 방법으로 동적 모델을 찾았다. 동적 모델로 외란을 보상하기 위한 제어입력을 계산하고 PD 제어, 반복 리스트 스퀘어 모델 베이스 제어, 적응 모델 베이스 제어를 롤 운동제어에 적용했다. 수중로봇의 시스템을 설명하고 제안한 제어기의 시뮬레이션과 실험결과를 보인다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.475-475
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• 2000

This paper describes the construction of an autonomous mobile robot with functions of collision avoidance and speech recognition that is used for teaching path of the robot. The human voice as a teaching method provides more convenient user-interface to mobile robot. For safe navigation, the autonomous mobile robot needs abilities to recognize surrounding environment and avoid collision. We use u1trasonic sensors to obtain the distance from the mobile robot to the various obstacles. By navigation algorithm, the robot forecasts the possibility of collision with obstacles and modifies a path if it detects dangerous obstacles. For these functions, the robot system is composed of four separated control modules, which are a speech recognition module, a servo motor control module, an ultrasonic sensor module, and a main control module. These modules are integrated by CAN(controller area network) in order to provide real-time communication.

• International Journal of Precision Engineering and Manufacturing
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• 제6권3호
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• pp.29-36
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• 2005

With the rapid growth of the Internet, the Internet-based robot has been realized by connecting off-line robot to the Internet. However, because the Internet is often irregular and unreliable, the varying time delay in data transmission is a significant problem for the construction of the Internet-based robot system. Thus, this paper is concerned with the development of an Internet-based robot system, which is insensitive to the Internet time delay. For this purpose, the PPS (Position Prediction Simulator) is suggested and implemented on the system. The PPS consists of two parts : the robot position prediction part and the projective virtual scene part. In the robot position prediction part, the robot position is predicted for more accurate operation of the mobile robot, based on the time at which the user's command reaches the robot system. The projective virtual scene part shows the 3D visual information of a remote site, which is obtained through image processing and position prediction. For the verification of this proposed PPS, the robot was moved to follow the planned path under the various network traffic conditions. The simulation and experimental results showed that the path error of the robot motion could be reduced using the developed PPS.

• 드라이브 ㆍ 컨트롤
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• 제14권4호
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• pp.51-60
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• 2017

In this study to develop disaster response robot in complex disaster site, we present the design of hydraulic manipulators for armored robot systems. To this end, we performed voice of customer researches with firefighters and rescue personnel. We created and analyzed the mission scenario of firefighters and rescue personnel in complex disaster situations, and derived the required functions of the robot to successfully perform missions. A heavy-duty, heat resistant, dexterous hydraulic robot manipulators is designed to realize the required functions. The designed robot has been verified through simulations and analysis in terms of the working area of the robot, actuating torques, and temperature analysis.

• 대한건축학회논문집:구조계
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• 제34권11호
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• pp.45-54
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• 2018

The primary objective of this study is to develop a conceptual design of all-in-one attachment based steel pipe pile cutting robot that improves the conventional work in safety, quality, convenience and productivity. For this, the following research works are conducted sequentially; 1)literature review, 2)field investigation, 3)selection of element technology for conceptual design, 4)deduction of conceptual design and its work process, 5)technical feasibility analysis of the conceptual design and its work process. As a result, leveling laser and laser detector, plasma cutter, rotary grapple are selected as core technologies. Futhermore, a conceptual design and work process of an all-in-one attachment based steel pipe pile cutting robot are developed based on the core technologies. According to the technical feasibility analysis result, at least 76.8% of the respondents are selected positive answer about each device of the all-in-one attachment based steel pipe cutting robot. It is expected that the application range and impact on the construction industry will be enormous due to the increasing trend of the steel pipe pile market.

• 대한건축학회논문집:구조계
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• 제35권2호
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• pp.37-44
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• 2019

The primary objective of this study is to develop a prototype of all-in-one attachment-based PHC pile head cutting robot that improves the conventional work in safety, productivity, and quality. For this, the following research works are conducted sequentially; 1)literature review, 2)development of an all-in-one attachment-based PHC pile head cutting robot prototype, 3)performance evaluation of each device, 4)economic analysis of an automated method. As a result, PHC pile cutting level sensing device, PHC pile cutting device, PHC pile handling device are developed. Futhermore, working process of an automated method is developed based on result of performance evaluation. According to the economic analysis result, the cost of the automated method was 21.37% less than that of the conventional method, and the economic efficiency was also superior(ROR 215.44%, Break-even Point 5.52month). It is expected that conclusions for future improvements are used in the development of the all-in-one attachment-based PHC pile head cutting robot to practical use.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.475-480
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• 2002

The Field Robot means the machinery applied for outdoor tasks in construction, agriculture and undersea etc. In this study, to field-robotize a hydraulic excavator that is mostly used in construction working, we developed an interfacing hardware part of stroke sensing cylinder using magnetic sensor and estimated its performance. It is illustrated by experiment that the proposed control system by stroke sensing cylinder gives good performances in the position control

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.105.3-105
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• 2002

The Field Robot means the machinery applied for outdoor tasks in construction, agriculture, and undersea etc. In this study, to robotize the hydraulic excavator that is mostly used in construction working. we developed an interfacing hardware units of stroke sensing cylinder using magnetic sensor and estimated its performance. It is illustrated by experiment that the proposed control system by stroke sensing cylinder gives good performances in the position control.

• 드라이브 ㆍ 컨트롤
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• 제19권2호
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• pp.27-35
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• 2022

This study presents one man-portable, hazardous gas detecting and capturing robot. The robot can be fit in the trunk of a sedan car. Its weight is less than 20 kg. A dedicated gas intake mechanism is proposed for the robot. The robot can detect and capture gases at a height of 2 m above the ground, although the height of the robot is about 0.2 m. The performance of the gas intake mechanism is verified through computational fluid dynamics (CFD) analysis and experiments. Its gas detecting signals were acquired by serial communication and processed in Robot Operating System (ROS) based control software. The proposed robot can successfully move on rough terrains such as stairs, sand roads, and rock roads.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.843-848
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• 2007

Quadruped robot is very useful mechanism for a various area. Recently, home entertainment and military robots adapted quadruped platform and useful function have been introduced. Our goal is the development of quadruped robot locomotion for any type of ground included to sloping one and irregular terrain. This paper, as a first step, deals with design and construction of quadruped robot walking on the flat ground. The most important factor of quadruped robot is stability of locomotion. At first, we introduce the developed quadruped robot based on dynamic simulation and experimental study of general gait algorithm. Finally, propose unique locomotion proper to our mechanism. Future work of this study is the performance test and analysis on the ground of various conditions and proposes the improved mechanism and gait algorithm.