• 한국화재소방학회:학술대회논문집
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• 한국화재소방학회 2007년도 추계학술논문발표회 논문집
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• pp.237-242
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• 2007

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.1167-1168
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• 2011

• 한국화재소방학회:학술대회논문집
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• 한국화재소방학회 2007년도 추계학술논문발표회 논문집
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• pp.219-224
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• 2007

• 제어로봇시스템학회논문지
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• 제13권2호
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• pp.108-113
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• 2007

The robot introduced in this paper is the Fire-Extinguishing Rescue Robot for indoor work which is considered to be a part of the Operation for Future Developmental Power. It is briefly introduced about the background of how we began this project, our goals, where we are today and what we would like to achieve from now on. Main contents include introduction to the equipments for Fire-Extinguishing Rescue robots that have been developed in advanced countries and the compositional concept of the developmental process, the GUI schematic, searching methods for fire inside a house, mechanical schematic and the present conditions of how the core technologies are developing through.

• 한국화재소방학회논문지
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• 제29권6호
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• pp.109-118
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• 2015

고열과 다량의 연기, 유독가스, 방사능 등을 수반하는 사고 현장에서 소방관을 대신하여 시야확보가 가능하고 화염으로 인한 고열을 극복하며 탐색 및 구조활동을 수행할 수 있는 3종의 특수한 정찰로봇이 최근 개발되었다. 이러한 로봇은 내열성능과 다양한 장애물 극복성능이 있어야 하고 화재진압성능과 탐색성능도 갖추어야 한다. 본 연구에서는 이러한 특수재난지역 정찰로봇의 다양한 성능시험을 통해 실용성을 검증하고자 하였다. 시험결과 소형 및 중형 로봇은 $100{\sim}200^{\circ}C$의 주위환경에서, 소방관탑승형 로봇은 $500^{\circ}C$의 환경에서도 30분 이상 활동이 가능한 것으로 나타났고, 특히 소방관 탑승형 로봇은 A 10 단위 화재모형을 3분 이내에 소화하여 화재진압성능도 우수한 것으로 나타났다. 또한 3종 로봇 모두 다양한 장애물 극복성능과 현장운용성능이 양호한 것으로 확인되어 특수재난현장에서의 활약이 기대된다.

• 한국화재소방학회:학술대회논문집
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• 한국화재소방학회 2007년도 추계학술논문발표회 논문집
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• pp.213-218
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• 2007

• 로봇학회논문지
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• 제13권4호
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• pp.237-247
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• 2018

In this paper, we describe a sensor module that monitors fire environment by analyzing fire characteristics. We analyzed the smoke characteristics of indoor fire. Six different environments were defined according to the type of smoke and the flame, and the sensors available for each environment were combined. Based on this analysis, the sensors were selected from the perspective of firefighter. The sensor module consists of an RGB camera, an infrared camera and a radar. It is designed with minimum weight to fit on the robot. the enclosure of sensor is designed to protect against the radiant heat of the fire scene. We propose a single camera mode, thermal stereo mode, data fusion mode, and radar mode that can be used depending on the fire scene. Thermal stereo was effectively refined using an image segmentation algorithm, SLIC (Simple Linear Iterative Clustering). In order to reproduce the fire scene, three fire test environments were built and each sensor was verified.

• 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.

• 한국산업융합학회 논문집
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• 제22권5호
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• pp.553-559
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• 2019

Various types of nozzles have been used to cope with fire in ships. However, in Korea, precise nozzles that perform fine spraying function are required for fire fighting in case of fire in a ship, and most of these nozzles depend on imports. Therefore, in this study, we developed various types of nozzles to develop the water spray nozzle for evolving fire in the engine room of the ship, and developed an optimal nozzle through flow analysis and fire test. For this purpose, we selected the materials that can satisfy the characteristics of existing nozzle materials and developed the design technology and processing technology in the nozzle considering fluid flow to achieve optimal water spraying performance. In order to develop an optimal nozzle, the flow through the finite element analysis was first analyzed and the nozzle was manufactured. As a result of flow analysis of the developed nozzle, the maximum velocity at the outlets of four holes at 0.3 MPa was about 3m/s and about 0.15 MPa. In addition, when the pressure at the inlet was 1.8 MPa, it showed the outlet speed of about 18m/s and a pressure of 1.2 MPa.

• 대한안전경영과학회지
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• 제18권4호
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• pp.99-105
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• 2016

This study was conducted to develop a dummy in an environment similar to the human body, to prepare a standard for evaluation and to present the process of the production in order to evaluate the performance of the robot that can detect the persons needing rescue in a confined space, who are difficult for fire-fighting officials to rescue in case of fire and disaster. As a result, a standard for evaluation was developed and standardized into four parts 'Normal,' 'Risk Stage 1,' 'Risk Stage 2' and 'Risk Stage 3'based on the number of breath cycles, carbon dioxide concentration, core temperature and criteria for hearing to recognize the voice. In addition, in order to produce a dummy, fever, breathing capacity and voice output function were compared and analyzed. This study has significance that it built up basic data of the method of producing the actual dummy, by presenting characteristics and controlling methods using the waterproof insulation heating coil for the function, solenoid valve for the consecutive output of breathing capacity and USB program sound board for voice output.