• Journal of the Korean Society for Precision Engineering
• /
• v.30 no.11
• /
• pp.1161-1169
• /
• 2013

In this paper an omni-directional mobile robot is suggested for educational robot platform. Comparing to other robots, a mobile robot can be easily designed and manufactured due to its simple geometric structure. Moreover, since it is required to have low DOF motion on planar space, fabrication of control system is also simple. In this research, omni-directional wheels were adopted to remove the non-holonomic characteristic of conventional wheels and facilitate control system design. Firstly, geometric structure of a Mecanum wheel which is a most frequently used omni-directional wheel was demonstrated. Then, the organization of the mobile platform was suggested in aspects of mechanism manufacturing and electronic hardware design. Finally, a methodology of control system development was introduced for educational purpose. Due to an intuitive motion generating ability, simple hardware composition, and convenient control algorithm applicability, the omni-directional mobile robot suggested in this research is expected to be a promising educational platform.

• International Journal of Control, Automation, and Systems
• /
• v.6 no.1
• /
• pp.86-100
• /
• 2008

Most of the previously employed dynamic modeling approaches, including Natural Orthogonal Complement Algorithm, have limitations on their application to the mobile robot, specifically at singular configurations. Also, in their dynamic modeling of mobile robots, wheel dynamics is usually ignored assuming that its dynamic effect is negligibly small. As a remedy for this, a singularity-free operational space dynamic modeling approach based on Lagrange's form of the D' Alembert principle is proposed, and the singularity-free characteristic of the proposed dynamic modeling is discussed in the process of analytical derivation of the proposed dynamic model. Then an accurate dynamic model taking into account the wheel dynamics of the omni-directional mobile robot is derived, and through simulation it is manifested that the effect of the wheel dynamics on the whole dynamic model of the mobile robot may not be negligible, but rather in some cases it is significantly large, possibly affecting the operational performances of dynamic model-based control algorithms. Lastly, the importance of its accurate dynamic model is further illustrated through impulse analysis and its simulation for the mobile robot.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.17 no.5 s.108
• /
• pp.401-407
• /
• 2006

In this paper, we present a small-sized and light weighted dual-band antenna for an access point of 2.4/5 GHz dual-band WLAN(Wireless Local Area Network). The antenna for WLAN should show the characteristic of omni-directional radiation pattern. First, to obtain the omni-directional radiation pattern the proposed dual-band antenna has an orthogonal inverted triangular type element at the center and locates four resonating elements symmetrically around it. Also, for the purpose of easy manufacturing and miniaturization of the antenna, we changed the central element which had the orthogonal inverted triangular type structure into the plate type. Measured $S_{11}$ for the proposed dual-band plate type antenna showed characteristic which was less then -12.8 dB for WLAN frequency bands. Measured results for the maximum gain showed 3.17 dBi at 2.44 GHz, 5.38 dBi at 5.77 GHz with omni-directional radiation pattern. The implemented antennas showed applicable performances for the access point of WLAN.

• Transactions on Control, Automation and Systems Engineering
• /
• v.4 no.2
• /
• pp.147-155
• /
• 2002

In this paper, the regular rotational gaits of the quadruped crawling robot are studied. It is assumed that the proposed regular rotational gaits starts from one of six support patterns in a translational gaits and end up with one of six support patterns in a translational gaits. Noting that six support patterns in a regular translational gait belong to two different groups with respect to regular rotational gait, the static stability margin and the maximum rotational displacement during one rotational stride period for the two representative support patterns are investigated. It is expected that the proposed regular rotational gaits will enhance the omni-directional characteristics of the quadruped crawling robot.

• The Journal of the Acoustical Society of Korea
• /
• v.16 no.3
• /
• pp.73-80
• /
• 1997

This paper describes structural optimization of optical fiber-wound mandrel hydrophones with Finite Element Method (FEM). The hydrophone is supposed to have operation frequency range of up to 10 kHz and show omni-directional sensitivity pattern at 5 kHz. Studied parameters are mandrel geometry, molding thickness, and material properties of constitutional parts of the hydrophone. Theoretical calculation result shows that pressure sensitivity of the hydrophone increased as either mandrel length or molding thickness gets larger. Also higher pressure sensitivity requires a mandrel or molding material with relatively low Youngs modulus or Poissons ratio. Hydrophone bandwidth increases either as the mandrel length becomes shorter or as the mandrel becomes harder. The omni-directional characteristic is improved as the mandrel length becomes shorter, at 5 kHz. With the above results, we determine the structure of an optical fiber-wound mandrel hydrophone which has the pressure sensitivity of $30 {\times} 10_{-7}$ Rad./Pa, operation frequency range of up to 10 kHz, and shows omni-directional sensitivity pattern at 5 kHz.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.21 no.12
• /
• pp.1343-1351
• /
• 2010

In this paper, a novel patch antenna based on the metamaterial CRLH(Composite Right- and Left-Handed) structure is designed, implemented, and measured. Contrary to the standard microstrip patch's fundamental resonance mode of half-wavelength or its positive multiple, the proposed antenna shows the in-phase electric field over the entire antenna. The proposed antenna has a desired omni-directional field pattern which is typical characteristic of $\lambda/4$ monopole antenna, and also shows the merit of low profile. HFSS(High Frequency Structure Simulator) of Ansoft which is based on the FEM(Finite Element Method) is used to simulate the proposed antenna. FR-4 substrate of thickness 1.6 mm and relative permitivity 4.4 is used for the proposed antenna implementation. The implemented antenna showed VSWR (Voltage Standarding Wave Ratio)$\leq$2 for the frequency band from 2.63 GHz to 2.655 GHz which is used for S-DMB (Satellite-Digital Multimedia Broadcasting) service. And measured peak gain and efficiency are 2.65 dBi and 81.14 %, respectively.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.5
• /
• pp.487-495
• /
• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.19 no.12
• /
• pp.1416-1426
• /
• 2008

In this paper, we present a small size and multiband directional dipole antenna for mobile communication repeaters. In the omni-directional dipole antenna, a planar reflector under the dipole provides improved directivity in front-direction with wide beamwidth. In order to miniaturize the directive dipole, the size of the reflector is reduced. A vertical stub on the reflector is proposed to enhance the front-directivity of the radiation pattern and mitigate the backward radiation due to the reduced reflector. Furthermore, we use horizontal stubs on edge of vertical stub to obtain additional reduction of the antenna size. To meet the current demand of wireless communication service, the designed antenna shows wideband characteristic by employing electromagnetic coupled two-dipoles with dual-resonance frequencies.

• Proceedings of the IEEK Conference
• /
• 2004.06a
• /
• pp.193-196
• /
• 2004

This paper have a whole azimuth Omni-directional radiation pattern and will become the good radiation efficiency for applies in the steeve antenna and form which is the appearance. We contain by whole course of actual implement model to antenna design. And we will confirm the efficiency the analysis of the antenna to design and through a simulated experiment according to the implementation Ideal characteristic of the antenna to be used between 3.1 and 10.6 GHz of UWB.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1996.11a
• /
• pp.815-819
• /
• 1996

In this work, regular rotational gaits of the quadruped crawling robot required to change its moving direction without affecting be its orientation and its static stability margin are studied. The regular rotational gaits provide the quadruped crawling robot with omnidirectional characteristics. However, the ideal foothold region for each of legs of the quadruped crawling robot is assumed for simplicity. Nonetheless, it is expected that the results of this paper will provide the insight for both design of legs of the crawling robot with omnidirectional characteristics as well as its operation of the crawling robot system with specified stability margin.