• 정보보호학회논문지
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• 제34권4호
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• pp.681-691
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• 2024

최근 수년 동안 무인지상차량 및 무인항공기와 같은 Robotics 분야에 대한 연구 및 개발이 활발히 진행되고 있다. 이러한 발전에는 서로 다른 애플리케이션 간의 통신 및 데이터 관리를 원활하게 해주는 미들웨어의 사용이 중요한 역할을 하고 있으며, 여러 가지의 산업용 통신 미들웨어 프로토콜들이 출시되고 있다. 그중 ROS (Robot Operating System)가 로봇 시스템 개발을 위한 주요 플랫폼으로 널리 사용되고 있지만, 초기 설계 과정에서 보안 측면을 전혀 고려하지 않았기 때문에 통신을 도청하거나 악의적인 메시지를 주입하는 등의 다양한 공격에 취약한 상태이다. 이에 대응하기 위해, ROS에 대한 보안 솔루션을 제안하는 많은 연구가 진행되고 있으며, 특히 침입 탐지 시스템을 위한 ROS 데이터셋을 제안하는 연구도 진행되었지만, 이와 같은 연구는 매우 부족한 상황이다. 본 논문에서는 ROS 침입 탐지 시스템의 성능 발전에 기여할 수 있도록 ROS 환경에서 발생 가능한 새로운 유형의 공격 시나리오를 제안하고, 실제 로봇 시스템으로부터 수집한 ROS 공격 데이터셋을 구축하며 오픈 데이터셋으로 제공한다.

• 한국멀티미디어학회논문지
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• 제21권12호
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• pp.1459-1466
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• 2018

Robots which detect human and recognize action are important factors for human interaction, and many researches have been conducted. Recently, deep learning technology has developed and learning based robot's technology is a major research area. These studies require a database to learn and evaluate for intelligent human perception. In this paper, we propose a multi-modal sensor-based image database condition considering the security task by analyzing the image database to detect the person in the outdoor environment and to recognize the behavior during the running of the robot.

• 한국산업융합학회 논문집
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• 제16권4호
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• pp.127-132
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• 2013

We describe a research about remote control of mobile robot based on voice command in this paper. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot with two drives.

• 한국산업융합학회 논문집
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• 제18권1호
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• pp.10-17
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• 2015

We describe a research about remote control of mobile robot based on voice command in this paper. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot with two drives.

• 한국기계가공학회지
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• 제10권6호
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• pp.33-38
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• 2011

We describe a research about remote control of mobile robot based on voice command in this paper. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot with two drives.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.622-627
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• 2003

The existing remote control system have some inherent disadvantage of direct control in the limit range. In some special cases, for example, a power apparatus, an unmanned factory, a nuclear factory, a security management system, the tele-operation is needed to control remote robot without limit space. This field is based on the Internet communication. Because the Internet is constructed all over the world. And it is possible that we control remote mobile robot in the long distance. In this paper, we developed a remote control system. This system is divided into two primary parts. These are local site and remote site. There are the moving robot and web server in the remote site and there is the robot control device in local site. The moving robot is moved by two stepper motors and the robot control device consists of SA-1100 micro controller and embedded Linux. And this controller is an embedded system. Public personal computer which is connected the Internet is used for the web server. The web server provides the mobile robot control interface program to the remote controller and captures the image for feedback information. In the whole system, a robot control device is connected with moving robot and web server through the Internet. So the operator can control the moving robot in the distance through the Internet.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.756-760
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• 2005

By development of a robot technology, personal robot is being developed very actively. Various infra-technologies are accumulated in hardware and software how by internal a lot of research and development efforts, and it is circumstance that actual commodity is announced. But, personal robot is applied to be acting near human, and takes charge of safety and connected directly a lot of works of home security, gas-leakage, fire-warning facilities, or/and etc. So personal robot must do safe and stable action even if any unexpected accidents are happened, important functions are always operated. In this paper, we are wished to show design structures for supporting fault-tolerant operation from our real-time robot middleware viewpoint. Personal robot, in being developed, was designed by module structure to do to interconnect and to interoperate among each module that is mutually implemented by each research facilities or company. Also, each modules can use appreciate network system that is fit for handling and communicating its data. To guarantee this, we have being developed a real-time network middleware, for especially personal robot. Recent our working is to add and to adjust some functions like connection management, distributed routing mechanism, remote object management, and making platform independent robot application execution environment with self-moving of robot application, for fault-tolerant personal robot.

• 로봇학회논문지
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• 제4권2호
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• pp.163-168
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• 2009

In this paper, a new driving mechanism of security robotswhich should overcome obstacles with stability even though movingin high speed is introduced. The driving mechanism has spring-based suspension and two wheels positively necessary to overcome obstacles. From the driving mechanism, it is mainly discussed how we can decrease overshoot and impulse occurred when the robot is in the process of overcoming obstacles. Finally, design parameters of the driving mechanism which guarantees stable motion while overcoming obstacles is deduced based on simulation results. Experiments are also followed to demonstrate how well the manufactured system works in its early stage of the practical use.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.315-316
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• 2006

A new cleaning robot system for live-line tension insulator string was developed to prevent an insulator failure, which can have severe effects on national security as well as national industry and economy. The robot moves along the insulator string using the clamps installed on its two moving frames. Especially, unlike the existing cleaning robots using jets of water or water/air, the robot system adopts dry cleaning method using a rotating brush and a circular motion guide. This robot system has control architecture consisting of a master control unit and two slave control units. We confirmed its effectiveness through experiments.

• 한국지능시스템학회논문지
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• 제19권4호
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• pp.532-537
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• 2009

보안이 중요시되는 공간에서 임의의 사람을 추적하고 인식할 수 있는 시스템의 필요성이 점차 중요시 되고 있다. 본 논문에서는 영상과 음원 추적 기반의 임베디드 모바일 로봇을 개발함으로써 무인 지능형 시스템을 구현하였고 영상에서 객체 추적을 위해 블록 매칭 알고리즘을 이용하고 음원 추적을 위해 소리의 시간차와 세기차를 이용하여 시스템을 구현 하였다. 본 논문에서는 Pan-Tilt 카메라와 음원 추적 모듈을 이용한 시스템, Network 카메라와 모바일 로봇을 이용한 시스템과 모바일 로봇을 이용한 시스템을 구현함으로써 침입자 추적 알고리즘을 검증하였다. 각 구현된 시스템에서 문제점을 보완하고 서로 연동이 가능한 시스템을 구현하여 지능형 무인 감시 시스템으로 신뢰성을 더할 수 있을 것이다.