• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.114-120
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• 2007

This paper introduces a mobile robotic system being developed for urban search and rescue. In order to search human victims in narrow spaces, we developed two types of serially linked mobile robots, named KAEROT-Centipede and KAEROT-SnakeTV1, that can climb over large vertical steps or travel inside narrow vertical pipes. To send such mobile robots to the disaster areas coping with large obstacles, we also developed a assistant mobile robot, named KAEROT-QuadTrack, that has 4 articulated track modules. This paper describes the mechanical structure and control architecture of the serially linked mobile robots and the supporting configuration for torque reduction of the assistant mobile robot during spinning motion that usually requires large driving torque. The experimental results show that such robotic systems have good mobility over the various terrains in disaster areas.

• Journal of Construction Engineering and Project Management
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• v.1 no.3
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• pp.45-51
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• 2011

During disaster response, prioritization of limited resources is one of the most important but challenging tasks. At the same time, it is imperative to timely provide to the rescuers with the adequate heavy equipment to facilitate lifesaving operations. However, supply of high demand equipment is usually insufficient during the initial phase of disaster response, challenging lifesaving operations. At the same time, resources outside of the disaster affected zone converge into the area to assist the response efforts, which is the effect of convergence that often made resource coordination challenging in large scale disasters. Meanwhile, the initial condition of the disaster is usually best known by civilians already at the area before and during impact of the disaster. The knowledge of the civilians is not always received and considered by the responding organizations. With the help of these civilians, critical information such as victim location, infrastructure damage, and risk condition could be better know before any response actions are taken. To efficiently collect information and utilize the converging resources, this paper proposes a geospatial information repository for initial condition reporting and update to guide search and rescue operations and deployment of equipment with safety considerations for the rescuers in large scale disaster response scenarios.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.143-144
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• 2009

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.198-202
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• 2009

Urban Search and Rescue (USAR) involves locating, rescuing (extricating), and medically stabilizing victims trapped in confined spaces. In this paper we state the current approach to USAR, address the limitations and discuss the way for moving in rugged topography. To achieve objectives such as surveillance, reconnaissance, and rescue, it is necessary to develop a driving mechanism that can handle rugged geographical features. We propose a new type of driving mechanism for a rescue robot that has a variable shape single-track. By using a variety shapes, it can get the gain of steering and rotating and the ability to overcome stairs. In this paper, we analyzed the design parameters for making variable transform shapes and determined the specifications of the robot to enhance adaptability to stairs.

• International conference on construction engineering and project management
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• 2011.02a
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• pp.582-585
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• 2011

During disaster response, prioritization of limited resources is one of the most important bust challenging tasks. At the same time, it is imperative to timely provide the rescuers with the adequate equipment to facilitate lifesaving operations. However, supply of high demand equipment was insufficient during the initial phase of disaster response, challenging lifesaving operations in the case of the 9-11 terrorist attacks. In respond to the Haiti Earthquake, spatial information of the geographic area was not sufficient to support the search and rescue operations in the early phase of disaster response. However, with the help of civilians, information such as road names, infrastructure damage, and victim locations were updated into the spatial data repository. At the same time, resource outside of the disaster affected zone converges into the area to assist the response efforts, which is the effect of convergence that often made resource coordination challenging in large scale disasters. To efficiently collect information and utilize the converging resources, this paper proposes a flexible data repository for information update for equipment utilization in large scale disaster response scenarios.

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.186-193
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• 2008

We propose a novel real-time obstacle avoidance method for rescue robots. This method, named the ELA(Emergency Level Around), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward safe position. In the ELA, we consider two sensor modules, PSD(Position Sensitive Detector) infrared sensors taking charge of obstacle detection in short distance and LMS(Laser Measurement System) in long distance respectively. Hence if a robot recognizes an obstacle ahead by PSD infrared sensors first, and judges impossibility to overcome the obstacle based on driving mode decision process, the order of priority is transferred to LMS which collects data of radial distance centered on the robot to avoid the confronted obstacle. After gathering radial information, the ELA algorithm estimates emergency level around a robot and generates a polar histogram based on the emergency level to judge where the optimal free space is. Finally, steering angle is determined to guarantee rotation to randomly direction as well as robot width for safe avoidance. Simulation results from wandering in closed local area which includes various obstacles and different conditions demonstrate the power of the ELA.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1048-1053
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• 2005

This paper presents design and integration of the ROBHAZ-DT3, which is a newly developed mobile robot system with chained double-track mechanisms. A passive adaptation mechanism equipped between the front and rear body enables the ROBHAZ-DT3 to have good adaptability to uneven terrains including stairs. The passive adaptation mechanism reduces energy consumption when moving on uneven terrain as well as its simplicity in design and remote control, since no actuator is necessary for adaptation. Based on this novel mobile platform, a rescue version of the ROBHAZ-DT3 with appropriate sensors and a semi-autonomous mapping and localization algorithm is developed to participate in the RoboCup2004 US-Open: Urban Search and Rescue Competition. From the various experiments in the realistic rescue arena, we can verify that the ROBHAZ-DT3 is reliable in traveling rugged terrain and the proposed mapping and localization algorithm are effective in the unstructured environment with uneven ground. The another application is an military robot for an EOD(Explosive Ordnance Disposal) and reconnaissance mission. The military version of the ROBHAZ-DT3 with a water disrupter, a thermal scope and a long distance wireless communication device is developed and sent to the area of military tactics in Iraq. Consequently, the feasibility of the military version of ROBHAZ-DT3 is verified.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.5
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• pp.303-313
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• 2019

After a disaster happens in urban areas, many people need support for a quick evacuation. This work aims to develop a method for the calculation of the most feasible evacuation route inside buildings. In the methodology we simplify the geometry of the structural and non structural elements from the BIM (Building Information Modeling) to store them in a spatial database which follows standards to support vector data. Then, we apply the multicriteria analysis with the allocation of prioritization values and weight factors validated through the AHP (Analytic Hierarchy Process), in order to obtain the Importance Index S(n) of the elements. The criteria consider security conditions and distribution of the building's facilities. The S(n) is included as additional heuristic data for the calculation of the evacuation route through an algorithm developed as a variant of the $A^*$ pathfinding, The experimental results in the simulation of evacuation scenarios for vulnerable people in healthy physical conditions and for the elderly group, shown that the conditions about the wide of routes, restricted areas, vulnerable elements, floor roughness and location of facilities in the building applied in the multicriteria analysis has a high influence on the processing of the developed variant of $A^*$ algorithm. The criteria modify the evacuation route, because they considers as the most feasible route, the safest instead of the shortest, for the simulation of evacuation scenarios for people in healthy physical conditions. Likewise, they consider the route with the location of facilities for the movement of the elderly like the most feasible in the simulation of evacuation route for the transit of the elderly group. These results are important for the assessment of the decision makers to select between the shortest or safest route like the feasible for search and rescue activities.

• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.265-272
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• 2009

IVarious driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.826-831
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• 2004

Recently, studies have been carried out to develop unmanned Micro Air Vehicles(MAVs) that can search and monitor inside buildings during urban warfare or rescue operations in hazardous environments. However, existing fixed-wing and rotary-wing MAVs cannot travel at extremely low or high speeds, hover in place, or change directions instantly. This has lead researches to search for other flight methods that could overcome those drawbacks. Insect flight principles and its applications to MAVs are being studied as an alternative flight method. To take flight, insects flap and rotate their wings. These wing motions allow for high maneuverability flight such as hovering, vertical take off and landing, and quick acceleration and deceleration. This paper proposes a method for designing a mechanism that reproduces hovering insect flight, the basis for all other forms of insect flight. The design of a mechanism that can reproduce the motion that causes maximum lift is proposed, the required specifications are calculated, and a method for reproducing hovering insect flight with a single motor is presented. Also, feasibility of the design was confirmed by simulation.