• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.11a
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• pp.311-316
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• 2004

LMTT (Linear Motor-based Transfer Technology) is a horizontal transfer system for the yard automation. which has been proposed to take the place qf AGV (Automated Guided Vehicle) in the maritime container terminal. the system is based on PMLSM (Permanent Magnetic Linear Synchronous Motor) that consists of stator modules on the rail and shuttle mr. It is desirable to reduce the weight of LMTT in order to control the electronic devices with minimum energy. In this research structural optimization for a mover of shuttle mr is performed to minimize the weight satisfying design criteria the objective function is set up as weight. On the contrary, design variable is considered as transverse, longitudinal and wheel beam's thickness and shape variable determining the dimension toward high direction and the constraints are the stresses.

• Journal of Navigation and Port Research
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• v.30 no.1 s.107
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• pp.105-111
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• 2006

A LMTT (Linear Motor-based Transfer Technology) is a horizontal transfer system for the yard automation This system is based on PMLSM (Permanent Magnetic Linear Synchronous Motor) that consists of stator modules on the rail and shuttle car. In this research, the kriging interpolation method using sequential sampling is utilized to find the optimum design of a mover in LMTT. The design variables are considered as the transverse, longitudinal and wheel beam's thicknesses. The objective function is set up as weight, while the constant functions are set up as the stresses generated by four loading conditions. The optimum results obtained by the suggested method are compared with those determined by the GENESIS.

• Journal of Navigation and Port Research
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• v.29 no.5 s.101
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• pp.415-420
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• 2005

LMTT (Linear Motor-based Transfer Technology) is the horizontal transfer system for yard automation, which has been proposed to take the place of AGV (Automated Guided Vehicle) in the maritime container terminal. The system is based on PMLSM (Permanent Magnetic Linear Synchronous Motor) that consists of stator modules on the rail and shuttle car. It is desirable to reduce the weight of LMTT in order to control the electronic devices with minimum energy. In this research, structural optimization for a mover of shuttle car is performed to minimize the weight satisfying design criteria. The objective function is set up as weight. On the contrary, the design variables are transverse, longitudinal and wheel beams' thicknesses and its height, and the constraints are considered as strength and stiffness.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1092-1098
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• 2007

A mobile robot localization problem can be classified into following three sub-problems as an observation likelihood model, a motion model and a filtering technique. So far, we have developed the range sensor based, integrated localization scheme, which can be used in human-coexisting real environment such as a science museum and office buildings. From those experiences, we found out that there are several significant issues to be solved. In this paper, we focus on three key issues, and then illustrate our solutions to the presented problems. Three issues are listed as follows: (1) Investigation of design requirements of a desirable observation likelihood model, and performance analysis of our design (2) Performance evaluation of the localization result by computing the matching error (3) The semi-global localization scheme to deal with localization failure due to abrupt wheel slippage In this paper, we show the significance of each concept, developed solutions and the experimental results. Experiments were carried out in a typical modern building environment, and the results clearly show that the proposed solutions are useful to develop practical and integrated localization schemes.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.5
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• pp.706-711
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• 2008

This paper is presented an accurate localization scheme for mobile robots based on the fusion of ultrasonic satellite (U-SAT) with inertial navigation system (INS), i.e., sensor fusion. Our aim is to achieve enough accuracy less than 100 mm. The INS consist of a yaw gyro, two wheel-encoders. And the U-SAT consist of four transmitters, a receiver. Besides the localization method in this paper fuse these in an extended Kalman filter. The performance of the localization is verified by simulation and two actual data(straight, curve) gathered from about 0.5 m/s of driving actual driving data. localization methods used are general sensor fusion and sensor fusion through Kalman filter using data from INS. Through the simulation and actual data studies, the experiment show the effectiveness of the proposed method for autonomous mobile robots.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.9
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• pp.208-214
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• 2014

Vehicle dynamic states used in various advanced driving safety systems are influenced by road geometry. Among the road geometry information, the vehicle pitch angle influenced by road slope and acceleration-deceleration is essential parameter used in pose estimation including the navigation system, advanced adaptive cruise control and others on sag road. Although the road slope data is essential parameter, the method measuring the parameter is not commercialized. The digital map including the road geometry data and high-precision DGPS system such as DGPS(Differential Global Positioning System) based RTK(Real-Time Kinematics) are used unusually. In this paper, low-cost cascade extended Kalman filter(CEKF) based road slope estimation method is proposed. It use cascade two EKFs. The EKFs use several measured vehicle states such as yaw rate, longitudinal acceleration, lateral acceleration and wheel speed of the rear tires and 3 D.O.F(Degree Of Freedom) vehicle dynamics model. The performance of proposed estimation algorithm is evaluated by simulation based on Carsim dynamics tool and T-car based experiment.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.6
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• pp.26-34
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• 2008

The information of traversability and path planning is essential for UGV(Unmanned Ground Vehicle) navigation. Such information can be obtained by analyzing 3D terrain. In this paper, we present the method of 3D terrain modeling with color information from a camera, precise distance information from a 2D Laser Range Finder(LRF) and wheel encoder information from mobile robot with less data. And also we present the method of 3B terrain modeling with the information from GPS/IMU and 2D LRF with less data. To fuse the color information from camera and distance information from 2D LRF, we obtain extrinsic parameters between a camera and LRF using planar pattern. We set up such a fused system on a mobile robot and make an experiment on indoor environment. And we make an experiment on outdoor environment to reconstruction 3D terrain with 2D LRF and GPS/IMU(Inertial Measurement Unit). The obtained 3D terrain model is based on points and requires large amount of data. To reduce the amount of data, we use cubic grid-based model instead of point-based model.

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

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.3
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• pp.304-309
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• 2014

In this paper, we design a hybrid wheeled and legged mobile robot with a waist joint. The proposed hybrid mobile robot is designed to have a hybrid structure with leg and wheel for the efficient movement in flat and uneven surfaces. The proposed robot have a waist joint that is used to stably transform from wheeled driving to legged walking of the robot and to overcome non-flat surface. In order to recognize various environments we use LRF sensor, PSD sensor, CCD camera. Also, a motion planning method for hybrid mobile robot with a waist joint is proposed to select wheeled driving motion and legged walking motion of the robot based the environment types. We verify the efficient mobility of the developed hybrid mobile robot through navigation experiments using the proposed motion planning method in various environments.

• Journal of the Korean Society of Marine Environment & Safety
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• v.30 no.4
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• pp.324-331
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• 2024

The height of large car and truck carriers from the keel to the wheel house is 44 ~ 46 m, and as the car-carriers increases in size, it exhibits the 'top heavy' characteristic, where the upper section is heavier than the lower section. This study aims to estimate the maximum outward heel angle of the Golden Ray car-carrier (G-ship) during turning maneuvers for accident investigation and the prevention of similar accidents. The theoretically calculated maximum outward heel is 7.5° (at 19 kn, rudder angle 35°) with a GM of +3.0 m or higher, and 16.7° with a GM of +1.85 m. Meanwhile the experimentally modified maximum outward heel is 10.5° (at 19 kn, rudder angle 35°) with a GM of +3.0 m or higher, and 23.3° with a GM of +1.85 m. The G-ship is maneuvered during an accident at a speed of 13 kn, at starboard rudder angle of 10° to 20°, it changes course from 038°(T) to 105°(T) based on the instructions of the on-board pilot. At this time, the maximum outward heel is estimated to be between 7.8° and 10.9° at the port side, which is 2.2 times higher than the normal outward heel. In the IS code, cargo ships are required to exhibit a minimum GoM of +0.15 m or more. The maneuvered G-ship exhibits a GoM of +1.72 m. It is not maneuvered because it fails to satisfy the international GoM criteria and because its GoM is insufficient to counteract the heeling moment during the maneuver. This study is performed based on accident-investigation results from the Korea Maritime Safety Tribunal and the USCG.