• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.904-911
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• 2016

This paper presents a novel driving system by the humanoid robot to drive a vehicle in disaster response situations. To enhance robot's capability for substituting human activities in responding to natural and man-made disaster, the one of prerequisite skills for the rescue robot is the mounted mobility to maneuver a vehicle safely in disaster site. Therefore, our driving system for the humanoid is developed in order to steer a vehicle through unknown obstacles even under poor communication conditions such as time-delay and black-out. Especially, the proposed system includes a tele-manipulation interface and stable navigation strategies. First, we propose a new type of path estimation method to overcome limited communication. Second, we establish navigation strategies when the operator cannot recognize obstacles based on Dynamic Window Approach. The effectiveness of the proposed developments is verified through simulation and experiments, which demonstrate suitable system for driving a vehicle in disaster response.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.11 no.2
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• pp.205-212
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• 2011

The high performance intelligent robots have become to use a lot of sensors, actuators and controllers which are connected via bus-type networks while the point to point connection was widely used in-robot networks of existing robots. The bus topology makes the robot system share data internally and it can also reduce the weight of the robot because of smaller wiring harness. The CAN is one of serial bus communication protocols typically used for in-vehicle networks and now it can also be used for in-robot networks because of its low cost and reliability. A performance evaluation system for this type of networked system is developed to analyze the real-time operation and the reliability of a serial-bus network, and the usefulness of the developed evaluation system is shown by some experiments for a network of many CAN nodes.

• The KIPS Transactions:PartB
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• v.14B no.3 s.113
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• pp.163-170
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• 2007

In autonomous navigation of a mobile vehicle or a mobile robot, localization calculated from recognizing its environment is most important factor. Generally, we can determine position and pose of a camera equipped mobile vehicle or mobile robot using INS and GPS but, in this case, we must use enough known ground landmark for accurate localization. hi contrast with homography method to calculate position and pose of a camera by only using the relation of two dimensional feature point between two frames, in this paper, we propose a method to calculate the position and the pose of a camera using relation between the location to predict through perspective transform of 3D feature points obtained by overlaying 3D model with previous frame using GPS and INS input and the location of corresponding feature point calculated using KLT tracking method in current frame. For the purpose of the performance evaluation, we use wireless-controlled vehicle mounted CCD camera, GPS and INS, and performed the test to calculate the location and the rotation angle of the camera with the video sequence stream obtained at 15Hz frame rate.

• The Journal of Korean Institute for Practical Engineering Education
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• v.3 no.1
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• pp.143-148
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• 2011

In this study, the damage to the bridge structure such as the crack and water leakage was assessed due to the increase of the vehicle load and traffic on the roads. In order to make this into the database, as a part of the automation system development for the bridge maintenance, the students themselves designed and developed their own inspection robotic system based on the idea of robots currently being developed overseas. Its field testing was conducted and its applicability assessed. During the design and fabrication, its connection to the details of the unit course taken in the undergraduate level was focused. In terms of new product development, the field application was possible due to the support of the academic-industrial cooperation firms. Furthermore, through the survey of the students, the improvements in the practical skills of the students who participated in this development process was affirmed.

• Journal of the Korean Society of Marine Environment & Safety
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• v.21 no.6
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• pp.744-750
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• 2015

In this paper, development of mobile robot for the inspection of hull surface was mentioned. In the sea, it is difficult to proceed with the visual inspection of hull side and thus mobile robot for checking the status could be run with strap-on its surface. To do this, permanent magnet module to generate magnetic force between hull surface and mobile robot, and structure to minimize variance of the force under curvature circumstance were considered on the design. Based on the design, mobile robot with four NdFeB, four driving wheels and image aquisition module was applied. Load experiment to check the adhesive force, slip test during stop state and driving test to measure driving speed were executed. From the experiments 13 Kgf adhesive force was obtained and slip was not happened until 8 Kgf load on the inclined plate. Driving speed of mobile robot was measured at 0.82 m/s corresponding to 6.5 ampere. We confirmed the effectiveness of developed mobile robot by experiments to check its characteristics.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.236-237
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• 2008

이 논문은 노인 및 장애인의 활동을 보조하기 위한 보행보조 로봇의 핵심 기술인 사용자의 진행하고자 하는 방향과 속도를 검출하는 보행의지 파악시스템 구현을 하고자 한다. 최근에 노인인구의 증가로 인해 노인 및 장애인을 위한 보행 보조기에 대한 관심이 증가되고 있다. 그러나 대부분의 경우 동력이 없는 시스템으로 경사 등의 공간에서 취약성을 가지고 있다. 이에 동력형 보행보조기에 대만 관심이 증가되고 있으나, 대부분의 경우 보행보조기 조종이 여의치 않다. 이에 본 논문에서는 사용자의 보행의지를 파악할 수 있는 시스템을 도입하고 이를 기초로 보행자의 안정적인 구동을 수행할 수 있도록 하였다. 사용자의 의지력은 FSR 센서를 이용하여 파악하고, 이를 기초로 사용자가 이동하고자 하는 이동 방향과 이동속도 데이터를 기초로 보행보조기의 차량 속도와 방향에 대해 구동 바퀴의 차동구동을 통해 사용자의 의지에 맞춰 구동할 수 있도록 하였다. 이를 통해 사용자의 이동하려는 의지에 대해 안정적으로 차량을 이동시킬 수 있도록 보행 시스템을 구축하였다. 또한 사용자자의 힘에 대한 속도 및 방향 매핑 기법을 개발하여 보행의지의 정확성을 높였다.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.6
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• pp.689-696
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• 2009

In this paper, a new user interface for unmanned combat vehicle(UCV) is developed based on the mission planning and global path planning. In order to complete a tactical mission given to an UCV, it is essential to design an effective interface scheme between human and UCV considering changing combat environment and characteristics of the mission. The user interface is mainly composed of two parts, mission planning and global path planning, since they are important factors to accomplish combat missions. First of all, mission types of UCV are identified. Based on mission types, the concept of mission planning for UCVs is presented. Then a new method for global path planning is devised. It is capable of dealing with multiple grid maps to consider various combat factors so that paths suitable for the mission be generated. By combining these two, a user interface method is suggested. It is partially implemented in the Dog-horse Robot of ADD and its effectiveness is verified.

• Journal of Ocean Engineering and Technology
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• v.28 no.2
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• pp.167-176
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• 2014

This paper proposes an optimum curve driving method for adeep-seabed mining robot(MineRo) in deep-sea soft ground. MineRo was designed as afour-row tracked vehicle. A study on the turning methods for the four-row tracked vehicle was conducted using three case by changing the velocity profile of each track. The configuration of the four-row tracked vehicle and soft ground equation are introduced, along with the dynamics analysis models of MineRo and soft ground, which were constructed using the commercial software DAFUL. Because the purpose of this study was to investigate a driving method on soft ground, the marine environment of the deep sea was not considered.

• The Journal of the Korea institute of electronic communication sciences
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• v.12 no.1
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• pp.123-128
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• 2017

This paper deals with performing missions through autonomous navigation using camera and other sensors. Extracting pose of the car is necessary to navigate safely within the given road. Homography is used to find it. Color image is converted into grey image and thresholding and edge is used to find control points. Two control ponits are converted into world coordinates using homography to find the angle and position of the car. Color is used to find traffic signal. It was confirmed that the given tasks performed well through experiments.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.3
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• pp.29-35
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• 2022

When a vehicle is driven off a road surface, the deformations of the road surface and tire are combined. Consequently, the dynamic behavior of wheel movement becomes difficult to predict and control. Herein, we propose a tire test bed to capture the dynamic behavior of tires moving on sand and soil. Based on this study, it is discovered that the slip rate can be controlled, and the vertical force can be measured using a load cell. The test results show that this test bed can be useful for capturing the dynamic behavior of the tire and validating dynamic simulations. In fact, the tire test bed developed in this study can be used to verify the results of computer simulations. In addition, it can be used for basic experiments pertaining to the speed control of unmanned autonomous vehicles.