• Proceedings of the KSME Conference
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• 2007.05a
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• pp.867-872
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• 2007

A tracked robot has an excellent mobility on the rough terrain. Especially, a tracked robot for driving has to get structural function in the every field. In this paper, we propose a tracked robot of a small rear wheel typed. Also compared and estimated a driving analysis about the tracked robot in considered the general environment. Compared 2 models are different in size of rear wheels but front wheels are same size each other. From comparing model, the radius of front wheels is 100mm and the radius of rear wheels is 100mm. The radius of front wheels is 100mm and the radius of rear wheels is 70mm from proposed tracked robot. Depend on these radiuses of values we are known driving torque values of an actuating wheel using Recurdyn. And estimated stress of rotated track by an actuating wheel using Ansys. finally, the designed robot has size of $600mm\;{\times}\;330mm\;{\times}\;150mm$, weight is 27kg and the tracked robot is actuated by 2 geared DC motors.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.2_2
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• pp.233-244
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• 2020

A double-parked car is the one that is parked in a crowded parking lot with its transmission gear in neutral position and its auxiliary brake released. A double-parked car can be moved by pushing it but doing so is very difficult and dangerous. In a previous study, we proposed an omni-directional mobile robot for moving a double parked car. In that study we adopted Mecanum wheels. Even though the proposed robot showed successful results, it has some drawbacks such as dependency on a load condition, complexity in control, inefficiency in power use, etc. To overcome those drawbacks, we propose a differential drive robot with ordinary two tire wheels. The proposed robot consists of two parts, one is a wheel part and the other is a body part. By selectively connecting or disconnecting those two parts with the aid of an electric brake, the proposed robot is able to have omni-directional mobility.

• Journal of Korea Society of Industrial Information Systems
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• v.19 no.1
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• pp.25-30
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• 2014

In this paper, we have implemented an FMCW radar for a near distance measurement. In the structure of the FMCW radar, it is a key problem to solve the VCO nonlinearity. In this work, we have adopted a VCO nonlinearity compensation algorithm using the spectrum correlation of beat signals. The radar experimented in this work uses an X-band(9.55~10.25GHz) microwave signal, and realizes precision of 3% in the range of 30m. The prototype can be applied to the front surveillance radar such as in vehicle anti-collision and probing robot mission.

• Journal of Korea Game Society
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• v.13 no.3
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• pp.47-54
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• 2013

In general, algorithms to find continuous k-nearest neighbors has been researched on the location based services monitoring periodically the moving objects such as vehicles and mobile phone. Those researches assume the environment that the number of query points is much less than that of moving objects and the query points are not moved but fixed. In gaming environments, cases to find k-nearest neighbors are when computing the next movement considering the neighbors such as flocking, crowd and robot simulations. Thus, every moving object becomes a query point so that the number of query point is same to that of moving objects and the query points are also moving. In this paper, we analyze the performance of the existing algorithms focused on location based services how they operate under the gaming environments.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.2
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• pp.180-187
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• 2010

In this paper, a global path generation method is suggested using multiple grid maps connected with the mission type of unmanned combat vehicle(UCV). In order to carry out a mission for UCV, it is essential to find a global path which is coincident with the characteristics of the mission. This can be done by considering various combat circumstances represented as grid maps such as velocity map, threat map and communication map. Cost functions of multiple grid maps are linearly combined and normalized to them simultaneously for the path generation. The proposed method is realized using $A^*$, a well known search algorithm, and cost functions are normalized in the ratio of the traverse time which is one of critical information should be provided with the operators using the velocity map. By the experiments, it is checked found global paths match with the mission type by reflecting input data of grid maps properly and the computation time is short enough to regenerate paths in real time as combat circumstances change.

• Journal of Ocean Engineering and Technology
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• v.29 no.5
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• pp.386-391
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• 2015

The mobility of tracked vehicles is mainly influenced by the interaction between the tracks and soil. When the track of a tracked vehicle rotates, there will be a slip effect between the track and the soil, which creates a track shear force and the vehicle’s driving force. In this paper, the modeling of a working tool such as a trenching cutter and a tracked vehicle that is the lower frame of a track-based operating robot was performed. In addition, a numerical simulation was executed to verify the performance of the design objectives and the motion characteristics of the combined system.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.6
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• pp.965-973
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• 2011

Small unmanned ground vehicles(SUGVs) are typically operational on unstructured environments such as crashed building, mountain area, caves, and so on. On those terrains, driving control can suffer from the unexpected ground disturbances which occasionally lead turnover situation. In this paper, we have proposed an algorithm which sustains driving stability of a SUGV as preventing from turnover. The algorithm exploits potential field method in order to determine the stability of the robot. Then, the flipper and manipulator posture of the SUGV is optimized from local optimization algorithm known as gradient descent method. The proposed algorithm is verified using 3D dynamic simulation, and results showed that the proposed algorithm contributes to driving stability of SUGV.

• Journal of the Korean Society of Industry Convergence
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• v.24 no.3
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• pp.315-321
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• 2021

In this study, the natural frequency analysis of the fuel pipe and vibration test jig was performed as a basic study to determine the vibration characteristics of the vehicle's fuel pipe and the stability analysis of fatigue failure of the pipe. The natural frequencies of the fuel pipe and the fuel pipe with the test jig were calculated and the results were compared. As a result of the analysis, it was found that the natural frequency of the fuel pipe and the natural frequency of the test jig differed about 7 times, so that the vibration of the test jig did not affect the vibration of the fuel pipe. In addition, as a result of the natural frequency analysis of the fuel pipe itself and the pipe with the test jig attached, the maximum error is less than about 1%. In the future, it was suggested that the analysis of the design changed fuel pipe may be performed without a test jig.

• Proceedings of the Korean Society of Computer Information Conference
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• 2022.07a
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• pp.433-434
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• 2022

물류 시설에서 사람이 직접 물류를 입출고하는 방식이 일반적이다. 본 연구에서는 물류의 입출고를 인력의 소모 없이 보다 안전하고 효율적으로 하는 것을 전제로 하여 스마트 팩토리 산업에 사용되는 AGV 시스템에 물류 입출고 시스템을 접목하고자 한다. 본 논문은 기존의 인력의 소모와 산업재해 위험이 있는 물류 시설 근로 환경에 AGV를 이용, 인력의 소모를 줄여 물류 입출고 프로세스를 무인화하고자 "AGV 물류 자동화 시스템"을 제안한다. AGV 물류 자동화 시스템은 적외선 센서를 이용해 라인 트레이서를 구현하여 원하는 위치로 AGV를 이동시키고 각종 모터로 물품의 입출고 임무를 수행하도록 한다. 스마트폰의 물류 관리 어플리케이션을 통해 AGV의 제어와 물품의 재고 파악이 가능하도록 하여 물류관리의 효율성과 편의성을 증대시켰다.

• Electronics and Telecommunications Trends
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• v.38 no.6
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• pp.31-40
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• 2023

Given recent accidents involving autonomous vehicles, driver monitoring technology related to the transition of control in autonomous vehicles is gaining prominence. Driver status monitoring systems recognize the driver's level of alertness and identify possible impairments in the driving ability owing to conditions including drowsiness and distraction. In autonomous vehicles, predictive factors for the transition to manual driving should also be included. During traditional human driving, monitoring the driver's status is relatively straightforward owing to the consistency of crucial cues, such as the driver's location, head orientation, gaze direction, and hand placement. However, monitoring becomes more challenging during autonomous driving because of the absence of direct manual control and the driver's engagement in other activities, which may obscure the accurate assessment of the driver's readiness to intervene. Hence, safety-ensuring technology must be balanced with user experience in autonomous driving. We explore relevant global and domestic regulations, the new car assessment program, and related standards to extract requirements for driver status monitoring. This kind of monitoring can both enhance the autonomous driving performance and contribute to the overall safety of autonomous vehicles on the road.