• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.11a
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• pp.73-75
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• 2022

본 논문에서는 자율운항선박의 예측 가능한 운항 경로 상에 잠재된 비상상황을 인식하기 위하여 운항 해역의 항적 정보를 활용한 방안과 이를 기반으로 충돌 위험과 같은 비상위험을 식별하는 프레임워크를 설계하였다. 설계한 프레임워크는 크게 항적 특성 분석 모듈, 항로예측 모듈, 위험 식별 모듈로 구성된다. 항적 특성 분석 모듈에서는 자율운항선박의 운항 해역에 관한 선박들의 항적 정보를 활용하기 위하여, 대상 VTS 관제 영역 내에서 취합된 누적 선박자동식별장치(AIS) 데이터를 이용하여 선박의 항적 특성을 분석하여 데이터베이스(DB)를 생성하였다. 그리고 운항 경로 예측 모듈에서는 누적된 항적 정보와 자율운항선박의 현재 운항 정보를 기반으로 특정 시간 동안의 운항 경로를 예측하기 위한 학습 네트워크 모델을 구성하였다. 마지막으로, 위험 식별 모듈에서는 예측한 운항 경로 상에 최근접점과 최근접점 거리 정보를 이용하여 충돌 위험 가능성이 있는 충돌위험영역을 식별하였다. 설계한 프레임워크는 자율운항선박의 육상 관제소에서 원격 제어를 통해 위험상황을 인지하고 회피할 수 있는 정보를 제공할 수 있음을 실제 항적 데이터를 활용하여 그 결과를 검증하였다.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.206-208
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• 2004

A new method to control a remote robot with PDA and wireless network is presented. The needs of remote control systems using a home network environments are increased in these days. To solve the shortage of IP address in network, authorized TCP/IP and unauthorized TCP/IP address are used. The unauthorized TCP/IP is obtained by using MAC Address in the system and Network Layer. The model in the system is similar to Sever&Client in structure. Using this system, it is very easy to combine one network device with other network system. A robot system and PDA are used to show the effectiveness of the control system in home network environments.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.11a
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• pp.542-545
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• 2005

본 연구에서는 Home Network System에서 가전기기들을 제어하고 집안의 상황을 원격지에 있는 사용자에게 전달해 줄 수 있는 Home Network Mobile Robot을 제작하여 보다 더 지능적이고 사용자에게 편리한 Home Network System을 구축한다. 이를 위해 본 논문에서는 실제 Home Network 시스템 하에서의 자율이동 로봇을 고안하였으며 이의 구동을 위해 OS로는 Linux Kernel 2.4를 Porting 하였고, Vision 및 Ethernet 통신이 용이하도록 회로를 설계, 제작하였다.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.9 no.2
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• pp.125-137
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• 2000

In this paper we propose a new approach to the development of the automatic vision system to examine and repair the steam generator tubes at remote distance. In nuclear power plants workers are reluctant of works in steam generator because of the high radiation environment and limited working space. It is strongly recommended that the examination and maintenance works be done by an automatic system for the protection of the operator from the radiation exposure. Digital signal processors are used in implementing real time recognition and examination of steam generator tubes in the proposed vision system. Performance of proposed digital vision system is illustrated by simulation and experiment for similar steam generator moldel.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.6
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• pp.156-163
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• 2008

Future Combat System(FCS), such as unmanned systems that reduce the danger faced by soldiers in the field, are likely to be studied and developed. Soldiers when finding and disposing of mines risk injury and death. Several methods of safe mine retrieval are investigated. In this paper, a mine removal method, which uses a remote controlled robot to get rid of mines using a 4 channel architecture teleoperation method is used. The robot, when in contact with soil and mines, is controlled by a remote control. The feasibility of using teleoperation controlled system to remove mines is demonstrated in this paper. The Matlab-Simulink was used as a tool to simulate mine removal with robots. The force and position of the robot{slave system of 4 channel architecture) and controller(master system of 4 channel architecture) are analyzed when users handle the controller with sinusoidal force.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2693-2695
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• 2005

In this paper, we developed a more efficient system for the remote control and monitoring of a wheeled mobile robot using internet without spatial limitation. The hardware configuration of the remote control system for a wheeled mobile robot includes a client PC executed on the remote site, a embedded web-server and a mobile robot with many measuring equipments. The communication between a client PC and a embedded web-server is implemented through internet. And the Bluetooth module is used for connecting a embedded web-server and a mobile robot. A GUI program has been developed by using JavaScript in order to easily control a mobile robot on a client PC.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2762-2764
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• 2005

In this paper, we study the robot controller design using the voice and data communication via CDMA(Code Division Multiple Access) mobile communication network. We design the robot remote controller using the three methods, telephone call speech recognition, DTMF (Dual Tone Multiple Frequency) realization, SMS(Short Message Service) transmission/reception way via CDMA mobile communication network. We investigate the validity and effectiveness of the proposed remote controller which applied to the mobile robot.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1983-1986
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• 2006

In this paper, we construct the infrastructure for the teleoperating system of mobile robots. For the stable teleoperating system, we develope an algorithm that measure communication time delay on real-time. We propose the force-reflected teleoperation method that control the stiffness of joystick according to VFH(Vector Field Histogram). Also, an obstacle avoidance method using VFH is presented for the mobile robot to move to the indicated direction without collision. Experiments are conducted to demonstrate the feasibility of the proposed methods.

• Proceedings of the KIEE Conference
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• 2005.05a
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• pp.261-265
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• 2005

In this paper, we constructed the infrastructure with wireless LAN and Access Point in the indoor environment and implemented the teleoperation. Wireless LAN based teleoperation system is irregular communication delay according to environment condition and occurrence possibility of blackout is very high. In this paper, In case these problem happened, we measured communication delay time by real time, and did mobile robot to control harmoniously through vision and force reflection information. Also, we present obstacle-avoidance mode that mobile robot can travel without collision using direction information in case communication delay time is large. We proved usefulness of presented algorithm through teleoperation experiment to apply presented algorithm.

• Proceedings of the Korea Concrete Institute Conference
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• 2009.05a
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• pp.561-562
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• 2009

The needs for inspection automation for more systematic and efficient maintenance were gradually increased by several inspectors and researchers. With the robotic and digital image processing technologies, in this paper, new inspection automation system were introduced and tested in the real PSC box crack inspection procedures The configuration and scheme of robotic inspection and digital image processing algorithms were represented. The designed robotic sensors and image processing system were tested and the feasibility and possibility of the robot based automatic inspection were approved in the real PSC box bridges.