• Proceedings of the KIPE Conference
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• 2014.11a
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• pp.54-55
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• 2014

일반적으로 지상 로봇의 주 전원으로 사용되는 대용량 배터리가 예상치 못한 시점에 방전되거나 고장으로 인해 전원 공급이 되지 않을 경우 지상 로봇의 위치 확인이 필요하게 된다. 이에 따라 본 논문에서는 이 통신용 비상 전원 공급을 위한 태양광 및 연료전지 전원 공급 장치와 이 장치를 보완하여 사용할 수 있는 배터리 충 방전 하이브리드 시스템을 설계하고, 이를 시뮬레이션과 실험을 통해 타당성을 검증 및 분석하도록 한다.

• The Journal of the Korea institute of electronic communication sciences
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• v.12 no.2
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• pp.309-314
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• 2017

Recently, the fields such as the service robot, the autonomous driving electric car, and the torpedo ladle cars operated autonomously to enhance the efficiency of management of the steel mill are receiving great attention. But development of automatic power supply that doesn't need human intervention be a problem. In this paper, a position tracking technology of power connector receptacle based on the computer vision is studied which can recognize and identify the position of the power connector receptacle, and finally its possibility is verified using OpenCV program.

• Proceedings of the KIPE Conference
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• 2010.11a
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• pp.60-61
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• 2010

본 논문에서는 휴머노이드 로봇 등에 적용하기 위해, 평판형 급전코일과 집전코일의 접촉 유무에 따라 공진주파수가 변화하는 접촉식 무선충전 시스템을 제안하였다. 다양한 급집전코일에 대해 코일의 형상과 위치별 급집전효율 및 EMF(ElectroMagnetic Field)의 영향을 연구했다. 평판형 집전코일은 어레이 형태로 바닥에 설치되는데, 입력전원에 대해 각각 병렬로 연결되어 있어서 집전코일이 접촉하지 않는 경우에는 공진주파수가 입력전원의 주파수를 크게 벗어나서 자동으로 전원공급이 최소화된다. 집전코일이 급전코일 어레이 위에 위치하는 경우에는, 급전코일의 공진주파수가 입력전원의 주파수와 일치하게 되어 전력이 공급되게 된다. 따라서 집전코일이 덮고 있는 부분만 급전코일 어레이에 전력이 공급되므로, 급집전 효율이 높고 인체에 대한 자기장 노출이 작아져서, 경제적이고 안전한 무선충전 시스템을 구성할 수 있다.

• Proceedings of the KIPE Conference
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• 2013.07a
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• pp.556-557
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• 2013

2013년까지 KAIST 원자력 전력전자 및 로봇 연구실에서 연구한 무선전력전송 관련 연구결과를 소개한다. 본 논문에서는 전력전자를 바탕으로 원자력 발전소의 중대사고 발생 시 원전 내부 상황을 모니터링 하기 위한 로봇 및 계측장비의 전원공급을 위한 무선전력전송 시스템과 사무실이나 작업장과 같은 장소에서 항상 무선전력으로 모바일기기를 충전할 수 있는 시스템을 소개하였다.

• Journal of IKEEE
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• v.18 no.4
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• pp.572-580
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• 2014

This study deals with reconfigurable modular robot with respect to the compact and capability of representing the various actions for promoting creativity through education and play. Generally modular robot can be designed as a suitable robot that is transformed to various structure by reconstructing each cells, However, there are only few research on the education and play using those robots in the world and still nothing domestically. Unlike the existing modular robots only having a repeating motion, the proposed modular works by individual module such as sound is produced by sound module, wheel is driven by wheel module, LED module controls the visual expression, power is supplied by battery module, bluetooth module for communication, and dynamic motion realization is possible by using joint module. By manipulating the abilities endowed by individual modules, diversity of creative activities is possible and thus made an easy access for children. This study deals with the design of modular robotic by using the variety of different modules to endowed the learning and playing ability. And the study showed the utility of the operating behavior over the actual production and testing.

• Proceedings of the KIPE Conference
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• 2013.11a
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• pp.129-130
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• 2013

본 논문에서는 태양광을 이용하여 최대전력 추종제어를 통해 최대출력의 전원을 사용하고, 전력이 남는 경우에는 배터리에 충전하도록 한다. 이는 태양이 없는 야간에도 충전된 배터리를 이용하여 안정적으로 전원을 공급할 수 있도록 하는 장점을 가진다. 또한 태양광 셀과 배터리의 출력을 통해 모터를 구동할 수 있도록 하여 보다 다양한 분야의 어플리케이션에 적용할 수 있도록 한다. 이를 시뮬레이션을 통하여 분석하고 실험을 통해 이를 검증한다.

• Composites Research
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• v.35 no.6
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• pp.378-393
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• 2022

As an emerging power generation technology, triboelectric nanogenerators (TENGs) have received increasing attention due to their boundless promise in energy harvesting and self-powered sensing applications. The recent rise of soft robotics has sparked widespread enthusiasm for developing flexible and soft sensors and actuators. TENGs have been regarded as promising power sources for driving actuators and self-powered sensors, providing a unique approach for the development of soft robots with soft sensors and actuators. In this review, TENG-based soft robots with different morphologies and different functions are introduced. Among them, the design of biomimetic soft robots that imitate the structure, surface morphology, material properties, and sensing/generating mechanisms of nature has greatly benefited in improving the performance of TENGs. In addition, various bionic soft robots have been well improved compared to previous driving methods due to the simple structure, self-powering characteristics, and tunable output of TENGs. Furthermore, we provide a comprehensive review of various studies within specific areas of TENG-enabled soft robotics applications. We first explore various recently developed TENG-based soft robots and a comparative analysis of various device structures, surface morphologies, and nature-inspired materials, and the resulting improvements in TENG performance. Various ubiquitous sensing principles and generation mechanisms used in nature and their analogous artificial TENG designs are demonstrated. Finally, biomimetic applications of TENG enabled in tactile displays as well as in wearable devices, artificial electronic skin and other devices are discussed. System designs, challenges and prospects of TENGs-based sensing and actuation devices in the practical application of soft robotics are analyzed.

• Journal of the Korean Solar Energy Society
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• v.32 no.spc3
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• pp.275-281
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• 2012

Proton Exchange Membrane Fuel Cells (PEMFC) are the most appropriate for energy source of small robot applications. PEMFC has superior in power density and thermodynamic efficiency as compared with the Direct Methaol Fuel Cell (DMFC). Furthermore, PEMFC has lighter weight and smaller size than DMFC which are very important factors as small robot power system. The most significant factor of mobile robots is weight which relates closely with energy consumption and robot operation. This research tried to find optimum specifications in terms of type, number of cell, active area, cooling method, weight, and size. In order to find optimum 500W PEMFC, six options are designed in this paper and studied to reduce total stack weight by applying new materials and design innovations. However, still remaining problems are thermal management, robot space for energy sources, and soon. For a thermal management, design options need to analysis of Computational Fluid Dynamics (CFD) for determining which option has the improved performance and durability.

• 한국태양에너지학회:학술대회논문집
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• 2012.03a
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• pp.211-216
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• 2012

Proton Exchange Membrane Fuel Cells (PEMFC) are the most appropriate for energy source of small robot applications. PEMFC has superior in power density and thermodynamic efficiency as compared with the Direct Methaol Fuel Cell (DMFC). Furthermore, PEMFC has lighter weight and smaller size than DMFC which are very important factors as small robot power system. The most significant factor of mobile robots is weight which relates closely with energy consumption and robot operation. This research tried to find optimum specifications in terms of type, number of cell, active area, cooling method, weight, and size. In order to find optimum 500W PEMFC, six options are designed in this paper and studied to reduce total stack weight by applying new materials and design innovations. However, still remaining problems are thermal management, robot space for energy sources, and so on. For a thermal management, design options need to analysis of Computational Fluid Dynamics (CFD) for determining which option has the improved performance and durability.