• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.4
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• pp.342-348
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• 2015

Recently, many waste is getting into the ocean because of natural disasters and trash of illegality. These destroy the marine ecosystem and the great views around the ocean. Many methods are used for the removal of the waste in the ocean and one of the main waste forms is floating debris. In order to remove the waste, the nets are mostly used and the ships are recently used. However, many problems are occurred due to low number of people and techniques in the ship-based removal. To solve this problem, a surface robot for floating debris removal is developed. To verify the performance of the developed robot, tests of surge, yaw, and floating debris removal are executed. The test results show the possibility of real applications and the need for additional studies.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.4
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• pp.437-442
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• 2014

Recently, the needs for the development and application of the micro marine robot (MMR) which has the advantages in terms of size and cost are increasing. However, the basis is very short in the domestic. While the obstacle avoidance sonar (OAS) which was optimized in terms of size and performance and has the ability of 4-directional detection was developed for the obstacle avoidance of the micro surface robot (MSR) fortunately, the problem that the detection performance is degraded according to the shape of the obstacle because of using the fixed sonar-beam with the limited beam width and detection range exists. To solve this problem, the MSR mechanism that implements the rotating sonar-beam using the spur gear and the servo motor is proposed in this paper. To verify the performance of the proposed mechanism, the wall-tracking of the MSR is considered and the comparison and analysis in term of detection performance and actuation command is performed with conventional fixed sonar-beam. The test results show the validity of the proposed mechanism.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.16 no.1
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• pp.163-168
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• 2016

For the quality increase of agricultural and aquatic products, it is necessary to the efficient management system of integrated control and accurate data for improving the water quality of reservoirs. This may be using the USN save time and money. In this paper, the water surface robot was designed and manufactured for measuring and announcing the environment informations, and it's network was constructed. The robot had more excellent durability and was more inexpensive than previous model. The network was designed considering connection with ZigBee, TRS, Wi-Fi or LTE network. Also the exploration function of the robot was confirmed by the simulation and the user interface was programmed.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.8
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• pp.1213-1218
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• 2013

Recently, although the need of marine robots such as the underwater robot, surface robot and airborne robot being raised in extreme areas, the basis is very deficient. Fortunately, as the need of the robot education is increasing, it is desirable to establish the R&D basis of marine robots and to train future talents through the development and diffusion of marine robot kits. However, in conventional case, there is no marine robot-kit based on the balloon, which has the abilities of the airborne locomotion and obstacle avoidance. To solve this problem, a balloon-based autonomous airborne robot-kit that has the ability of the obstacle avoidance with an infrared sensor, is developed. The test and evaluation results show the possibility of the real applications and the necessity of additional work.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.831-836
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• 2010

In real system application, the path planning and following system for the coordinated control of heterogeneous marine robots based on the underwater acoustic communication has the following problems: surface and underwater robots have different maneuvering properties, an underwater robot requires more effective operating, it has a limited communication range because of the transmission loss (TL) of acoustic wave, it has a communication error because of the Doppler distortion of acoustic wave, and further, it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent path planning algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC) based on system modeling, is proposed. To verify the performance of the proposed algorithm, the path planning and following of an underwater robot is performed according to the maneuvering of a surface robot. Simulation results show that the proposed algorithm effectively solves the problems.

• Journal of Ocean Engineering and Technology
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• v.29 no.3
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• pp.249-254
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• 2015

Buoys are widely used in marine areas because they can mark positions and simultaneously acquire and exchange underwater, surface, and airborne information. Recently, the need for controlling and optimizing a buoy's position and attitude has been raised to achieve successful communication in a heterogeneous collaborative network composed of an underwater robot, a surface robot, and an airborne robot. A buoy in the form of a marine robot would be ideal to address this issue, as it can serve as a moving node of the communication network. Therefore, a buoy-based autonomous surface robot-kit with the abilities of sonar-based avoidance, dynamic position control, and static attitude control was developed and is discussed in this paper. The test and evaluation results of this kit show the possibility of real-world applications and the need for additional studies.

• Proceedings of the Korea Information Processing Society Conference
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• 2011.04a
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• pp.319-322
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• 2011

본 논문에서는 스마트 폰과 가정 내의 이동 로봇을 결합하여, 스마트 폰 사용자가 이동 로봇을 통해 원격으로 가정의 수상한 침입자나 거동이 불편한 노약자 혹은 어린 아이들을 살펴볼 수 있도록 개발된 지능형 감시 시스템의 설계와 구현에 대해 소개한다. 이동 로봇의 제한적인 인식 능력과 계산 능력을 고려하여, 이동 로봇의 완전한 자율성에만 의존하여 감시 작업을 수행하지 않고, 사용자와 로봇의 혼합 제어 방식으로 감시 로봇을 제어하도록 설계하였다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.05a
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• pp.407-410
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• 2013

This paper has been written to apply the lessons of this course through a 5-dimension education curriculum from BELL International Academy, an alternative school. By integration a 5-dimension education in the school, teachers may be able to have an impact on their students, A robot club in a 5-dimension educated school migh help motivate students to take the necessary steps to accomplish their goals.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.341-342
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• 2007

인터넷 전화가 보편화되면서 인터넷 전화를 이용한 많은 응용 기술이 발전하고 있다. 본 논문에서는 인터넷 전화를 이용하여 로봇을 제어하는 시스템을 소개하고자 한다. VoIP(Voice over Internet Protocol)를 이용하여 가정의 모든 가전기기를 제어한다. 특히 로봇이 전화를 받을 수 있으며, 기존의 텍스트 기반 제어 방식을 음성 기반으로 제어함으로써 시스템의 사전 학습이 없이도 쉽게 사용이 가능하다는 장점이 있다. 이 시스템은 두 종류의 로봇에 적용되어 실험하였으며, 대회에 출전하여 수상을 함으로써 객관적인 평가를 마쳤다.

• Journal of Ocean Engineering and Technology
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• v.32 no.2
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• pp.138-142
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• 2018

The marine industry is rapidly developing as a result of the increase in various needs in the marine environment. In addition, accidents involving ship fires and explosions and the resulting casualties are increasing. Generally, manpower and safety problems exist in fire fighting. A fire fighter in the form of an autonomous surface robot would be ideal for marine fire safety, because it has no manpower and safety problems. Therefore, an autonomous surface robot with the abilities of fire recognition and tracking, nozzle selection, position and attitude control, and fire fighting was developed and is discussed in this paper. The test and evaluation results of this robot showed the possibility of real-size applications and the need for additional studies.