• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.193-200
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• 2012

Mobility is one of the most important issues for search and rescue robots. To increase mobility for small size robot we have focused on the mechanism and algorithm inspired from centipede. In spite of small size, using many legs and flexible long body, centipede can overcome high obstacles and move in rough terrains stably. This research focused on those points and imitated their legs and body that are good for obstacle negotiation. Based on similarity of a centipede's legs and tracks, serially connected tracks are used for climbing obstacles higher than the robot's height. And a centipede perceives environments using antennae on its head instead of eyes. Inspired from that, 3 IR sensors are attached on the front, top and bottom of the first module to imitate the antenna. Using the information gotten from the sensors, the robot decides next behavior automatically. In experiments, the robot can climb up to 45 cm height vertical wall and it is 600 % of the robot's height and 58 % of the robot's length.

• Journal of Navigation and Port Research
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• v.32 no.6
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• pp.447-452
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• 2008

In this paper, the automatic depth control system and the collision avoidance system of the Manta UUV have been established in vertical and horizontal plane. The PID control theory and the Fuzzy theory are adopted in this system. The 6-DOF MMG model had been established by theoretical calculations and captive model test results. The depth control simulation results have been fully presented. The collision risks of the UUV had calculated by the fuzzy theory with the virtual sonar system. Finally, the automatic depth control system and the collision avoidance simulation system of Manta UUV have been fully developed and simulated.

• Proceedings of the Korea Information Processing Society Conference
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• 2023.11a
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• pp.902-903
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• 2023

장애물이나 경사지가 많은 협소 지역에서 탐사 활동을 수행하는 로봇은 험지에서도 이동할 수 있는 자율주행 방법을 필수적으로 제공해야 한다. 본 논문은 협소 지역에서 탐사와 객체 탐지를 위해 주행 상황에 따라 바퀴 주행과 관절 주행을 동적으로 변경하면서 이동하는 다관절 로봇 시스템을 제안한다. 다관절 로봇은 마찰력과 수직항력, 토크 값 등을 고려해 설계한 운동 모델을 기반으로 바퀴와 관절 이동을 변경하면서 자율적으로 주행한다. 관리자는 관제 서버를 통해 로봇이 수집한 탐사 정보를 실시간으로 확인하고 필요시 로봇의 원격제어를 수행할 수 있다. 본 연구를 통해 사람이 접근하기 어려운 협소 지역 탐사나 재난지역 인명구조 활동에 활용할 수 있기를 기대한다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.11
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• pp.1231-1237
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• 2014

It is essential to perform driving performance tests of military vehicles on rough terrain. A full car test is limited by cost and time constraints, because of which a dynamic analysis via computer simulation is preferred. In this study, a vehicle model is developed using MSC.ADAMS, a commercial multibody analysis program, and compared via experiments. FTire is modeled using the results of a tire performance test to obtain the vertical stiffness. A nonlinear damper is modeled by a characteristic experiment. Leaf springs are modeled with beam force elements and consisted to a vehicle model. The vertical force and acceleration response of the wheel are identified when vehicle is passing over a simple bump as well as a sinusoidal road. The developed vehicle model is verified with the results of a full car test.

• Fire Science and Engineering
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• v.32 no.1
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• pp.66-75
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• 2018

A barrier installed within a rack plays a significant role in delaying the initial spread of fire but it can be an obstacle to a ceiling-type sprinkler installed for extinguishing fires and for supplying fire extinguishing water. An in-rack sprinkler and a barrier can be applied at the same time, but a study on a barrier's ability to delay fire spread or its effect on the in-rack sprinkler is needed. Accordingly, this study examined the effect of a barrier on the delay of fire spread and the in-rack sprinkler according to installation conditions through the reduced scale fire test. As a result, the delay in fire spread increased more than four times when a horizontal barrier and a vertical barrier were installed at the same time. The temperature was also increased two to three times with the compartment, resulting in the early operation of the in-rack sprinkler.

• Journal of Advanced Navigation Technology
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• v.28 no.3
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• pp.300-308
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• 2024

Urban air mobility (UAM) is emerging as a revolutionary transportation solution to urban congestion and environmental issues. Especially, electric vertical take-off and landing (eVTOL) aircraft are expected to enhance urban mobility, reduce traffic congestion, and decrease environmental pollution. However, the successful implementation and operation of UAM systems heavily rely on advanced technological infrastructure, particularly in sensor technology. Among these, 3D light detection and ranging (LiDAR) systems are essential for detecting obstacles and generating pathways in complex urban environments. This paper focuses on the challenges of developing LiDAR-based perception solutions, emphasizing the importance and performance of object detection capabilities using 3D LiDAR. It integrates LiDAR data processing algorithms and object detection methodologies to experimentally validate the effectiveness of perception solutions that contribute to the safe navigation of aircraft. This research significantly enhances the ability of aircraft to recognize and avoid obstacles effectively within urban settings.

• Journal of the korean academy of Pediatric Dentistry
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• v.34 no.2
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• pp.322-328
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• 2007

The first molar is important for mastication and also it plays roles to formation of vertical occlusion and growth of jaw bone after mixed dentition. Impaction of mandibular first molar can result in a short lower facial height, formation of a follicular cyst, pericoronal inflammation, resorption of the roots of neighboring teeth and malocclusion. The options of treatment plans are as follows; observation, surgical exposure, orthodontic traction, surgical relocation and extraction. Surgical exposure could be considered as a basic treatment plan. For surgical exposure it is important to maintain patent channel between the crown and the normal eruptive path into the oral cavity, many techniques including cementation of a celluloid crown, packing with zinc oxide-eugenol surgical pack are used. In these cases, we could observe spontaneous eruption of mandibular first molar using surgical exposure with or without removal of odontoma. Also we could obtain the main patency effectively and conveniently by using surgical pack and translucent retainer.

• Journal of Bio-Environment Control
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• v.23 no.1
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• pp.26-30
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• 2014

Purpose of this study was a development of a sprayer arm auto control system that could be operated according to distance from pear trees for automation of pest control. Auto control system included two parts, hardware and software. First, controller was made with an MCU and relay switches. Two types of ultra-sonic sensors were installed to measure distance from pear trees: one on/off type that detect up to 3 m, and the other continuous type providing 0~5 V output corresponding to distance of 0~3 m. Second, an auto control algorithm was developed to control. Each spraying arm was controlled according to the sensor-based distance from the pear trees. And it could dodge obstacles to protect itself. Max and min signal values were eliminated, when five sensor signals was collected, and then signals were averaged to reduce sensor's noises. According to results of field experiment, auto control test result was better than non auto control test result. Spraying rates were 69.25% (left line) and 98.09% (right line) under non auto control mode, because pear trees were not planted uniformly. But, auto control test's results were 92.66% (left line) and 94.64% (right line). Spraying rate was increased by maintaining distance from tree.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1824-1832
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• 2011

In this paper, a smart home service robot McBot II is newly developed in much more practical and intelligent system than McBot I which we had developed a few years ago. Thus far, vacuum-cleaners have lightened the burden of household chores but the operational labor that vacuum-cleaners entail has been very severe. Recently, a cleaning robot was commercialized to solve but it also was not successful because it still had the problem of mess-cleanup, which pertained to the clean-up of large trash and the arrangement of newspapers, clothes, etc. Hence, we develop a new home mess-cleanup robot McBot II to completely overcome this problem on real environments. The mechanical design and the basic control of McBot II, which performs mess-cleanup function etc. in house, is actually focused in this paper. McBot II is mechanically modeled in the same method that the human works in door by using the waist and the hands. The big-ranged vertical lift and the shoulder joints to be able to forward move are mechanically designed for the operating function as the human's waist when the robot works. The mobility of McBot II is designed in the holonomic mobile robot for the collision avoidance of obstacle and the high speed navigation on the small area in door. Finally, good performance of McBot II, which has been optimally desinged, is confirmed through the experimental results for the control of the robotic body, mobility, arms and hands in this paper.

• Journal of the Korean Geophysical Society
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• v.7 no.3
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• pp.193-206
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• 2004

Geophysical data including chirp (3 7 kHz) subbottom profile and detailed bathymetry were obtained over three seamounts in the Ogasawara Fracture Zone (OFZ) of the western Pacific, as a part of manganese crust survey onboard R/V Onnuri in 2003. The OFZ is a 150-km-wide, 600-km-long rift zone, which separates the East Mariana and Pigafetta Basin. The OFZ is unique in that it includes many seamounts (e.g., Magellan Seamounts andseamounts on the Dutton Ridge). The sub-seafloor acoustic echoes obtained near the OFZ were classified into following types on the basis of their characteristics: types I-1(pelagic sediment with parallel or subparallel reflectors), I-2 (pelagic sediment with no internal reflectors), and III-1 (reef build-up complex) on summit; types II-1 and III-2 (basement outcrop) on flank rift zone and upper slope, respectively; type III-3 (slump) on the lower slope and embayment between the flank rift zones; types II-2 (debrite) on the base of slope and basin floor; and types II-3 (turbidite or pelagic sediment) and II-4 (turbidite) on the basin floor. The mass-wasting that produced the complex of type II-2 debrite and III-3 slump on the lower slope and basin may have been caused by (1) strong tensional stress in the OFZ which may cause the numerous fissures or basement faults and (2) complex of the faults on the summit and steep upper slope. The variations in the echo type of pelagic sediment in the summit of seamounts may be related with the changes in the depositional and/or erosional environments. Type I-2 pelagic sediment, which is characterized by a thin and intermittent coverage, was probably deposited at a sheltered area when the current was strong, whereas type I-1 pelagic deposit occurred during a stage of progressive sedimentation.