• Journal of Drive and Control
• /
• v.13 no.4
• /
• pp.89-94
• /
• 2016

• Journal of Integrative Natural Science
• /
• v.7 no.1
• /
• pp.62-66
• /
• 2014

This study aims to implement the emergency monitoring robot system which predicts the current state of the patients without visiting the medical institutions by measuring the basic health status of the user's blood pressure, heartbeat, and basic health status of body temperature in the disaster emergency situation based on the Smart Grid. By arranging a large number of sensor(blood pressure, heartbeat, body temperature sensor) and measuring the bio signs, so the attached wireless XBee sensor can be stored in DB of robot, and it aims to draw the current state of the patients by analysis of stored bio data. Among 300 data obtained from the sensor, 1st data to 100th data were used for learning, and from 101st data to 300th data were used for assessment. 12 results were different among the total 300 assessment data, so it shows about 96% accuracy.

• Journal of the Korean Society of Safety
• /
• v.31 no.5
• /
• pp.28-34
• /
• 2016

When a electric power cable is installed in the air for newly or exchanged working, it is necessary at all time to hold a constant tension for an overhead power cable. And also a pendanted power cable is an extreme job to have work in a high sky. For this reason, the objective of this paper developments working robot for preventing disaster that tension of cable installed automatically power cable to hold a constant. So the working robot works at all the time two tasks for mobil and tension it come into a inference between two tasks, control is difficult. Control methode needs to suppress inference of two tasks. In this paper, for installation of overhead power cable, the scheme and control methode of working robot is presented. the robot work at a same time tow tasks that have hold a constant tension of the power cable and move a constant place while unfasten a winding cable at a drum on a chassis. Working robot consist of three parts with mobile system, tension system and control part. As it is applied the feedback/feedforward control, methode of hybrid control is established to suppress that interference come into between two tasks. The simulation programs is made out using models of mobil and tension system, and a proposed controllers. In accordance with simulation, the model of each systems is discussed to make out proper. And also parameters of controllers is selected a suitable value and the driving performance of robot is evaluated.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.2
• /
• pp.86-92
• /
• 2007

This paper presents the development of fire-fighting and rescue robot for Outdoor Environment. In the procedure of this development, we follow Target Oriented Design (TOD) which is recognized as the systematic methodology to design a system by specifying the target clearly. For some real fire fighting tasks (e.g. tasks in shopping street and a market), narrow road make it difficult for existing fire engine to access the firing place. On the other hand, for dangerous tasks (e.g. gasoline station and a storehouse) the explosive materials make it impossible for fire-fighters to access the firing place. Moreover, the smoke and the high-temperature caused by fire make fire fighting difficult. In this situation, the solution is to develop the fire-fighting and rescue robot. TOD is performed firstly by analyzing the environment properties of fro place and the demanded tasks and the fire-fighting and rescue robot is manufactured. For safety, the fire fighting robot should be controlled by remote operation to keep the operator away from the fire, and the control system is divided into three parts: the robot controllers, controller for remote operating device and wireless communication system. We have selected and developed appropriate hardware and software for each part of control system with considering TOD. As a result, the fire-fighting robot functions correctly and the performance and usefulness of our control architecture is validated by successfully performing some fire-fighting tasks.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.2
• /
• pp.93-100
• /
• 2007

The mobile robots to rescue a life in a disaster area and to explore planets demand high mobility as well as recognition of the environment. To avoid unknown obstacles exactly in unknown environment, accurate sensing is required. This paper proposes a sensor fusion to recognize unknown obstacles accurately by using low-cost sensors. Ultrasonic sensors and infrared sensors are used in this paper to avoid obstacles. If only one of these sensors is used alone, it is not useful fer the mobile robots to complete their tasks in the real world since the surrounding environment in the real world is complex and composed of many kinds of materials. So infrared sensor may not recognize transparent or reflective obstacles and ultrasonic sensor may not recognize narrow obstacles, far example, columns of small diameter. Therefore, I selected six ultrasonic sensors and five infrared sensors to detect obstacles. Then, I fused ultrasonic sensors with infrared sensors in order that both advantages and disadvantages of each sensor are utilized together. In fusing sensors, fuzzy algorithm is used to cope with the uncertainties of each sensor. TAMRY which is terrain-adaptive mobile robot is used as the mobile robot for experiments.

• The Journal of Korea Robotics Society
• /
• v.19 no.2
• /
• pp.149-158
• /
• 2024

This paper presents a robust autonomous navigation and reconnaissance system for tracked robots, designed to handle complex multi-floor indoor environments with stairs. We introduce a localization algorithm that adjusts scan matching parameters to robustly estimate positions and create maps in environments with scarce features, such as narrow rooms and staircases. Our system also features a path planning algorithm that calculates distance costs from surrounding obstacles, integrated with a specialized PID controller tuned to the robot's differential kinematics for collision-free navigation in confined spaces. The perception module leverages multi-image fusion and camera-LiDAR fusion to accurately detect and map the 3D positions of objects around the robot in real time. Through practical tests in real settings, we have verified that our system performs reliably. Based on this reliability, we expect that our research team's autonomous reconnaissance system will be practically utilized in actual disaster situations and environments that are difficult for humans to access, thereby making a significant contribution.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.18 no.8
• /
• pp.344-349
• /
• 2017

Wall-climbing robots have been developed for various purposes, such as cleaning skyscraper windows, maintaining large structures, and welding vessels. Conventional wall-climbing robots use movement systems based on wheels or legs. However, wheeled robots suffer from slipping effects, while legged systems require many actuators and control systems for the complex linkage structure, which also increases the weight of the robot. To overcome these disadvantages, we propose a new wall-climbing robot that walks based on gorilla locomotion. The proposed robot consists of a DC drive motor, a vacuum pump for adsorption, and a micro controller for controlling the system. The performance of the robot was experimentally verified on vertical and horizontal flat surfaces. The robot could be used for various functions in industrial sites or disaster areas.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.4
• /
• pp.456-462
• /
• 2014

In this paper, we present a deployable bio-inspired robot called the Pillbot-light, which utilizes a safe autonomous navigation system. The Pillbot-light is mounted the station robot, and can be operated in a disaster relief operation or military operation. However, the Pilbot-light has a challenge to navigate autonomously because the Pilbot-light cannot be equipped with various sensors. As a result, we propose a new robot system for autonomous navigation that the station robot controls Pillbot-light equipped with vision camera and CPU of high performance. This system detects obstacles based on the edge extraction using vision camera. Also, it cannot only achieve path planning using the hazard cost function, but also localization using the Particle Filter. And this system is verified by simulation and experiment.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.16 no.6
• /
• pp.1205-1212
• /
• 2021

Robots that can actually help people a lot by dealing with dangerous tasks that are difficult for people to do, such as disaster situations, lifesaving, handling dangerous goods, and reconnaissance of dangerous areas, continue to become an issue. Therefore, in this paper, we intend to implement a mobile robot arm that can implement a human motion will on the robot arm to enable active response according to the situation and control the vehicle according to hand movements to give mobility. A controller is manufactured using a flex sensor and agyro sensor, and the roll and pitch values of the two gyro sensors are adjusted to control the angle of the robot arm and specify the vehicle direction. In addition, by designating the levels of the three flex sensors, the motor is operated according to hand movements, and a robot arm is implemented so that objects can be picked up and moved.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.20 no.11
• /
• pp.74-79
• /
• 2021

Generally, multi-legged walking robots have excellent mobility in rough and uneven terrain, and they are deployed for the safety of rescuers in various disaster environments. However, as each leg is driven by a number of actuators, it leads to a complicated structure and high power consumption; therefore, it is difficult to put them into practical use. In this article, a new concept is proposed of a walking robot whose legs are driven by a complex linkage structure to overcome the deficiencies of conventional multi-legged walking robots. A double crank-rocker mechanism is proposed, making it possible for one DC motor to actuate the left and right movements of two neighboring thighs of the multi-legged walking robot. Each leg can also move up and down through an improved cam structure. Finally, each mechanism is connected by spur and bevel gears, so that only two DC motors can drive all legs of the walking robot. The feasibility of the designed complex linkage mechanism was verified using the UG NX program. It was confirmed through actual production that the proposed multi-legged walking robot performs the desired motion.