• 제어로봇시스템학회논문지
• /
• 제22권11호
• /
• pp.895-903
• /
• 2016

In a fire disaster in a tunnel, people should be rescued immediately using the information obtained from cameras or sensors. However, in heavy smoke from a fire, people cannot be clearly identified by a mounted CCTV, which is only effective in a clear environment. A thermal camera can be an alternative to this in smoky situations and is capable of detecting people from their emitted thermal energy. On the other hand, the thermal image camera has a smaller field of view than an ordinary camera due to its lens characteristics and temperature error, etc. In order to cover a relatively wide area, panoramic image construction needs to be implemented. In this work, a template-based similarity matching algorithm for constructing the panorama image is proposed and its performance is verified through experiments. This scheme provides guidelines for coping with difficulty in image construction, which requires an exact correspondence search for two images in cases of heavy smoke.

• 대한안전경영과학회지
• /
• 제18권4호
• /
• pp.99-105
• /
• 2016

This study was conducted to develop a dummy in an environment similar to the human body, to prepare a standard for evaluation and to present the process of the production in order to evaluate the performance of the robot that can detect the persons needing rescue in a confined space, who are difficult for fire-fighting officials to rescue in case of fire and disaster. As a result, a standard for evaluation was developed and standardized into four parts 'Normal,' 'Risk Stage 1,' 'Risk Stage 2' and 'Risk Stage 3'based on the number of breath cycles, carbon dioxide concentration, core temperature and criteria for hearing to recognize the voice. In addition, in order to produce a dummy, fever, breathing capacity and voice output function were compared and analyzed. This study has significance that it built up basic data of the method of producing the actual dummy, by presenting characteristics and controlling methods using the waterproof insulation heating coil for the function, solenoid valve for the consecutive output of breathing capacity and USB program sound board for voice output.

• ETRI Journal
• /
• 제37권2호
• /
• pp.262-272
• /
• 2015

In particular, for a practical mobile robot team to perform such a task as that of carrying out a search and rescue mission in a disaster area, the network connectivity and localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a Global Positioning System is unavailable. This paper proposes the new collective intelligence network management architecture of multiple mobile robots supporting seamless network connectivity and cooperative localization. The proposed architecture includes a resource manager that makes the robots move around and not disconnect from the network link by considering the strength of the network signal and link quality. The location manager in the architecture supports localizing robots seamlessly by finding the relative locations of the robots as they move from a global outdoor environment to a local indoor position. The proposed schemes assuring network connectivity and localization were validated through numerical simulations and applied to a search and rescue robot team.

• 한국군사과학기술학회지
• /
• 제12권4호
• /
• pp.516-523
• /
• 2009

Recently, the applications of unmanned robots are increasing in various fields including surveillance and reconnaissance, planet exploration and disaster relief. To perform their missions with success, the robots should be able to evaluate terrain's characteristics quantitatively and identify traversable regions to progress toward a goal using mounted sensors. Recently, the authors have proposed techniques that extract terrain information and analyze traversability for off-road navigation of an unmanned robot. In this paper, we examine the use of 3D world models(terrain maps) to classify obstacle and safe terrain for increasing the reliability of the proposed techniques. A world model is divided into several patches and each patch is classified as belonging either to an obstacle or a non-obstacle using three types of metrics. The effectiveness of the proposed method is verified on real terrain maps.

• 한국지능시스템학회논문지
• /
• 제26권4호
• /
• pp.279-285
• /
• 2016

본 논문에서는 전기구동방식 궤도차량로봇의 플랫폼을 제안한다. 궤도형 이동로봇은 사람의 접근이 어려운 험지나 장비를 운반하는 등의 목적으로 군사목적, 탐사목적, 재해재난, 농업분야 등 다양한 분야에서 사용되고 있다. 주행 안정각, 측면 전복각 등의 설계조건을 반영하여 전기구동 궤도차량로봇을 설계하였다. 궤도차량로봇을 제작하고 구동시스템 제어기를 제작하였다. 제작한 궤도차량로봇을 $15^{\circ}$ 경사의 실내와 $40^{\circ}$ 경사의 실외 주행 실험을 실시하였다. 실험을 통하여 개발한 전기구동방식 궤도차량로봇의 주행이 가능함을 확인하였다.

• 로봇학회논문지
• /
• 제16권3호
• /
• pp.199-206
• /
• 2021

The robot is an effective means to perform repetitive tasks quickly and accurately. It could be more effective in dangerous environments where human is difficult to access. The construction site is a dangerous environment with a high possibility of industrial accidents where heavy work is frequently carried out at a high place. In particular, an accident in the construction site is highly likely to lead to a severe disaster. Of course, various technologies are being developed to monitor the safety of workers in construction sites and prevent accidents, but there is a limit to eliminate the risk of accidents. Therefore, it is necessary to make efforts to replace workers exposed to dangerous environments with equipment or robots that could be controlled remotely in a more active way. In this study, Remote Precise Installation System was proposed to replace the workers exposed to the risk of accident at a high place during the bridge construction. Also, the conceptual design and analytical reviews of this system were carried out. Suppose Remote Precise Installation System is developed according to the derived concept and the target performance. In that case, this system is expected to be applied as a technology that can effectively replace the workers at the bridge construction site.

• 한국컴퓨터정보학회논문지
• /
• 제22권2호
• /
• pp.45-50
• /
• 2017

This paper proposes a novel resource allocation scheme which allows to guarantee the user-perceived service quality for various high-quality mobile multimedia service such as interactive game, tactile internet service, remote emergency medical service or remote disaster handling robot control to a certain level in the mobile networks. In our proposed scheme, Mean Opinion Score(MOS), which represents the degree of user satisfaction for perceived quality, is determined based on the delay limit allowable to each service. Moreover resources are allocated in consideration of this MOS. Simulation results show that our proposed scheme can decrease the outage probability in comparison with existing schemes Moreover it can increase the total throughput as well.

• 한국산업안전학회:학술대회논문집
• /
• 한국안전학회 2003년도 추계 학술논문발표회 논문집
• /
• pp.3-16
• /
• 2003

After a not-widely-known fact is revealed that Japan is a leading country in production and use of industrial unmanned helicopters, a kind of UAV. The voice command system and the autonomous flight control system with a variety of control algorithms including neural network, robust and adaptive control that have been developed in collaboration between Kyoto University and Yamaha Motor Co., and funded by the Ministry of Education and Science of Japan are described in some detail. Both already-proven and promising future applications of the autonomous unmanned helicopters are given.

• 전기학회논문지P
• /
• 제60권4호
• /
• pp.206-213
• /
• 2011

Line sleeves, which used to connect ACSR cables when transmission lines were constructing, sometimes cause power transmission failure due to deterioration and corrosion. Therefore, power transmission line should be inspected regularly to prevent national disaster. Current inspection tool detects insertion length of transmission line on line sleeves, the inspection tool includes enormous error by operator. Moreover, the system is not controlled remotely, negligent accident would be caused while inspecting. To deal with those problems, KEPCO reviewed several ways to inspect line sleeves and proposes new method to inspect line sleeve by measuring magnetic flex which penetrate junction of steel and aluminum sleeve. The developed inspection tool is reliable enough to detect eccentric sleeves. Also, the developed inspection device was applied on actual transmission line and verified its effectiveness.

• 대한임베디드공학회논문지
• /
• 제4권2호
• /
• pp.90-96
• /
• 2009

In the original model-based paradigm in the field of motion planning of robots, robots had to play the focal role of considering all situations under which they made decisions and operate. Such paradigm makes it difficult to respond efficiently to the dynamically shifting environment such as disaster area. In order to handle such a situation that may be changed dynamically, a technology that allows a dynamic execution of data transmission and physical/network connection between multiple robots based on scenarios is required. In this paper, we deal with evolutionary robots that adapt to any given environment and execute scenarios, specially focused on the development of a simulator to test the evolutionary process of cooperated multiple robots.