• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.579-584
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• 2004

In this paper, we present the mechanical, electrical system design and system integration of controllers including sensory devices of the humanoid, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. Total number of DOF of KHR-2 is 41. Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. To control all axes efficiently, distributed control architecture is used to reduce computation burden of main controller and to expand devices easily. So we developed the sub-controller as a servo motor controller and a sensor interfacing devices using microprocessor. The main controller attached its back communicates with sub-controllers in real-time by CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operation System) for fast development of main control program and easy extension of peripheral devices. And RTX HAL extension commercial software is used to realize the real-time control in Windows XP environment.

• 한국해양공학회지
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• 제23권6호
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• pp.53-60
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• 2009

Recently, since there are several problems in space, the infra-structure and the facilities in the contiguity of the existing harbors due to the trend of enlarging the container capacity of the large container vessel, a special floating platform named as the Mobile Harbor has been proposed conceptually as an effective solution of those problems. Two kinds of hull shapes, a conventional mono-hull type and a catamaran type, are proposed as midway feeders to transfer containers to the harbor on land from a large container ship on near shore. In this study, the motion response and mooring analysis are carried out for comparing the global performance of two types of Mobile Harbor. Robot arm mooring facility specially is devised and newly tried to use for the safe fixation of a large container ship and the Mobile Harbor on near shore. It would be expected for this comparison study to give a guideline to design the efficient hull form for a midway loader.

• 한국군사과학기술학회지
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• 제11권1호
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• pp.5-14
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• 2008

In this paper, we propose operational concepts and technology requirements for guard and surveillance robots in military field. After surveying on current trend of guard robots, we present an operational scenario and technology requirements. To begin with, we discriminate the use of fixed type guard robots(fixed robots) and mobile guard and surveillance robots(mobile robots). Fixed robots are used for substituting daily guard by human soldier. In contrast, mobile robots are used for compensating shadow area where not to be covered by fixed type robots. To be specific, mobile robots adopt communication relays to extend operational range and sensor networks to collecting information. In addition, we present technology requirements composed of wireless communication system, platform, sensor nodes, unmanned driving technology, power supply system and IFF etc. In conclusion, in order to maximize co-operational functionality, fixed robots and mobile robots should be tightly related.

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.353-360
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• 2010

A skid-steering method which applied to the various mobile robot platforms currently shows its effectiveness in the specified field areas and purposes. This system contains however, several problems of its intrinsic properties such as slippages occurred by different moving direction between vehicle's driving and wheel's rotary and difficulties of driving performance control and so on. This paper deals with the suggestion of suitable control algorithm for 6WD/6WS skid steering wheeled vehicle and verified its feasibility by analyzing the behavior of 6WD/6WS skid-steered wheeled vehicle model and by applying the engineering analytical method to the considered mobile platform. The Performance of vehicle model is evaluated by using slip mode control to follow the steering input and, as a future work, this control algorithm could be applied to real 6WD/6WS in-wheel drive type vehicle finally.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2003년도 추계종합학술대회
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• pp.325-328
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• 2003

본 연구는 인터넷을 통해서 실시간으로 전달되는 속도지령에 대해서 원거리에 위치한 로봇구동용 DC 전동기 동기화 제어에 관한 연구이다. 두 대의 DC 전동기 구동시스템에서 80C196KC $\mu$-Processor에 의해서 DC 전동기에 인가되는 PWM전압과 회전수의 관계로 PID제어기를 설계하고 임의의 속도(위치) 지령에 대해서 두 대의 전동기가 빠른 시간에 동기화가 될 수 있게 하였다. 또, 호환성이 뛰어난 Java 플랫폼을 기반의 Java Applet과 Servlet을 연동시켜 보안을 유지하면 인터넷 상에서 전동기를 실시간으로 제어하고, 속도를 모니터링 할 수 있게 하였다.

• 한국생산제조학회지
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• 제25권2호
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• pp.132-137
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• 2016

Biomimetics involves the design of robotic platforms inspired from living creatures to achieve efficient operation under environmental conditions. A development within biomimetics involves investigating the function of a tail and applying it to robot design. This study aims to define the function of a static tail for water-running robots, and optimize its geometric and compliance parameters. The rolling angle of the tail is determined by the objective function, while the area and fillet ratio are used for geometric design and compliance parameters in the rolling and yawing directions. Repeated motion of the water-running robot's footpads at frequencies of 9 and 10 Hz is used as the operating condition. Robust design based on the Taguchi methodology is performed via orthogonal arrays. The optimized tail design derived in this study will be implemented in a robotic platform to improve steering and balancing functions in the pitching direction.

• 전기전자학회논문지
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• 제19권2호
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• pp.276-281
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• 2015

현대의 공학자들에게는 직무 수행에 있어서 컴퓨터와 프로그래밍 기술이 점점 더 요구되고 있다. 본 저자들이 소속된 제어로봇공학과에서는 1학년의 교과 과정에서 C 언어를 익히는 것으로 프로그래밍 학습을 시작한다. 이는 마이크로콘트롤러를 다루는데 있어서 C 언어가 필수적으로 요구되기 때문이다. 하지만 기존의 PC기반의 수업은 저학년 학생들에게는 딱딱하고 어렵게 느껴져 흥미를 유발하기 힘들다는 한계가 있었다. 본 논문은 학부 저학년 대상의 공학 프로그래밍 교과목에서 아두이노 플랫폼을 활용한 후 그 수업 과정과 장점들에 대해서 소개한다. 그리고 구현 실험 결과를 분석하여 수업을 개선하는데 아두이노 실습 도구들이 매우 유용하다는 결과를 제시한다.

• 한국게임학회 논문지
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• 제20권3호
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• pp.35-44
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• 2020

본 연구에서는 현재 운영 중인 코딩교육 플랫폼인 코딩퍼즐 시스템에서 학습자들이 직접 손으로 조작할 수 있는 탠저블 블록형태로 제작된 코딩퍼즐 입력용 명령어들의 배치를 증강현실 환경에서 제한 시간 안에 안정적으로 다수의 블록을 인식할 수 있는 인식시스템의 설계 및 배치 인식 성능 측정 결과를 제시한다. 그 결과, 5초 이내로 30개 이상의 탠저블 블록 형태의 명령어들의 배치를 안정적으로 인식할 수 있었다. 본 인식시스템을 기존 코딩퍼즐 모바일 앱에 성공적으로 이식하였으며, 블루투스에 연동되는 모바일 앱을 통해 IoT 로봇을 구동할 수 있다.

• 로봇학회논문지
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• 제19권2호
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• pp.221-228
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• 2024

As the importance of cardiovascular health is highlighted, research on its correlation with blood pressure, the most important indicator, is being actively conducted. Therefore, extensive clinical data is essential, but the measurement of the central arterial blood pressure waveform must be performed invasively within the artery, so the quantity and quality are limited. This study suggested a mock circulatory robot and artificial aorta to reproduce the blood pressure waveform generated by the overlap of forward and reflected waves. The artificial aorta was fabricated with biomimetic silicone to mimic the physiological structure and vascular stiffness of the human. A pressurizing chamber was implemented to prevent distortion of the blood pressure waveform due to the strain-softening of biomimetic silicone. The reproduced central arterial blood pressure waveforms have similar magnitude, shape, and propagation characteristics to humans. In addition, changes in blood pressure waveform due to aging were also reproduced by replacing an artificial aorta with various stiffness. It can be expanded to construct a biosignal database and health sensor testing platform, a core technology for cardiovascular health-related research.

• 제어로봇시스템학회논문지
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• 제17권1호
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• pp.38-46
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• 2011

The OPRoS (Open Platform for Robotic Service) framework provides uniform operating environment for service robots. As an OPRoS-based service robot has to support real-time as well as non-real-time applications, application of Windows NT kernel based operating system can be restrictive. On the other hand, various benefits such as rich library and device support and abundant developer pool can be enjoyed when service robots are built on Windows NT. The paper presents a user-mode component scheduler of OPRoS, which can provide near real-time scheduling service on Windows NT based on the restricted real-time features of Windows NT kernel. The component scheduler thread with the highest real-time priority in Windows NT system acquires CPU control. And then the component scheduler suspends and resumes each periodic component executors based on its priority and precedence dependency so that the component executors are scheduled in the preemptive manner. We show experiment analysis on the performance limitations of the proposed scheduling technique. The analysis and experimental results show that the proposed scheduler guarantees highly reliable timing down to the resolution of 10ms.