• 정보보호학회논문지
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• 제32권6호
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• pp.1091-1102
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• 2022

로봇 시스템은 지난 10년 간 매우 빠른 속도로 발전했다. Robot Operating System은 로봇 시스템 및 애플리케이션의 효율적인 개발을 위한 오픈소스 기반의 소프트웨어 프레임워크이며, 다양한 연구 및 산업 현장에서 널리 사용되고 있다. ROS 애플리케이션은 다양한 취약점을 내재하고 있을 수 있다. 이러한 ROS 애플리케이션의 실행을 런타임 모니터링 하기 위해 다양한 연구가 진행되어 왔다. 본 연구에서는 ROS 2에서의 이벤트 기반 런타임 모니터링을 활용한 실시간 공격 탐지 시스템을 제안한다. 우리의 공격 탐지 시스템은 ros2_tracing의 tracetools를 확장하여 ROS 2 미들웨어 계층의 주요 라이브러리에 이벤트 계측을 삽입하고 런타임 중에 이벤트를 모니터링함으로써API의 비순차적 실행을 통한 애플리케이션 계층에서의 공격을 탐지한다.

• 한국멀티미디어학회논문지
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• 제16권6호
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• pp.689-699
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• 2013

로봇 원격조종 방법은 1:1, 1:N, N:1, 그리고 N:N의 다양한 방법이 있다. 오퍼레이터가 원격지 로봇을 제어하기 위해서는 로봇의 주변 상황, 모바일 장치의 충돌 가능성, 그리고 매니퓰레이터의 힘을 인지할 수 있어야 한다. 원격조종에서는 데이터 통신과 처리에 소요되는 시간에 따른 지연이 발생하는데, 이 시간 지연은 로봇의 충돌과 햅틱 기반 제어에 있어 양방향 힘 반영에 따른 매니퓰레이터의 바이브레이션과 과도한 힘 반영을 초래할 수 있다. N:N 제어 방식은 근래 개발 중인 조종 기술로 멀티 오퍼레이터가 멀티 로봇을 스위칭하면서 제어하는 구조를 가진다. 이 구조를 구현하기 위해서는 오퍼레이터가 어떤 로봇을 제어할 것인지, 또는 그 로봇의 어떤 장치를 제어할 것인지에 대한 스위칭 기능이 필요하며, 다수의 오퍼레이터가 함께 원격조종을 수행할 때에는 이 스위칭 알고리즘이 반드시 필요하다. 또한 오퍼레이터의 성향에 따라 조종 성향이 달라지므로 이를 일반화하기위한 방안도 요구된다. 본 논문에서는 다수의 로봇과 다수의 오퍼레이터가 원격으로 로봇들을 제어하여 작업을 수행할 수 있는 햅틱 기반 제어 환경을 구축하는 방안과 구현에 대하여 기술한다.

• 대한임베디드공학회논문지
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• 제12권5호
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• pp.303-310
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• 2017

Underwater robots operating in constrained underwater environment have requirements for software systems. Firstly, it is necessary to provide reusable common software components for hardware interface of sensors and actuators that are frequently used in underwater robots. Secondly, it is required to support distributed execution environment on multiple embedded controllers. Thirdly, it is need to implement a monitoring system capable of high-speed and large-data transmission for underwater robots operating in an environment where it is difficult to check the robot status. For these requirements, we have designed the layered architecture pattern and applied several design patterns to enhance the reusability and the maintainability of software components, In addition, we overlaid the broker architecture pattern to support distributed execution environments. Finally, we implemented the underwater robot software system using ROS framework based on the software architecture design. In order to evaluate the performance of the implemented software system, we performed an experiment to measure the response time between components and the transmission rate of the monitoring data, and obtained the results satisfying the required performance.

• 정보보호학회논문지
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• 제34권4호
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• pp.681-691
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• 2024

최근 수년 동안 무인지상차량 및 무인항공기와 같은 Robotics 분야에 대한 연구 및 개발이 활발히 진행되고 있다. 이러한 발전에는 서로 다른 애플리케이션 간의 통신 및 데이터 관리를 원활하게 해주는 미들웨어의 사용이 중요한 역할을 하고 있으며, 여러 가지의 산업용 통신 미들웨어 프로토콜들이 출시되고 있다. 그중 ROS (Robot Operating System)가 로봇 시스템 개발을 위한 주요 플랫폼으로 널리 사용되고 있지만, 초기 설계 과정에서 보안 측면을 전혀 고려하지 않았기 때문에 통신을 도청하거나 악의적인 메시지를 주입하는 등의 다양한 공격에 취약한 상태이다. 이에 대응하기 위해, ROS에 대한 보안 솔루션을 제안하는 많은 연구가 진행되고 있으며, 특히 침입 탐지 시스템을 위한 ROS 데이터셋을 제안하는 연구도 진행되었지만, 이와 같은 연구는 매우 부족한 상황이다. 본 논문에서는 ROS 침입 탐지 시스템의 성능 발전에 기여할 수 있도록 ROS 환경에서 발생 가능한 새로운 유형의 공격 시나리오를 제안하고, 실제 로봇 시스템으로부터 수집한 ROS 공격 데이터셋을 구축하며 오픈 데이터셋으로 제공한다.

• 대한조선학회논문집
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• 제58권2호
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• pp.121-128
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• 2021

According to the increasing interest and demand for the Autonomous Surface Vessels (ASV), the autonomous navigation system is being developed such as obstacle detection, avoidance, and path planning. In general, autonomous navigation algorithm controls the ship by detecting the obstacles with various sensors and planning path for collision avoidance. This study aims to construct and prove autonomous algorithm with integrated various sensor using the Robot Operating System (ROS). In this study, the safety zone technique was used to avoid obstacles. The safety zone was selected by an algorithm to determine an obstacle-free area using 2D LiDAR. Then, drift angle of the ship was controlled by the propulsion difference of the port and starboard side that based on PID control. The algorithm performance was verified by participating in the 2020 Korea Autonomous BOAT (KABOAT).

• 한국안전학회지
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• 제28권5호
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• pp.1-4
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• 2013

The main objective was to design and develop a prototype robot system for assessing slip resistance. The developed robot system will be able to be used for stochastic nature of friction in the whole workplace. The second objective was to evaluate its operating condition in the laboratory, using a dreg sled type slipmeter(BOT-3000) as reference device. It was found that COF(Coefficient of Friction) measured with robot system was similar to that of BOT-3000 when sliding velocity was reached at 0.2m/s. The robot system might be the more promising one than any traditional measurement devices. A further evolution of prototype devices, as well as the development of test methods for that's various applications, is to be started in forthcoming studies.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.565-570
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• 2008

Recently, the intelligent service robot is applied for the purpose of guiding the building or providing information to the visitors of the public institution. The intelligent robot which is on development has a sensor to recognize its location at the bottom of it. Four wheels which are arranged in the form of a lozenge support the weight of the components and structures of the robot. The operating environment of this robot is restricted at the uneven place because the driving part and internal structure is designed in one united body. The impact from the ground is transferred to the internal equipments and structures of the robot. This continuous impact can cause the unusual state of the precise components and weaken the connection between each structural part. In this paper, a suspension system which can be applied to the intelligent robot is designed. The dynamic model of the robot is created, and the driving characteristics of the actual robot and the robot with suspension are compared. The road condition which the robot can operate is expanded by the application of the suspension system. Additionally, the suspension system is optimized to reduce the impact to the robot components.

• 제어로봇시스템학회논문지
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• 제13권9호
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• pp.883-895
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• 2007

In this work, we present the development of a patrol robot which is intended to navigate outdoor rough terrain. Proposed mechanism consists of six legs for overcoming an obstacle, and six wheels for traveling. Also, in order to absorb vibration in rough terrain effectively, the slide-spring system and tubed type tire are adopted to each leg and each wheel. The control system of robot consists of several imbedded boards for management of lots of diverse devices such as sensors designed for rough terrain, motor controllers, camera, micro controller and so on. And the base system of the robot is designed to operate in real time and to surveille in the vicinity of the robot, and the robot system is controlled by wireless LAN connected to GUI-based remote control system, while CAN communication connects the control board and the device controllers for sensors and motor controllers. For operating this robot system efficiently, we propose the control algorithms for autonomous navigation using GPS, stabilization maintenance by posture control, obstacle-avoidance by impedance control, and obstacle-overcoming with interference-avoidance between wheels. The performance of the robot and the proposed algorithms are tested and proved by a set of experiments in outdoor rough terrain.

• 한국산업융합학회 논문집
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• 제23권3호
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• pp.463-471
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• 2020

Recently, various tries to apply ROV (Remotely Operated Vehicle) into underwater are being developed. However, due to underwater environment uniqueness, the additional problem must be taken into account when designing an ROV for the inspection of the underwater structure. This is because a GPS-based information method cannot be applied, and the obtainable image is also dependent on the turbidity. Also, it is necessary to be able to satisfy waterproof and operating speeds in consideration of most practical application environments. This paper describes the design results of the ROV system for underwater structure inspection considering the above problems. The designed system applied INS / DVL for location recognition and was configured to support 3D mapping and stereo camera-based image information using sonar depending on visibility. To satisfy the waterproof, a pressure vessel using a composite material was applied. And over-actuated system using eight thrusters to maintain a stable posture and operating speed was applied also. The designed system was verified by structural analysis and flow analysis also.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 추계종합학술대회 논문집
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• pp.716-719
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• 1999

In this paper, a real-time control system for robot manipulator is implemented using real-time operating system with capabilities of multitasking, intertask communication and synchronization, event-driven, priority-driven scheduling, real-time clock control, etc. The hardware system with VME bus and related devices is developed and applied to implement a dynamic learning control scheme for robot manipulator. Real-time performance of the proposed dynamic learning controller is tested for tasks of tracking moving objects and compared with the conventional servo controller.