• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.109-111
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• 2009

In this paper, we discuss how to design 2-wheeled mobile robot hard wares as reasonable and practical as possible. A segway type mobile robot consists of 2 wheels only, placed in parallel rather than horizon. 2-wheeled mobile robots make you overcome high cost and time consuming maintenance procedures of the robot by reducing the number of robot hardwares. The most challenging thing in a 2-wheeled mobile robot that has many more valid virtues than the traditional mobile robots is to make it balance itself whenever it stands still or goes forward. But balancing itself is not an easy matter and there are many researches and experiments on this issue. When researchers test theories on 2-wheeled mobile robots to improve its self balancing performance, they should consider how to design hard wares of that mobile robot. No matter how great those new theories are, if a testbed for those theories is not suitable, performance output would be poor and meaningless. In this point of view, to design a proper 2-wheeled mobile robot as a testbed is a very important issue with development of new theories. So we define 4 guide lines to design segway type mobile robots reasonably; about motor, battery, and MCU selection and shock-proof design with robust motor setting.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 Ⅲ
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• pp.1561-1564
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• 2003

Intelligent Wearable Module is intelligent system that arises when a human is part of the feedback loop of a computational process like a certain control system. Applied system is mobile robot. This paper represents the mobile robot control system remote controlled by Intelligent Wearable Module. So far, owing to the development of 802.l1b technologies, lots of remote control methods through internet have been proposed. To control a mobile robot through internet and guide it under unknown environment. The information about the direction and velocity of the mobile robot feedbacks to the PDA and the PDA send new control method produced from the combination of Neuro and Hierarchical Fuzzy Algorithm

• 한국산업융합학회 논문집
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• 제21권2호
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• pp.95-101
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• 2018

This paper presents a collision free mobile robot navigation based on the fuzzy inference fusion model in unkonown environments using multi-ultrasonic sensor. Six ultrasonic sensors are used for the collision avoidance approach where CCD camera sensors is used for the trajectory following approach. The fuzzy system is composed of three inputs which are the six distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and three cost functions for the robot's movement, direction, obstacle avoidance, and rotation. For the evaluation of the proposed algorithm, we performed real experiments with mobile robot with ultrasonic sensors. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.45-45
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• 2000

This paper proposes a remote control system that combines computer network and an autonomous mobile robot. We control remotely an autonomous mobile robot with vision via the internet to guide it under unknown environments in the real time. The main feature of this system is that local operators need a World Wide Web browser and a computer connected to the internet communication network and so they can command the robot in a remote location through our Home Page. The hardware architecture of this system consists of an autonomous mobile robot, workstation, and local computers. The software architecture of this system includes the server part for communication between user and robot and the client part for the user interface and a robot control system. The server and client parts are developed using Java language which is suitable to internet application and supports multi-platform. Furthermore, this system offers an image compression method using motion JPEG concept which reduces large time delay that occurs in network during image transmission.

• 디지털산업정보학회논문지
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• 제10권1호
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• pp.147-155
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• 2014

The rapid increase in the penetration rate and diverse utility of smart devices opens an opportunity for a development in creating a user-oriented ubiquitous system. And it allows audiences to deploy the exhibition-helping contents regardless of the restriction of place and time with using the smart devices of audience themselves. Also it needs to build a mobile web-based portal system for the related services. To do this, Firstly, it needs the corresponding strategies on a smartphone-based environment such as technical competence, systematic preparation of exhibition with compatible mobile contents, and a compatible channel for interactivity. Secondly, it needs the differentiation of exhibition guide with the existing system: an adoption of augmented reality, panoramic technology and simulation effect aiming for an improvement in a sense of immersion and reality for audience, and building up additional contents with a diversity of formats of image, sound, and video for customer satisfaction.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1166-1171
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• 2004

In this study, the concept of autonomous mobility is applied to a gait support mobile robot. The aim of the development of the service robot is to assist the elderly with gait rehabilitation. This study proposes an ergonomic service robot design parameter. The gait assistant path pattern is derived from analysis of the elderly gait. A lever is installed in the AMR in order to measure both the pulling force and the leading force of the elderly. The path generation of the mobile robot is developed through consideration and analysis of elderly gait patterns. The ergonomic design parameters (dimensions, action scope and working space) are determined based on moving scope of the elderly. The gait assistant mobile robot was offered the elderly guide service and internet service based on the ergonomic design parameters.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.932-935
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• 1996

This paper proposes position estimation and path-tracking of a wheeled-mobile robot(WMR). Odometry and two distance measuring sensors are used to measure distance between guide wall and body and to locate its own position. And extended Kalman filter is introduced to fusion sensors and reduce noise. State feedback controller using the estimated position and path-tracking miles guidance control system. The computer simulation shows that proposed algorithm is well coincide with theoretical approach.

• International Journal of Contents
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• 제1권2호
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• pp.13-17
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• 2005

Base Station Controller which belongs to IMT-2000(International Mobile Telecommunication - 2000) network has several types of structure for efficient control protocol. This difference of structure occurs two different protocols for call handling. Recently the need of IMT-2000 is highly increasing, so it is important to analyze the performance of processors and IPC(Inter-Processor Communication) module with structure of BSC and protocol difference. This paper presents the performance comparison of different types of BSC in view of processor utilization, waiting time, queue length and QoS(Quality of Service) through the simulation model.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.136-139
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• 2006

In this paper we propose a small form factor actuator using an inclined motion guide for auto-focusing and zoom motions for mobile information devices. The novel structure using the inclined motion guide and a lens-supporting beam converts the circular motion by an ultrasonic motor into the linear motion of the optical lens. The proposed actuator has a simple structure to minimizing the mechanical tolerance, and the stroke is easy to modify by controlling the inclined angle. Experiments using a prototype verify the validity of the model as small form factor optical actuator.

• 한국컴퓨터정보학회논문지
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• 제11권4호
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• pp.261-269
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• 2006

본 논문에서는 임베디드 리눅스를 이용하여 위치기반 관광정보안내 단말기를 설계 및 구현하였다. 구현 된 단말기는 GPS 인터페이스를 통해 단말의 현재 위치를 파악하고 해당 관광지의 정보를 Qt-embedded 윈도우상에서 디스플레이한다. 논문의 단말기는 타겟보드상에서 부트로더와 임베디드 리눅스 커널 및 각종디바이스 드라이버가 구현되었으며 GUI로는 임베디드 윈도 매니저인 Qtopia를 이용하여 애플리케이션을 개발하였다. 구현 결과 무료 운영체제를 이용한 모바일 관광안내 단말기로서 기능을 충분히 수행할 수 있음을 확인하였고, 향후 연구과제로는 통신 기능을 추가하여 단말기의 관광 정보를 실시간에 업데이트 할 수 있는 기능을 구현하는 것이다.