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Autonomous Terrain Adaptation and User-Friendly Tele-Operation of Wheel-Track Hybrid Mobile Robot
Kim, Yoon-Gu,Kwak, Jeong-Hwan,Hong, Dae-Han,Kim, In-Huck,Shin, Dong-Hwan,An, Jinung 한국정밀공학회 2012 International Journal of Precision Engineering and Vol.13 No.10
This paper presents a terrain-adaptive wheel-track hybrid robot that uses a pair of combined wheel and track systems. The hybrid mobile platform can change the shape of track to adapt to various terrains so that it is able to move fast on flat terrain and to show good performance in overcoming stairs or obstacles. The proposed platform consists of an ordinary wheel structure for fast navigation on flat floors and a transformable tracked structure for climbing stairs effectively. In detail, three track arms installed on each side of the platform are used for the navigation mode transition between flatland navigation and stair climbing. The mode transition is determined and implemented by the adaptive driving mode control of the mobile robot. This wheel-track hybrid mobile platform is evaluated through experiments that assess its navigation performance in real and test-bed environments. This hybrid mobile robot is embodied to perform given tasks in a hazardous environment for surveillance, reconnaissance, and search and rescue applications.
Autonomous Terrain Adaptation and User-Friendly Tele-Operation of Wheel-Track Hybrid Mobile Robot
김윤구,안진웅,곽정환,홍대한,In-Huck Kim,신동환 한국정밀공학회 2012 International Journal of Precision Engineering and Vol. No.
This paper presents a terrain-adaptive wheel-track hybrid robot that uses a pair of combined wheel and track systems. The hybrid mobile platform can change the shape of track to adapt to various terrains so that it is able to move fast on flat terrain and to show good performance in overcoming stairs or obstacles. The proposed platform consists of an ordinary wheel structure for fast navigation on flat floors and a transformable tracked structure for climbing stairs effectively. In detail, three track arms installed on each side of the platform are used for the navigation mode transition between flatland navigation and stair climbing. The mode transition is determined and implemented by the adaptive driving mode control of the mobile robot. This wheel-track hybrid mobile platform is evaluated through experiments that assess its navigation performance in real and test-bed environments. This hybrid mobile robot is embodied to perform given tasks in a hazardous environment for surveillance, reconnaissance, and search and rescue applications.
Facet이론을 이용한 지진발생시 피난 행동심리에 관한 연구
박준(Park Jun),최재혁(Choi Jea-Huck),김수인(Kim Soo-In) 대한건축학회 2010 대한건축학회논문집 Vol.26 No.8
The purpose of this study is to examine and analyze the level of awareness in the ability to evacuate in the case of collapse of a building and the resulting long term damage by using the behavioral and psychological system that can occur in a building in an earthquake that takes place when least expected, and to present a solution. In the main body of this study, the Facet theory used to limit, collect, and simplify the multilateral scope of human psychological system shown through results of a questionnaire. The values that were logged and extracted were interpreted using three analysis techniques. 1. Integrative behavior and psychological analysis using the Facet Theory 2. Sequential behavior and psychological analysis using the Fact Theory 3. MDS analysis based on factor analysis of the Facet Theory By using the three methods of analysis above, multilateral behavior and psychology toward earthquake was analyzed from multiple angles, and reached the final conclusion. The tendency of relying on the first order instinct was found to be very high. Such psychological behavior can sufficiently be prevented and solved through training and simulation of earthquakes and the conclusion shows that national education system and training for personal evacuation is much needed.