The role of QR Code robots in smart logistics is great. Cognitive robots, such as logistics robots, were mostly used to adjust routes and search for peripheral sensors, cameras, and recognition signs attached to walls. However, recently, the ease of making QR Codes and the convenience of producing and attaching a lot of information within QR Codes have been raised, and many of these reasons have made QR Codes recognizable as visions and others. In addition, there have been cases in developed countries and Korea that control several of these robots at the same time and operate logistics factories smartly. This representative case is the KIVA robot in Amazon. KIVA robots are only operated inside Amazon, but information about them is not exposed to the outside world, so a variety of similar robots are developed and operated in several places around the world. They are applied in various fields such as education, medical, silver, military, parking, construction, marine, and agriculture, creating a variety of application robots. In this work, we are developing a robot that can recognize its current position, move and control in the directed direction through two-dimensional QR Codes with the same horizontal and vertical sides, and the error is to create a QR Code robot with accuracy to reach within 3mm. This paper focuses a study on the driving directions of QR Code-aware movable robots during the development of QR Code-aware indoor mobility robots.

Numerical analysis has been carried out to investigate seawater flow field characteristics with various current directions near the manganese nodule mining device. Seawater flow near the collecting device is largely influenced by the sea current direction, especially along the downstream of the rear system. Predicted flow velocity distributions are analyzed with turbulent kinetic energy and drag force. There is big flow field variation when the direction angle between the mining device and seawater current flow approaches to 30°~ 120°, and flow velocity along the rear region of 60° becomes faster than 180°. Averaged turbulent kinetic energy at 180° also becomes low, about 57% higher at 60°. These results from the study can be applicable to the optimum design of manganese nodule collecting system in the deep seawater flow.

This paper deals with the picking batch size which a bi-directional carousel system can be feasible. The items that customers order are retrieved from the bins of carousel with batch size. The mathematical equations representing rotary travel distance and retrieval lead time to pick a given batch size are derived. Rotary travel distance represents the distance which carousel system rotates to retrieve items in a batch. The bi-directional carousel system rotates to minimize the travel distance in retrieving the items in a batch. Rotary travel distance and retrieval lead time are analyzed for the batch size through the simulation approach. From the simulation, the retrieval batch size that carousel system can be feasible is obtained. A numerical example is shown to explain the solution procedure.

This study introduces the accurate correction method of bearing position error of mobile robots using Stargazer sensor. The mobile robots require some vital functions including map building, localization, path planning, obstacle avoidance for autonomous navigation. In most cases, the localization of angular pose of a robot is essential because its result has a great effect on the performance of the other functions. We demonstrated the validity of the proposed method with the results of real experiments and applied it to the photographer robot for correct bearing position error at the moment of taking a picture.

차량의 바퀴궤적의 횡방항 변동을 의미하는 원더링(wandering)은 포장의 설계 및 유지보수를 위하여 중요한 요소임에도 불구하고 계측의 어려움 때문에 심도 있게 다루어지지 못하고 있다. 본 연구에서는 왕복 2차로(3.5m차로 폭)와 4차로(3.25m 및 3.5m 차로 폭)인 일반국도 직선 구간에서 차량 바퀴궤적을 조사하여 횡방향 이동 특성을 분석하였다. 조사 결과에서 좌우 바퀴 위치는 서로 다른 분포형태를 보였으며, 포장 설계에 적용할 경우 좌측바퀴에 의하여 얻어진 분포의 특성치가 포장에 미치는 영향이 더 크기 때문에 좌측바퀴의 특성치를 적용하는 것이 합리적인 것으로 나타났다. 좌측바퀴 위치의 평균값은 좌측차선을 기준으로 할 때, 승용 승합차량인 경우 3.25m차로 폭에서 59.5cm, 3.5m일 경우 80.7cm에 위치하였고, 화물차량일 경우 각각 58.4cm와 73.6cm인 것으로 나타났다. 차량 축수에 따른 구분에서 2축 차량의 경우 차로 폭에 따라서 60.7cm와 79.1cm 이고, 3축이상일 경우 44.5cm 및 69.2cm 인 것으로 나타났다. 결국, 바퀴의 중심위치는 차로 폭에 따라 다르며, 그 차는 차로 폭의 차이에 기인하는 것으로 판단된다.

이동제한장치는 내진분리된 교량 또는 교각에 소서인지가 발생하는 다경간연속교에 있어서 지진에 의한 교축방향 최대변위 및 잔류변위를 제한함에 있어 매우 효과적이다 교축방향의 수평변위가 이동제한장치에 의해 제한되는 경우 상부구조의 최대변위를 예측하기 위해서 비선셩동적해석을 설계에 실무적으로 사용하기에는 시간소요 및 해석상 어려움이 있다 본 연구에서는 등가탄성해석방법과 가속도-변위 스펙트럼을 이용한 간단한 이동제한장치 설계절차를 제시하였다 여기서 제시된 방법은 이동제한 장치의 설치위치 및 이격거리를 결정함에 있어 매우 효율적으로 사용할 수 있을 것이다.

Conventional path tracking methods designed for two-wheeled differential drive robots are not suitable for omni-directional robots. In this study, we present a controller which can accomplish more accurate path tracking and orientation correction by exploiting the unconstrained movement capability of omni-directional robots. The proposed controller is proven to be stable using a Lyapunov stability criterion. Various experiments in real environments show that performance of path tracking and orientation correction has improved in the proposed controller.

This study focuses on dynamic behaviors of simply supported beams, especially, vertical displacements. Based on moving load model, the displacement is estimated by response superposition. The displacements tend to increase as load velocity increases except under resonance velocity and show very large values under resonance velocity. Therefore, we should investigate the resonance between train and structure.

This paper presents a new approach for mobile robot heading detection using MEMS Gyro north finding method in the indoor environment. Based on this, the robot heading angle measurement scheme is proposed; improved north finding theory and algorithm are also explained. Several approaches are applied to confirm system’s precision and effectiveness. In order to find out the heading angle, a single axis MEMS gyroscope to sense the angle between the robot heading direction and the north is used. To reach enough estimation accuracy and reduce detection time,the least square method (LSM) for the signal fitting and parameter estimation is applied. Through a turn‐table, we setup a carouseling system to decrease the substantial bias effect on gyroscope’s heading angle. For the evaluation of the proposed method, this system is implemented to the Pioneer robot platform. The performance and heading error are analyzed after the test. From the simulation and experimental results, system’s accuracy, usefulness and adaptability are shown.

Marionette controlling robot has a problem that generates interference in rotation and intersection, therefore, the research on the independent shifter to move freely on the stage is required. Connecting omni-directional mobile robot with marionette controlling robot can solve this problem. Omni-directional mobile robot makes itself rotate and translate in 2D plane freely. Magnetic device is used to connect the moving part with the control part of the robot to minimize the intereference generated by the movement of robot. When robot moves, it can move to all directions with the suitalbe setting of banlance power. The moment of inertia is minimized by dividing the robot to the upper and lower parts in the marionette performance stage. Rotation and interference problem of independent omni-wheel Robot can be solved by using the permanent magnet. The efficiency and safety of the marionette controlling robot is proved by the experiment.