In this paper, we propose an autonomous stair-driving system for the stable traversal of stairs by a tracked mobile robot operating in indoor disaster environments. Before developing the system, we conduct dynamic simulations to analyze the requirements for the robot to climb stairs. Simulations are performed under various initial conditions, and based on a detailed analysis of the results, we derive the necessary conditions for the robot's ascent. Using these requirements, we design the autonomous stair-driving system, which includes three main components: stair approach, stair alignment, and stair traversal. First, during the approach stage, we present a strategy for recognizing stairs using an object detection algorithm and generating control inputs for the stair approach motion. Next, in the alignment process, we outline an image processing sequence that extracts the edge contour of the stairs and a method for generating control inputs from the combined contour. Finally, in the traversal sequence, we describe the strategy for driving up the stairs. Additionally, we introduce an integrated ROS system to ensure the sequential execution of each strategy. We also verify the effectiveness of the individual strategies and demonstrate the capability of the proposed system through experiments using mock-up stairs and tracked robots.

The deformable mirror is the main component of the adaptive optical imaging system, which removes the atmospheric disturbance and acquires the target image without any loss and the beam transmission system, which transmits the laser beam to a long distance. The mirror transforms the optical wavefront distortion caused by atmospheric disturbance into the opposite wavefront shape thereby correcting the distorted wavefront. In order to develop the deformable mirror, it is necessary to analyze the adaptive optics system and the usage environment where the application is required. In the present work, a prototype of a deformable mirror with a single continuous mirror was developed. In order to design the deformable mirror, the main factors of the adaptive optics system and the large diameter telescope were analyzed. Subsequently, the mirror material and the actuator were selected by confirming the amount of deformation through the finite element analysis. Based on the data collected, we designed and fabricated the prototype of the deformable mirror, and the Gaussian model was derived by analyzing the influence function of the deformable mirror through the design data. It was observed that the derived Gaussian model matched with the Zernike polynomial. Apparently, the fitting ability of the deformable mirror was confirmed.