Journal of the Korean Society for Precision Engineering

Dynamic Characteristic-based Driving Performance Analysis of a Semi-active Suspension Wheel Module for Small Mobile Robots: Seoyeon Park, Sungjae Kim, Juhyun Pyo, Murim Kim, Jin-Ho Suh; J. Korean Soc. Precis. Eng. 2025;42(11):919-926.
Published online November 1, 2025; DOI: https://doi.org/10.7736/JKSPE.025.069

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This study details the development of a semi-active suspension wheel module for small mobile robots and assesses its dynamic characteristics under various driving conditions through simulation. The wheel module features a low-degree-of-freedom mechanical design and includes a semi-active damper to improve adaptability to different environments. To validate the simulation model, a prototype robot equipped with the wheel module was created, and obstacle-crossing experiments were conducted to measure vertical acceleration responses. The model was then refined based on these experimental results. By employing design of experiments and optimization techniques, the effective range of damping coefficients was estimated. Additionally, simulations were carried out at different speeds, payloads, and obstacle heights to identify optimal damping values and examine their trends. The results indicate that the proposed module significantly enhances driving stability and can serve as a foundation for future control strategies in robotic mobility systems.

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Development of an Autonomous Stair Driving System based on an Object Detection Algorithm through Analysis of Stair Traversal Conditions of a Tracked Robot: Min Gi Song, Sung-Jae Kim, Jin-Ho Suh; J. Korean Soc. Precis. Eng. 2025;42(1):27-38.
Published online January 1, 2025; DOI: https://doi.org/10.7736/JKSPE.024.097

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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.

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Multi-sensor Module Design and Operation of Snake Robot for Narrow Space Exploration: Dong-Gwan Shin, Meungsuk Lee, Murim Kim, Sung-Jae Kim, Jin-Ho Suh; J. Korean Soc. Precis. Eng. 2024;41(8):633-640.
Published online August 1, 2024; DOI: https://doi.org/10.7736/JKSPE.024.037

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In this study, a module combining various types of sensors was developed to increase search efficiency inside collapsed buildings. It was designed to be less than 70 mm in diameter so that it can be put into narrow spaces, and is equipped with a small & high-performance processor to process multiple sensor data. To increase sensor data processing efficiency, multi thread based software was configured, and the images were combined and transmitted to ensure time synchronization of multi-channel video data. A human detection function based on sound source detection using two microphones was implemented. The developed multi-sensor module was tested for operation by mounting it on a snake-type robot in a test bed simulating a disaster site. It was confirmed that the visible range of the robot to which the multi-sensor module was applied was expanded, and the ability to detect human and low-light human detect was secured.

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A Study on Controlling Arrival Velocity of Pneumatic Tube Carriers Using Counterpressure: Sung-Ho Hong, Jae Youl Lee, Jonghwan Baek, Sang Ho Kim, Jehun Hahm, Jin-Ho Suh; J. Korean Soc. Precis. Eng. 2023;40(2):149-155.
Published online February 1, 2023; DOI: https://doi.org/10.7736/JKSPE.022.095

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A pneumatic tube system is a system that transmits and receives objects quickly inside pipes and is used in urgent situations or when transferring or returning objects. It is mainly used in hospitals, large marts, and automation systems. For long-distance transportation (up to 10 km) high pressure is used at industrial plant industrial sites. A large amount of flow rate and high pressure are used to generate instantaneous pressure and flow to the opposite side, where the transport target is stored in a separately manufactured carrier and transported. Specially manufactured carriers considering significant frictional force in the straight, curved, rising, and lower sections during long-distance transport are employed. The other party experimentally generates reverse pressure to lower the care speed inside the transfer pipe that arrives at a high speed and operates the worker valve to reduce the speed, but the valve must be operated every time according to pressure and distance changes. In the present work, a method of arriving at a carrier in a stable pipe through speed reduction by controlling the flow rate and reverse pressure depending on the distance from the transmission unit and calculating the reverse pressure compared to the teleportation speed is presented.

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Development of Spiral Driving Type Pipe Inspection Robot System for Magnetic Flux Leakage: Min-Woo Jang, Jae-Youl Lee, Myeong-Su Jeong, Sung-Ho Hong, Dong-Ho Shin, Kap-Ho Seo, Jin-Ho Suh; J. Korean Soc. Precis. Eng. 2022;39(8):603-613.
Published online August 1, 2022; DOI: https://doi.org/10.7736/JKSPE.022.040

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The pipe inspection robot using the MFL non-destructive inspection equipment, has high inspection efficiency in the pipe with high magnetic permeability. However, this equipment generates attractive force between the pipe and the permanent magnet, requiring a high driving force for the robot, and sometimes causes the robot to be incapable of driving. In this study, the development of a spiral running type magnetic leakage detection pipe inspection robot system is described. Multi-body dynamics analysis was performed on the designed robot, to confirm the robot"s driving performance. After that, the performance of the robot was verified, by testing the manufactured robot in a standardized test bed.

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Pipe Spatter Detection and Grinding Robot
Sungho Hong, Jaeyoul Lee, Dongho Shin, Jehun Hahm, Jonghwan Baek, Jinho Suh
Applied Sciences.2022; 12(21): 11045. CrossRef

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A Study on Sound Source Localization of Survivors for the Robot Searching Victims in a Narrow Space: Sang-Won Han, Sung-Jae Kim, Dong-Gwan Shin, Ju-Hyun Pyo, Meung-Suk Lee, Maolin Jin, Jin-Ho Suh; J. Korean Soc. Precis. Eng. 2022;39(7):509-516.
Published online July 1, 2022; DOI: https://doi.org/10.7736/JKSPE.022.019

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In this study, we proposed microphone array and algorithm for sound source localization based on GCC-PHAT for the robot searching victims in a narrow space. Through frequency domain analysis, we designed filter to make algorithm react only to the sound with a human voice frequency. Additionally, calibration algorithm was integrated to solve the problem of the update cycle of result value becoming very short when passing through the filter, presenting difficulty in checking the value. Results obtained through experiments verified the performance of the proposed microphone array and sound source localization algorithm.

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A Study on the Survivor Detection Module and Least-Squares Sound Source Localization Algorithm for Victim Search in Narrow Spaces
Yun-Jeong Seok, Sung-Jae Kim, Seo-Yeon Park, Jin-Ho Suh
Journal of Korea Robotics Society.2025; 20(1): 120. CrossRef
Multi-sensor Module Design and Operation of Snake Robot for Narrow Space Exploration
Dong-Gwan Shin, Meungsuk Lee, Murim Kim, Sung-Jae Kim, Jin-Ho Suh
Journal of the Korean Society for Precision Engineering.2024; 41(8): 633. CrossRef

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A Study on Improving the Sensitivity of High-Precision Real-Time Location Receive based on UWB Radar Communication for Precise Landing of a Drone Station: Sung-Ho Hong, Jae-Youl Lee, Dong Ho Shin, Jehun Hahm, Kap-Ho Seo, Jin-Ho Suh; J. Korean Soc. Precis. Eng. 2022;39(5):323-330.
Published online May 1, 2022; DOI: https://doi.org/10.7736/JKSPE.022.014

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Drone stations are increasingly being applied to enhance the mission capabilities of drones. The drone’s station landing occurs in a limited space. A relative position communication signal between the drone and the station is required. Strong, precise control over communication signal interference is required. In this paper, we describe a filter processing method for position signal processing. In consideration of the anchor position and installation angle of the UWB module of the drone station, nine performance test cases were proposed. As a result of the performance test, high position accuracy output was confirmed when considering the result of minimizing signal shading and beam pattern direction with excellent reception sensitivity. A performance test was conducted using the developed drone station, and the landing performance was confirmed with a precision of within 20 cm.

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Evaluation of Structural Integrity for Lifting-and-Lowering-Type Drone Station Using Fluid-Structure Interaction Analysis: Sang Ho Kim, Jae Youl Lee, Sung-Ho Hong, Jehun Hahm, Kap-Ho Seo, Jin-Ho Suh, Young Sik Joung, Se Hoon Jeung; J. Korean Soc. Precis. Eng. 2021;38(11):841-849.
Published online November 1, 2021; DOI: https://doi.org/10.7736/JKSPE.021.045

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An elevating drone station is very useful when lifting and lowering the battery charging station for safe installation, maintenance, and energy efficiency of a drone operation. When drone station modules rise above the average roof level of neighboring structures they may receive a strong wind force; thus, understanding the physical phenomena of both the structures and fluid is important to understand the structure"s reaction to the wind force. However, most studies in the field of drone stations did not perform a structural safety evaluation under wind loadings. Therefore, in this paper, we carried out a fluid-structure interaction analysis to verify the design of the lifting-and-lowering-type drone station.

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Multibody Dynamic Analysis for the Lifting-and-Lowering-Type Drone Station including Cable-Pulley Systems: Sang Ho Kim, Jae Youl Lee, Sung-Ho Hong, Jehun Hahm, Kap-Ho Seo, Jin-Ho Suh, Young Sik Joung; J. Korean Soc. Precis. Eng. 2021;38(10):785-792.
Published online October 1, 2021; DOI: https://doi.org/10.7736/JKSPE.021.069

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The lifting-and-lowering type drone station is very useful when lifting and lowering the battery charging station for safe installation, maintenance, and energy efficiency of drone operation. Therefore, understanding the coupling motion between cable and pulley is important for evaluating characteristics like safety and dynamic stability of the lifting-and-lowering type drone station. Although multibody dynamics (MBD) is widely used for numerically analyzing the dynamic behavior of interconnected bodies, attempts to analyze the coupling motion between cable and pulley have been made only recently, within the last decade. Therefore, this paper attempts to develop the MBD model for the lifting-and-lowering type drone station, including cables, pulleys, and winches using MotionSolve (Altair). The results of the winch torque obtained analytically and numerically were compared to verify the effectiveness of the proposed MBD model.

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A Study on Improving the Sensitivity of High-Precision Real-Time Location Receive based on UWB Radar Communication for Precise Landing of a Drone Station
Sung-Ho Hong, Jae-Youl Lee, Dong Ho Shin, Jehun Hahm, Kap-Ho Seo, Jin-Ho Suh
Journal of the Korean Society for Precision Engineering.2022; 39(5): 323. CrossRef

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An Integrated Control System for Disaster Response Robot based on Multiple ROS Core considering Network Instability: Kyon-Mo Yang, Jin-Ho Suh, Ji-Won Lee, Jinhong Noh, Min-Gyu Kim, Kap-Ho Seo; J. Korean Soc. Precis. Eng. 2021;38(10):741-748.
Published online October 1, 2021; DOI: https://doi.org/10.7736/JKSPE.021.063

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This paper proposes an integrated control system for multi-disaster response robots based on Robot Operating System (ROS). The contributions of this paper were as follows: 1) A multi-score-based system concept was proposed in consideration of network instability issues which might frequently occur in compound disaster environments; 2) A detailed ROS based software structure was implemented to apply the proposed system to real robots; 3) Hardware cockpit and graphical user interface (GUI) for an operator were implemented; 4) through the experiment, the problem of the system based on common ROS structure, the out-of-control state, was confirmed and we verified the proposed system using the scenario.

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Global Map Building Algorithm based on Limited Communication of Complex Disaster Response Robot System: Dong Yeop Kim, Yo Han Jung, Jin-Ho Suh, Jung-Hoon Hwang; J. Korean Soc. Precis. Eng. 2021;38(10):733-740.
Published online October 1, 2021; DOI: https://doi.org/10.7736/JKSPE.021.062

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Complex disaster has disabled the ordinary communication system. For example, fire on LTE routers and their power supply interrupted communication. In our disaster react robot system, we suggested a portable and battery-powered Wi-Fi module dropped by reconnaissance robots. As a result, the communication speed was extremely limited. In this paper, we proposed a global map generation strategy to overcome this communication limit. Our key approach involved the conversion of heterogeneous local maps to 2D occupancy grid maps. The 2D map was treated as an image and image stitching algorithm was applied to build the global map. We made various local map scenarios and applied our global map building algorithms. In conclusion, our proposed strategy was verified with the real robot test.

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Generation of Snake Robot Locomotion Patterns Using Genetic Algorithm: Juhyun Pyo, Meungsuk Lee, Dong-Gwan Shin, Kap-Ho Seo, Hangil Joe, Jin-Ho Suh, Maolin Jin; J. Korean Soc. Precis. Eng. 2021;38(10):717-724.
Published online October 1, 2021; DOI: https://doi.org/10.7736/JKSPE.021.057

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This paper presents a novel method of designing an efficient locomotion pattern generating algorithm for snake robots by a genetic algorithm (GA). In search and rescue operations in disaster areas, a snake robot requires multiple locomotion patterns. To overcome the complexity of snake robot control, we used a central pattern generator (CPG)-based control method which mimics the motion of a biological snake. GA was used to optimize CPG parameters to maximize locomotion performance. The locomotion performance according to the CPG parameters change was analyzed using the snake robot simulator. The proposed locomotion pattern generation algorithm evolved quickly for the target performance and obtained CPG parameters for the desired locomotion.

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A Study on I-PID-Based 2-DOF Snake Robot Head Control Scheme Using RBF Neural Network and Robust Term
Sung-Jae Kim, Jin-Ho Suh
Journal of Korea Robotics Society.2024; 19(2): 139. CrossRef
A Study on the Design of Error-Based Adaptive Robust RBF Neural Network Back-Stepping Controller for 2-DOF Snake Robot’s Head
Sung-Jae Kim, Maolin Jin, Jin-Ho Suh
IEEE Access.2023; 11: 23146. CrossRef

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Hydraulic Manipulator to Assist Rescue Personnel: Maolin Jin, Sang Hyun Park, Jong Geol Kim, Ju Seong Shin, Junyoung Lee, Kap-Ho Seo, Jin-Ho Suh; J. Korean Soc. Precis. Eng. 2021;38(10):711-716.
Published online October 1, 2021; DOI: https://doi.org/10.7736/JKSPE.021.050

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In this study, we developed a hydraulic manipulator to assist firefighters and rescue personnel at disaster sites. In the design procedure, we analyzed the manipulator considering the hydraulic actuators as well as the manipulator kinematics and dynamics. For the user interface, a macro/manual operation concept was proposed to provide an effective response in emergency and disaster situations. To cope with abnormalities of the disaster site operator, a protocol for switching local/remote operations was developed. The effectiveness of the hydraulic manipulator and operating system was verified through task implementation experiment.

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Research Trends on Disaster Response Robots: Maolin Jin, Kap-Ho Seo, Jin-Ho Suh; J. Korean Soc. Precis. Eng. 2019;36(4):331-337.
Published online April 1, 2019; DOI: https://doi.org/10.7736/KSPE.2019.36.4.331

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With increasing demand for disaster response robots, many governments projects have been launched to ensure safety for citizens. This paper reviews government policies and research trends on disaster response robots. To give a bird"s eye view on disaster response robots, we first reviewed foreign technologies. We then introduced recent technologies developed in Korea and some ongoing researches on disaster response robots.

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Role-taking and robotic form: an exploratory study of social connection in human-robot interaction
Jenny L Davis, Robert Armstrong, Anne Groggel, Sharni Doolan, Jake Sheedy, Tony P. Love, Damith Herath
International Journal of Human-Computer Studies.2023; 178: 103094. CrossRef
Development of a Realistic Simulator for Driving Education of a Disaster-Responding Special Purpose Machinery
Hyo-Gon Kim, Jung-Woo Park, Hyo-Jun Lee, Sung-Ho Park, Young-Ho Choi, Byeong-Kyu Lee, Jin-Ho Suh
Journal of Power System Engineering.2021; 25(2): 86. CrossRef
An Integrated Control System for Disaster Response Robot based on Multiple ROS Core considering Network Instability
Kyon-Mo Yang, Jin-Ho Suh, Ji-Won Lee, Jinhong Noh, Min-Gyu Kim, Kap-Ho Seo
Journal of the Korean Society for Precision Engineering.2021; 38(10): 741. CrossRef

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A Study on Motion Planning Generation of Jumping Robot Control Using Model Transformation Method: Jin-Ho Suh, Masaki Yamakita, Kwon-Soon Lee; J. Korean Soc. Precis. Eng. 2004;21(4):120-131.
Published online April 1, 2004

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In this paper, we propose the method of a motion planning generation in which the movement of the 3-link leg subsystem is constrained to a slider-link and a singular posture can be easily avoided. The proposed method is the jumping control moving in vertical direction which mimics a cat's behavior. That is, it is jumping toward wall and kicking it to get a higher-place. Considering the movement from the point of constraint mechanical system, the robotic system which realizes the motion changes its configuration according to the position and it has several phases such as; i) an one-leg phase, ii) in an air-phase. In other words, the system is under nonholonomic constraint due to the reservation of its momentum. Especially, in an air-phase, we will use a control method using state transformation and linearization in order to control the landing posture. Also, an iterative learning control algorithm is applied in order to improve the robustness of the control. The simulation results for jumping control will illustrate the effectiveness of the proposed control method.