There have been frequent fatal accidents of firefighters at fire scenes. A firefighting robot can be an alternative to humans at a fire scene to reduce accidents. As a critical function of the firefighting robot, it is mandatory to autonomously detect a fire spot and shoot water. In this research, a deep learning model called YOLOv7 was employed based on thermal images to recognize the shape and temperature information of the fire. Based on the results of the test images, which were not used for learning purposes, a recognition rate of 99% was obtained. To track the recognized fire spot, a 2-DOF pan-tilt actuation system with cameras was developed. By using the developed system, a moving target can be tracked with an error of 5%, and a variable target tracking test by alternately covering two target braziers showed that it takes about 1.5 seconds to track changing targets. Through extinguishment experiments with a water spray mounted on the pan-tilt system, it was observed that the temperature of the brazier dropped from 600 degrees to 13 degrees. Based on the obtained data, the feasibility of a robotic firefighting system using image recognition was confirmed.
Industrial robot manipulators require high absolute position accuracy of the end effector to perform precise and complex tasks. However, manufacturing errors cause differences between nominal and actual parameters, and errors between the expected and actual positions of the end effector, resulting in undesired lower absolute position accuracy. Accordingly, to increase the absolute position accuracy of the end effector, kinematic calibration is required to correct the nominal parameters close to the actual parameters. However, in this study, redundancy of parameters may occur from the overlapping degrees of freedom of parameters in adjacent frames, which causes the problem of unnecessarily correcting many parameters in the optimization process. Thus, to solve this problem and use only the necessary parameters, this paper focuses on the linear relationship of redundant parameters and proposes a method of automatically discriminating and removing it through the Pearson Correlation Analysis. Additionally, through simulations on the two manipulator models, we verify the accuracy of redundancy of parameters determined by the proposed method, and demonstrate consistency and efficiency by comparing the results before and after redundancy removal.
Citations
Citations to this article as recorded by
Development of an Agile Robotic Fixture for Door Trim Fixation Jaesoon Lee, Sang Hyun Park, Jong-Geol Kim, Minseok Kang, Murim Kim Journal of Korea Robotics Society.2025; 20(3): 422. CrossRef
Robot Kinematic Calibration Using a 3D Scanner Won Bo Jang, Junyoung Lee, Jong Hoon Park, Seok Hyeon Yoon, Ui Hun Sagong, Myun Joong Hwang, Murim Kim Journal of Korea Robotics Society.2025; 20(3): 360. CrossRef
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.
Citations
Citations to this article as recorded by
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
In this paper, we propose a method to generate the trajectory of a robotic shoe sole spray system by extracting target points from a 3-D model of a mold sole. Point cloud transformation based on the mold 3-D file format, Z-Axis uppermost point extraction, elimination of unnecessary points, and final target point selection are sequentially performed. The Catmull- Rom algorithm is then applied to plan spline trajectory that allows the robot end effector to spray at a constant speed by following the extracted target points. The proposed algorithm is validated on the test bed of a shoe sole spray system. Through the proposed method, the adhesive can be uniformly dispensed to the sole of the shoe in an atypical shape without the process of extracting the work point using the vision system.
Citations
Citations to this article as recorded by
Hierarchical Path Planning Method for Automated Valet Parking Systems Chanyoung Lee, Kibeom Lee Journal of the Korean Society for Precision Engineering.2024; 41(5): 365. CrossRef
Automation of Shoe Upper Adhesive Spraying Process Using Robot Won Bo Jang, Sang Hyun Park, Seong Youb Chung, Myun Joong Hwang, Murim Kim Journal of the Korean Society for Precision Engineering.2023; 40(12): 981. CrossRef
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.
Citations
Citations to this article as recorded by
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
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.
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.
Citations
Citations to this article as recorded by
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
First
Prev
