Article Per Year (5 Year)
p-Index From 2019 - 2024
0.444
P-Index
This Author published in this journals
All Journal IAES International Journal of Robotics and Automation (IJRA)
Dong Hwan Kim
Seoul National University of Science and Technology
Automotive Engineering Electrical & Electronics Engineering

Published : 2 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 2 Documents
Search

 1 
Waypoint and autonomous flying control of an indoor drone for GPS-denied environments Seung Je Son; Hun Se Kim; Dong Hwan Kim
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i3.pp233-249

Abstract

In this study, we propose a method for recognizing the self-location of a drone flying in an indoor environment and introduce the flying performance using it. DWM1000, which is an ultra-wide band communication module, was used for accurate indoor self-location recognition. The self-localization algorithm constructs a formula using trilateration and finds the solution using the gradient descent method. Using the measured values of the distance between the modules in the room, it is found that the error stays within 10-20 cm when the newly proposed trilateration method is applied. We confirmed that the 3D position information of the drone can be obtained in real-time, and it can be controlled to move to a specific location. We proposed a drone control scheme to enable autonomous flight indoors based on deep learning. In particular, to improve the conventional convolutional neural network (CNN) algorithm that uses images from three video cameras, we designed a distinguished CNN structure with deeper layers and appropriate dropouts to use the input data set provided by only one camera.
Mechanism design for walking typed solar panel-cleaning robot using triple driving lines Woo Jin Jang; Jin Gahk Kim; Sang Hun Lee; Dong Hwan Kim
IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 1: March 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v12i1.pp1-19

Abstract

In this study, we propose a walking-type solar power cleaning robot mechanism driven by a driving unit composed of three driving lines. The triple driving lines are driven using a link mechanism, and vacuum pads are attached to each driving line to move the robot body through a sequence operation between the three lines. Through this mechanism, the robot body can be moved horizontally with the panel without folding the pad, and the amount of vertical movement is minimized during movement. By analyzing the pressure patterns of the pads on the driving line, smooth and fast movement was possible.
Co-Authors Hun Se Kim Jin Gahk Kim Sang Hun Lee Seung Je Son Woo Jin Jang