• Journal of Drive and Control
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• v.13 no.4
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• pp.89-94
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• 2016

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.06a
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• pp.321-322
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• 2007

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.06a
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• pp.81-82
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• 2007

• Journal of Drive and Control
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• v.17 no.4
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• pp.103-112
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• 2020

Field robots are used in various fields, such as agriculture, forestry, manufacturing, and construction; their use has recently expanded to include submarine areas. Field robots can aid in various tasks, such as soil transport, ground clearance, and dismantling of buildings. As field robots are used in a variety of different areas, the difficulty of the work is also quite varied. Increased difficulty is associated with an increased risk of accidents involving the field robot. In order to reduce the accident rate of field robot workers, the need for digitalization and automation of field robots is becoming more of an issue. To this end, it is necessary to study a system that enables workers to do their work without directly contacting a field robot. Therefore, in this paper, we introduce a control system for wireless remote control of a small field robot. The field robot can be wirelessly controlled by a worker in a remote location if the worker cannot be present at the work site. The implemented remote system is tested according to the type of work, and the operating characteristics of the remote system are assessed.

• Proceedings of the Korea Water Resources Association Conference
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• 2023.05a
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• pp.406-406
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• 2023

자연재난은 각각의 유형별로 발생 특성이 다양하고, 피해 유형도 상이하기에 재난 발생 시 재난 특성에 따른 최적 자원의 비축 및 동원이 필요하다. 하지만, 재난관리자원은 종류가 다양하고 요구 비축량이 많으며, 재난유형별로 발생특성이 다양하고 피해유형도 상이하기 때문에 모든 자원을 비축하고 활용하기에는 어려움이 따른다. 따라서 재난특성에 맞는 필요 자원의 비축을 통한 효율적인 재난관리자원 운영 및 관리체계 마련이 필요하다. 특히, 침수관련 재난(호우, 태풍, 풍랑)의 경우 과거 20년(2001년~2020년)동안 발생 건수는 282건으로 같은 기간 발생한 413건의 자연재난 중 68%를 차지할 만큼 침수 대응에 따른 필요 자원의 분석이 필요하지만, 관련 자원의 운영현황 및 발생한 문제점에 대한 분석은 미흡한 실정이다. 이에 본 연구에서는 과거 20년(2001년~2020년)동안 발생한 침수관련 재난(호우, 태풍, 풍랑)발생 시 동원된 재난관리자원 사례를 분석하였다. 재해연보, 관련 백서 및 보고서 등의 수집 및 분석을 통해 침수 발생 시 동원된 장비, 자재를 분석하였으며, 자원동원 시 발생하는 문제점을 자원비축, 자원능력, 자원활용, 대응시간으로 구분할 수 있었다. 본 연구는 과거 발생한 침수관련 재난에 대하여 재난관리자원의 동원 사례와 시사점 및 문제점을 도출한 점에서 그 의미가 있으며, 향후 침수 관련 재난 발생 시 자원의 효율적인 비축 및 관리, 동원 및 응원 등 효율적 운영방안 수립에 활용할 수 있을 것으로 기대된다.

• Journal of Drive and Control
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• v.19 no.2
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• pp.1-10
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• 2022

Field robots operate in various areas, including construction, agriculture, forestry and manufacturing. Typical tasks of field robots used in various areas include excavation, flattening, and demolition. Such tasks are often accomplished in narrow alleys or indoors. In the case of field robots, there is a limit to working in a small space. Thus, to compensate for these shortcomings, many field robots equipped with Tiltrotators have recently been observed. The advantages of Tiltrotator are improved task efficiency and reduced operating time by reducing unnecessary behavior. We need simulation models that can improve the ability of new people to work and simulate tasks in advance. Thus, in this paper, we developed a simscape-based simulation model and modeling of 6DOF systems for field robots equipped with Tiltrotator. Dynamic modeling of field robot 3D models using Simcape multibody and hydraulic systems of field robots using Simcape Hydraulics were modeled. We applied a PID controller to create a control system that operates along the input angle. Simulation results show that errors occur when comparing input and output angles, but overall, they move along input angles.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.9 no.1
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• pp.17-21
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• 2015

There have been sustained developments of advanced technologies using traffic safety facilities recently and techniques for identifying failure modes and devices which could result in fatal outcomes. The purpose of this research is aimed at improving the driving conditions in advance through analyzing the IT convergence, driving education, researches for vehicles, field of construction and robotics. The researchers evaluate on usability tests of the driving with 26 candidates through focusing on safety, convenience, efficiency, effectiveness. Using specialized LED panel to enhance driving performances of disabled people are for cautious road conditions like foggy weather or heavy rain. As a result, there were improvements in the driving conditions, and candidates reported this system was helpful. It allows them for maintaining proper driving all times and was especially informative for people with low vision or visually impaired. This system plays a pivotal role as a prevention mechanism not only for regular drivers but also for further delict of traffic violations or accident offenders who already have former record on tort.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2007.11a
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• pp.105-108
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• 2007

This study aims to develop a performance evaluation system for the Construction Factory(CF). The CF is a kind of full automation system for building construction which consists of the lifting system for building materials, the built-up unit for steel structural components, the bolting robots, the control center for the site management, and the site covering system. The CF is developing now as a project of the construction automation and robotics. In this study we firstly reviewed the state-of-the-art of the construction automation and robotics in the foreign and the domestic, and investigated the precedent case of the CF such as the SMART System of Shimizu Co., Japan. We believe that without an objective evaluation of the results there won't be growth in technological R&D. Therefore, this study sees the developing CF as an new technology and method in building construction, and proposes the direction and frame of the appropriate evaluation which can be applied into the CF.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2023.05a
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• pp.221-222
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• 2023

The purpose of this study is to analyze the applicability and limitations of SPOT robots in the construction industry. The SPOT robot, which is being introduced to construction sites for smart construction with the progress of the 4th industrial revolution, is shaped like a four-legged dog and is equipped with various sensors for data collection and autonomous driving. In this study, hardware and software were analyzed, such as the size of the SPOT robot, mobility on slopes and heights, operating environment, and software functions that can collect data with a sensor weighing up to 14 kg. In addition, while the SPOT robot operates in a construction environment, performance such as stability, accuracy, signal connection distance, and obstacle avoidance are evaluated, and the applicability and limitations of the SPOT robot in the construction industry are analyzed. Based on this analysis, the purpose of this study is to evaluate when and how SPOT robots can be effectively used at construction sites, identify limitations, and derive contributions and improvements for the construction industry.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2023.11a
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• pp.165-166
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• 2023

Construction inspection and monitoring are key activities in construction projects. Automation of inspection tasks improves the limitations and inefficiencies of manual construction inspections, enabling systematic and consistent construction inspections. In this paper, an RTSP (Real-Time Streaming Protocol) system is used to remotely manage and supervise the construction site without having to visit the construction site by deploying a robot on site on behalf of four construction stakeholders (owner, supervisor, constructor, and designer). I would like to propose. The proposed system can contribute to identifying and monitoring the process process and work results at the construction site in real time.