• Journal of the Korean Society for Precision Engineering
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• v.30 no.4
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• pp.375-382
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• 2013

Down through the years, human needs and desires have required a robot system to work at hazardous environments instead. Current painting task is costly and laborious, and it exposes workers to significant health and safety risks. Automation system offers potential improvement in this area and is especially well suited to the outer-wall painting tasks in concrete structures. This paper introduces the result of gondola-type building management robot(G-BMR) platform and mechanism for moving/tasking on building outer-wall for the outer-wall painting. Its technical and economic feasibility are conducted, and it is concluded that developing G-BMR is physically and economically feasible in this research. And we discuss about the future of G-BMR and automation in construction field.

• Journal of Drive and Control
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• v.13 no.1
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• pp.94-99
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• 2016

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.1073-1074
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• 2012

• Journal of the Korean Society for Precision Engineering
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• v.30 no.4
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• pp.383-389
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• 2013

Demand for high-rising building has arisen. However, its maintenance is usually executed by labour. It could have a severe problem. We proposed a gondola robot to solve it. In this paper, we designed a height estimation sensor for this gondola. It is consist of pan-tilt unit, ARS sensor, and laser sensor. The pan-tilt unit keeps the laser sensor to indicate the gravity direction by referencing the ARS. The laser sensor's range is vertical distance from gondola to ground. However, if there is an obstacle under the gondola, the distance includes its height. To filter it out, we apply a Kalman filter for the height estimation. If the estimated height is changed extremely, the filter decides that there is an obstacle. Then, it remembers the height of obstacle. Other extreme changes of height estimations are reflected. The experimental results using the proposed sensor system show detail flow of the height estimation.

• Journal of the Korean Society of Safety
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• v.35 no.4
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• pp.48-55
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• 2020

The use of temporary Gondola has been steadily increasing. The temporary Gondola is required to get a safety certification review during installation and to be inspected during use within every six months. Most of them, however, are dismantled before six months, and inappropriate activities are conducted frequently for shorter working hours and convenience of work. In this study, the characteristics of the temporary Gondola and the domestic accident cases that occurred over the past 10 years(2008-2017) are analyzed for the type of accident, the state of the accident by year, and the actions of the workers in the event of an accident. Also comprehensive accident reduction measures were proposed by identifying the fundamental causes of temporary Gondola accidents, problems of existing preventive measures, and system defects by utilizing Bow-Tie techniques.

• Aerospace Engineering and Technology
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• v.3 no.1
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• pp.27-34
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• 2004

Tail-wing, gondola and thrust motor mount(EMS) were built by carbon/glass fiber composites. Structural strength & stiffness was verified by specimen tests. Static strength tests for each structural components were conducted separately. Boundary conditions are specially designed for each components to simulate exact joint conditions. Tests shows no detriment deformation at 100% DLL and no failure at 150% DLL.

• Aerospace Engineering and Technology
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• v.1 no.2
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• pp.11-18
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• 2002

The structural load analysis of 50m class airship was performed. The airship maneuver condition for analysis was defined. Aerodynamic, inertia and buoyance models were built. Control surface motion to make defined maneuver condition were calculated. Load factors, load, shear and bending moment envelops were developed for full airship and tailwing. Gondola design loads were developed.

• Journal of the Korean Society of Safety
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• v.22 no.5
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• pp.7-12
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• 2007

The safety standard for suspended access equipments(SAE) is developed. During the development of the safety standard, consideration was given to a close examination of the standards existing in other industrialized regions and nations such as the Eu.opean Union(EU), the United States, and Japan, as well as the existing domestic safety regulation. Also, a consideration was given to the appraising of the technical level and market conditions of the domestic industry. After careful examination of the current safety practices and issues, it was decided that the standard under development should closely follow those of the EU safety standard. The EU standard provides a detailed account of the calculation methods, safety and stability factors, testing apparatus and procedure, all under unified framework. A number of specific safety requirements have been modified in an effect to properly reflect the difficulties faced by the domestic industry. It is hoped that the safety standard developed here can serve as a valuable tool for policy decisions regarding worker safety.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2003.10a
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• pp.127-131
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• 2003

KARI developed 50m class unmanned airship. The airship employ the pressure envelope design principle. The envelope must be considered as a main structural element of the airship. The envelope ＆ three ballonets are fabricated by polyfiber composite laminates. Other structural components (gondola, tailwing, nosecone ＆ engine mounts) are manufactured by carbon fiber ＆ glass fiber laminates. In order to develop a big unmanned airship, a large amount of structural design, analysis and tests had to be made. The paper describes the structural configuration of the 50m class uumanned airship which are basic starting point of the structural development of an airship. The paper includes the various designing processes, components development tests and analysis results. Envelope ＆ ballonets development processes which are very different to conventional airplane design are given in details with actual analysis & test results. The paper also describes the structural design and analysis results for other composite made structures. Each components were tested by static design limit loads and structural safety were confirmed. The paper shows the manufactured structural components and assembled airship.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.1
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• pp.56-63
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• 2012

Due to the development of construction technology, there is a considerable increase in the number of skyscrapers in the world. Accordingly, there are rapid growing requests about maintenance systems such as cleaning, painting, and monitoring the processes of facade in highrise buildings. However, it is extremely dangerous working the walls of high-rise buildings, and crashes from buildings have accounted for large proportion of constructional accidents. An alternative solution must be developed with the commercialization of automatic robot systems. For the last decade, interest in developing robots for cleaning and maintenance in facade of highrise buildings has continuously increased. The use of automatic robot systems can be expected to reduce accidents and decrease labor costs. In this paper, we propose a new kind of cleaning mechanism. We have designed and manufactured various cleaning tools for different types of facades with economic commercialization. The cleaning cycle, size, and intensity will be determined by economic constraints as well. The final goals are to design and manufacture tools and robots that can clean facades efficiently and rapidly even in dangerous places. The cleaning tool systems consist of nozzles, brush rollers, and squeezing devices. Furthermore, these tools and robots perform each process utilizing the systems of built-in guide types and gondola types for building maintenance. The performance of the proposed cleaning tools is evaluated experimentally; however additional study should be necessary for safer and more stable commercialization.