• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.5
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• pp.923-930
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• 2016

Various pipes are used in the many industrial field such as water supply, drainage system and marine plants, so a maintenance of these pipes is essential. Especially, the maintenance of the piping in the industrial field, some professional staffs enter and clean the pipe. If the professional staffs can not enter and clean the pipe, the workers has to use the method of inserting a scraper connected to wire inside the pipe. However, this method demands huge budget and causes a number of problems such as traffic congestion. To solve these problems, pipe cleaning robot has been researching and developing. Many Pipe cleaning robots have a problem, that is impossible to confirm the operating condition of the robot in a real time. This paper suggest pipe cleaning robot with RS-485 which transmit operating and cleaning condition of robot and inner pipe filmed by camera, that user can check.

• Journal of the Korean Society for Precision Engineering
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• v.11 no.5
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• pp.12-24
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• 1994

최근 수년간에 걸쳐 이루어진 센서기술의 발달과 컴퓨터를 이용한 데이타 처리능력의 혁신적인 발전은 대형의 복잡한 시스템을 실시간으로 운용하는데 있어서 막대한 양의 정보를 적절히 처리할 수 있는 기술을 요구한다. 예를 들어, 제철 또는 화학공장 공정제어에 있어서 여러 단계의 복잡한 공정의 상태에 관련된 정보는 다양한 센서들에 의하여 감지되어 제어컴퓨터에 전달된다. 또한 제어컴퓨터에서 생성되는 데이타는 자동화장비들의 각 구동장치로 분배된다. 이와 더불어 전체공정의 운용 및 관리와 제품의 품질 검사 및 시험에 관련된 데이타들도 적절히 전송되어야 한다. 또한 공장의 생산자동화 시스템에서도 수많은 로봇, PLC, CNC,AGV,켠베이어, 자동창고 등 자동화장비관련장비들의 시간적,공간적인 작업상태와 작업환경에 대한 무수한 정보들은 다양한 센서들에 의하여 감지되어 제어컴퓨터로 전달되어야 한다. 이러한 막대한 양의 데이타들을 적시에 수집하여 가공한 후 적시, 적소에 분배해 줄 수 있는 데이타 전송기술의 확보는 미래의 첨단생산시스템으로 인식되는 CIM(Computer Integrated Manufacturing)및 분산제어시스템(Distributed Control System)의 구축을 위한 선결과제라 할 수 있다. 이러한 문제들은 발전소, 최신예 항공기와 인공위성 등과 같이 고도의 제어기능과 매우 높은 신뢰도를 요구하는 시스템들에서도 마찬가지로 제기된다.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.884-888
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• 1991

이 글에서는 1990년 가을 개국하여 운용되고 있는 서울우편물집중국의 우편 물 처리의 자동화 시스템의 적용을 분석, 그의 특징 등을 서술코자 한다. 본 서울우편물집중국의 자동화는 프로그래머블콘트롤러(PLC)를 적용하여 모 든 자동제어기를 통합 NETWORK화하여 1) 계층적제어 SYSTEM을 확립하 였으며 관리용 SYSTEM별의 자율적인 단위 조작과 기능적 독립을 유지하 며, 3) 분산제어 시스템화하여 우편처리에 있어 자동 일관처리 공정을 이루 는데 성공적이였으며, 이는 전적으로 PLC를 적용 계층적 분산제어에 의하여 성취되었다고 본다. 프로그래머블콘트롤러(PLC)는 확장성이 크고 강력한 우 편물 처리의 자동화 장치로서 계속적으로 우편물처리의 자동화 및 기계화 산업에 적용될 것임을 확신하는 바이다.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2000.04a
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• pp.107-110
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• 2000

화학 박막 증착용(CVD : Chemical Vapor Deposition) 클러스터 장비는 다양한 공정 경로가 가능하며 물류 흐름이 매우 복잡해질 수 있다. 또한, 공정이 종료된 웨이퍼는 제한 시간 내에 챔버에서 꺼내져야만 한다. 클러스터 장비는 두 개의 팔을 가진 로봇이며, 빈 쪽 팔을 이용하여 공정이 종료된 웨이퍼를 꺼낸 후, 다른 쪽 팔을 이용하여 이전 공정에서 가져온 웨이퍼를 해당 공정에 넣어 주는 스왑(SWAP) 방식으로 운영된다. 이러한 스왑 방식에서는 로봇 작업 순서가 결정되어 진다. 그러나, 로봇의 팔 이외에 임시버퍼가 없고, 각 챔버는 엄격한 체제 시간 제약(Residency Time Constraint)을 가지고 있기 때문에 로봇의 작업 시점의 제어가 필요하다. 본 논문에서는 간단한 Earliest Starting 방식으로 로봇의 작업 시점을 제어한다고 가정했을 때, 스왑 방식을 운용하면서 체제 시간 제약을 만족하는 공정 시간들의 조건을 제시한다. 공정 시간은 엔지니어에 의해 다소 조정이 가능하므로 공정 시간들의 조건은 엔지니어에게 스케줄 가능한 공정 시간을 결정할 수 있도록 지원해 주는 시스템에 활용 가능하다. 또한, 본 논문에서는 FSM(Finite State Machine)을 이용하여 CTC(Cluster Tool Controller) 내부의 실시간 스케줄러 구현 방법을 제안한다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2001.10a
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• pp.375-379
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• 2001

This paper describes a development of remote measurement robot with vision system. The developed robot consists of robot controller and host PC program. The robot and camera can move with 2 degree of freedom by independent remote controlling a user friendly designe joystick. A visual image and command data translated through 900MHz and 447MHz RF controller, respectively. To show the validity of the developed system, operations of the robot in the field area were illustrated.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.45-45
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• 2000

This paper proposes a remote control system that combines computer network and an autonomous mobile robot. We control remotely an autonomous mobile robot with vision via the internet to guide it under unknown environments in the real time. The main feature of this system is that local operators need a World Wide Web browser and a computer connected to the internet communication network and so they can command the robot in a remote location through our Home Page. The hardware architecture of this system consists of an autonomous mobile robot, workstation, and local computers. The software architecture of this system includes the server part for communication between user and robot and the client part for the user interface and a robot control system. The server and client parts are developed using Java language which is suitable to internet application and supports multi-platform. Furthermore, this system offers an image compression method using motion JPEG concept which reduces large time delay that occurs in network during image transmission.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.400-400
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• 2000

This paper purposed that verify the validity of Petri Net method for control progressive increase of system complexity, before extend the realized single robot system to multi-robot system. An autonomous mobile robot(AMR) needs decision making, motion control, path planning, tracking a path, obstacle avoidance, and sensor fusion, to complete its task. An AMR integrates and operates these technics through a consistent command system. An error in a command hierarchy which is like duplication or omission of a control command hierarchy for each module results in serious problems. This paper minimizes the error by modeling each module and whole system using Petri Net graphical representation and applies it to the exploration task of an AMR

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.831-836
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• 2010

In real system application, the path planning and following system for the coordinated control of heterogeneous marine robots based on the underwater acoustic communication has the following problems: surface and underwater robots have different maneuvering properties, an underwater robot requires more effective operating, it has a limited communication range because of the transmission loss (TL) of acoustic wave, it has a communication error because of the Doppler distortion of acoustic wave, and further, it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent path planning algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC) based on system modeling, is proposed. To verify the performance of the proposed algorithm, the path planning and following of an underwater robot is performed according to the maneuvering of a surface robot. Simulation results show that the proposed algorithm effectively solves the problems.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.spc
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• pp.11-17
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• 2022

In this study, we address the development of a floating platform system based on a unmanned surface vessel for wide-area sensing and monitoring of hazardous and noxious substances (HNSs). For long endurance, a movable floating platform with no mooring lines was used and modified for HNS sensing and monitoring. The floating platform was equipped with various sensors such as optical and thermal imaging cameras, marine radar, and sensors for detecting HNSs in water and air. Additionally, for experiment validation in real outdoor environments, a portable gas-exposure system (PGS) was built and installed on the monitoring system. The software for carrying out the mission was integrated with the Robot Operating System (ROS) framework. The practical feasibility of the developed system was verified through experimental tests conducted in inland water and real-sea environments.

• The Journal of the Convergence on Culture Technology
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• v.8 no.3
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• pp.259-263
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• 2022

As urbanization progresses in Korea, megacities are being formed around the metropolitan area, the central area, and the southeast area. In addition, it is accelerating the development of urban air mobility (UAM) that can be operated by Mega City as a new growth engine industry in the future. At the same time, in order to become a space powerhouse, Korea plans to establish its own Korean positioning system (KPS) by 2035. Therefore, if urban air mobility and location information services provided by the Korean positioning system are used in combination, urban air mobility can be stably operated in future megacities.