• Proceedings of the Computational Structural Engineering Institute Conference
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• 2009.04a
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• pp.226-229
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• 2009

굴삭기는 다양한 산업 분야에서 폭넓게 이용되고 있는 대표적인 장비임에도 불구하고 작업 환경은 매우 열악하여 굴삭 조종자는 각종 소음이나 진동, 분진에의 노출뿐만 아니라 산업재해의 위험성 또한 높다. 이러한 문제점들을 타개하기 위하여 현재 국내에서는 2006년부터 지능형굴삭시스템(Intelligent Excavating System)에 의한 자동화된 굴삭기의 개발을 위하여 연구를 진행 중에 있다. 자동화 굴삭시스템 구축에 있어서 센싱(sensing)을 통해 획득된 지형 및 주변 환경정보를 활용하여 숙련공의 휴리스틱스(heuristics)를 바탕으로 설계된 모듈을 통해 최적의 굴삭 작업 계획을 세우고, GUI (Graphic User Interface)를 제공하여 실시간 작업진행 상태 파악 및 모니터링(monitoring) 내용을 굴삭기 조종자와 공사 감독관에게 제공하는 Task Planning System의 개발은 생산성, 안전성, 작업의 품질 및 장비의 성능에도 지대한 영향을 미치며 자동화된 굴삭시스템을 개발함에 있어서 필수적으로 요구되어지는 핵심기술이다. 본 논문에서는 자동화 굴삭시스템을 위한 자동화 계획생성 시스템인 Task Planning System의 현재까지 진행된 연구 내용과 모니터링 및 작업에 대한 최소간섭을 위한 Task Planning System Interface를 소개한다.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2008.11a
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• pp.364-367
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• 2008

Earthwork is very equipment-intensive task and researches related to automated excavation have been conducted. There is an issue to secure the safety for an automated excavating system. Therefore, this paper focuses on how to improve safety for semi- or fully-automated backhoe excavation. The primary objective of this research is to develop object detection algorithm for automated safety system in excavation work. In order to satisfy the research objective, a diverse sensing technologies are investigated and analysed in terms of functions, durability, and reliability and verified its performance by several tests. The authors developed the objects detecting algorithm for user interface program using laser sensor. The results of this study would be the basis for developing the automated object detection system.

• Journal of the Korea Institute of Building Construction
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• v.10 no.4
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• pp.105-112
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• 2010

The demand for the development of automated construction equipments is gradually increasing to deal with the current problems of construction technology, such as a lack of experienced workers, the aging of engineers, safety issues, etc. In particular, earth work such as excavation is very machine-dependent, and there has been a great deal of research on the development of an intelligent excavator, which involves great safety concerns. Thus, the objective of this study is to develop the technology to enhance the safety of intelligent excavation systems by developing an omnidirectional object detection technology for the intelligent excavator and applying it to a user-friendly system. The existing literature was reviewed, and the function of various sensor technologies was investigated and analyzed. Then, the best laser sensor was selected for an experiment to determine its effectiveness. An omnidirectional object detection algorithm was developed for a user interface program, and this can be used as the fundamental technology for the development of a safety management system for an intelligent excavator.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2007.11a
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• pp.373-376
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• 2007

The construction industry is an inevitable part of modem development. Now-a-days, the construction industry experiencing several issues related with the maintenance of productivity, quality and labor. Hence there is an immediate requirement for the development of technologies enabling the automated construction equipment. The new technologies should also assure the sufficient safety and efficiency. In the present investigation, an attempts have been made for the development of object sensing algorithm and safety control system for intelligent excavating system. we have analyzed some elemental technologies for sensing objects and also proposed a technology for safety control system as well. The proposed technology will highly influence the safe working performance of construction industry in the positive sense.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.30 no.4D
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• pp.433-442
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• 2010

Recent decrease in the availability of experienced skilled labor and a corresponding lack of new entrants has required the need for automating many of the construction equipment used in the construction industry. In particular, excavators are widely used throughout earthwork operations and automating its tasks enables work to be performed with higher productivity and safety. This paper introduces an optimal path generation method which is one of the core technologies required to make "Intelligent" excavators a reality. The method divides a given earthwork area into unit cells, identifies networks created by linking these cells, and identifies the optimal path an excavator should follow to minimize its total transportation costs. In addition, the method also accounts for drainage direction and path continuity to ensure that the generated path considers site specific conditions.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2007.11a
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• pp.343-346
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• 2007

Recent advances in automation and robotic technologies in the manufacturing industry suggest that the greater level of automation may be extremely beneficial for the construction industry. However, only some of the high-technology advances may be applied to the construction industry due to the fast-changing construction environment in which work locations are constantly changing and material, equipment, and workers are always moving. The earthwork operation for site development is a good candidate for applying automation technology, because it is a very repetitive and tedious task and needs lots of construction equipment. This paper presents the model of a construction environment and a moving plan for an automated earthwork system, which can produce an effective moving path of an excavator platform with an Octree model. To generate the moving path, the know-how of skilled operators and construction managers is added in the proposed model.

• Construction Engineering and Management
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• v.18 no.1
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• pp.14-17
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• 2017

• Journal of the Korea Society for Simulation
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• v.22 no.2
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• pp.93-100
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• 2013

Mixed model production system means that various products are manufactured alternately in a line, and it has become a popular system in the era of multi-product small-quantity production. However, in the mixed model production system using flow line, the unbalance among stations is not inevitable because the workloads of stations cannot be the same. Thus, flow line system has been replaced to cellular manufacturing system for reducing the loss of waiting due to the unbalance of stations. In this paper, we introduce the simulation case study of an automated welding line which produces the parts of excavator. The factory has considered replacing the mixed model flow line to the cellular manufacturing system based on FMC concept. The increase of production quantity is estimated about 26.7%, and the lead time is reduced more than 55%. Furthermore sensitivity analyses are conducted considering the changes of product-mix.

• Korean Journal of Construction Engineering and Management
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• v.12 no.6
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• pp.130-141
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• 2011

The intelligent excavating system(IES), the development in South Korea of which has been underway since 2006, aims for the full-scale automation of the excavation process that includes a series of tasks such as movement, excavation and loading. The core elements to ensure the quality and safety of the automated excavation equipment include 3D modeling of terrain that surrounds the excavating robot and the technology for detecting objects accurately(i.e., for detecting the location of nearby loading trucks and humans as well as of obstacles positioned on the movement paths). Therefore the purpose of this research is to ensure the quality and safety of automated excavation detecting the objects surrounding the excavating robot via a 3D laser scanning system. In this paper, an algorithm for estimating the location, height, width, and shape of objects in the 3D-realized terrain that surrounds the location of the excavator was proposed. The performance of the algorithm was verified via tests in an actual earthwork field.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2008.11a
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• pp.790-793
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• 2008

Recently, Intelligent Excavating System(IES) for earthwork automation is on progress since the end of 2006 as a part of construction technology innovation projects in Ministry of Land, Transport and Maritime Affairs. Task Planning System(TPS), one of the detail core technologies of IES, is an optimal work planning system in conditions of effectiveness, safety and economic efficiency by analyzing the work environment data based on earthwork design and work environment recognition technology. For effective earthwork planning, the location of platform must be the most optimal spot for minimization of time, maximization of productivity and reduction of overlapped work spaces and unnecessariness. Besides, the decision of optimal platform location is to be based on the specifications and then is able to be converted with the local area calculation algorithm. This study explains the decision of optimal platform location on the basis of local area from the work space separate process and judges the effectiveness.