• KSCE Journal of Civil and Environmental Engineering Research
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• v.35 no.2
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• pp.481-491
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• 2015

Since the crack in the surface of the concrete acts as the main reason influencing the life span of the structure, regular inspections and maintenance are required. The sealing required for maintenance of the concrete surface is a method of repairing the crack in the surface in the beginning, and is effective in preventing additional cracks and expansion that occurs with time. However, sealing on large sized structures such as tall buildings or bottom parts of bridges are difficult to ensure safety of the workers due to inadequate working environments. Due to this reason, the importance of the need for sealing automation for the maintenance of large sized concrete structures is emerging. This study proposes two control methods to apply robot systems to the sealing of cracks on the bottom parts of concrete bridges. First is the method of automatically tracking the trajectory of cracks. The robot gets the trajectory of the cracks using video information obtained from cameras. Comparing the previous several points and new point, the next point can be estimated. Thus, the trajectory of the crack can be tracked automatically. The other method is sealing by maintaining steady force to the contacting surface. The concrete surface exposed to an external environment for a long time gets an irregular roughness. If robots are able to carry out sealing while maintaining a steady contact force on these rough surfaces, complete equal sealing can be maintained. In order to maintain this equal force, a force control method using impedance is proposed. This paper introduces two developed control methods to apply to sealing robots, and conducts a Lab Test and Field Test after applying to a robot. Based on the test results, opinions on the possibilities of field application of the robot applied with the control methods are presented.

• Air Cleaning Technology
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• v.10 no.1 s.36
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• pp.73-85
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• 1997

• 월간산업보건
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• s.207
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• pp.23-28
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• 2005

• 월간산업보건
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• s.206
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• pp.23-29
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• 2005

• The Transactions of the Korea Information Processing Society
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• v.3 no.3
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• pp.631-639
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• 1996

In this paper we discuss the elements which must be considered for collaboration- aware application design and their effcets on user interfaces. Collaboration-aware applications have inter-user and user/system interaction features besides generic real-time distribution system features and this restricts the design freedom with the requirement of consistent user interfaces. Programmers, therefore, must provide uniform and logically consistent user interfaces to user and, for this end, they should consider main design features such as concurrency control algorithms, system topology and object replication scheme. Among the design factors concurrency control algorithms have relatively significant impact on user interfaces and we consider the impact of concurrency control agorithms along with that of thesystem to pologyand the objectreplication scheme. Coshed/SAS, a groupeditor, is given as an example of application of the factors.

• Korean Journal of Construction Engineering and Management
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• v.9 no.2
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• pp.108-116
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• 2008

At present, construction automation is a critical solution for the shortage of labor and the aging of skilled workers. Especially, researches for transportation automation are achieved to improve the efficiency as the construction of tall-building construction. Transportation automation needs to control the swung member by the inertia and/or the wind-force at the end of cable. However, previous to control, the presupposition of the swing is heavily difficult work because the inertia and the wind force are irregularly changable according to work condition. Therefore, in this study, dynamic modeling of crane and simulation was performed to find the characteristic of the swing. In the result, the maximum displacement of the swung material was analyzed. And, on the basis of analysis, the criteria to decide workability of automated transportation considering the material size and the wind force onsite was proposed.

• Journal of Korea Game Society
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• v.11 no.4
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• pp.15-26
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• 2011

Game level design is a collaborative work to create a virtual world for a computer game including maps, agents, monsters, objects, players and events based on predefined its game scenario. It is a promising collaborative design application. The game level design generally requires much time and cost, as the size of its target game space becomes huge. However, traditional game level design tools do not provide concurrency control mechanisms among multiple participating game designers. They do not provide consistency of undo and redo mechanisms for erroneous collaborative tasks during iterative modifications and updates of collaborative tasks among multiple designers. In this paper, we propose a concurrency control and a collaborative editing mechanism to enhance productivity of the collaborative game level design. The proposed system provides hierarchical structures of shared objects and a concurrency control mechanism for each object. The proposed system also provides a consistent undo and redo mechanism to enhance modifications and updates on intermediate results of the level design procedures.

• Journal of Korea Multimedia Society
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• v.3 no.1
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• pp.63-76
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• 2000

Most work done in CSCW (Computer Supported Collaborative Work) system has been targeted toward supporting the exchange of documents or messages among group members, and yet support for cognitive aspects such as group organization, division and merge of work, and work flow control. The objective of the study is to provide CSCW environment for the engineering design process such as CAD (Computer Aided Design) and CASE (Computer Aided Software Engineering). The proposed DCWA (Distributed Collaborative Writing Aid) system suggests a mechanism that unifies the group organization, work division, and work flow control in the CAO, CASE, and software simulation tool. In particular, CAD relates the group and work partition by providing expressing the relation of drawing object (e.g., binding, attachment, and proportional scaling) which is owned by different members of group, and CASE combining with the simulation tool supports the flexibility of the work flow control. Simulating the prototype before manu-facturing a product can reduce time and cost in development.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.951-956
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• 1991

굴삭기 엔진 펌프시스템을 실험결과에 근거해서 모델링하여 수치적으로 시뮬레이션을 행하였다. 엔진.펌프시스템은 그 구성이 복잡할 뿐만 아니라 시스템자체의 비선형성,작업에 따라 시스템에 가해지는 불확실한 외란, 파라미터의 변동으로 인하여 정확한 모델링을 행하기는 다소 어려움이 있었다. 비례제어만을 사용시는 정상상태오차의 발생,초기의 회전수저하등으로 인하여 적합하지 않았다. 이를 개선하기 위하여 PID제어를 사용하였을 경우 정상상태오차는 제거할 수 있으나 정착시간이 길어지는 것을 볼 수 있었다. 슬라이딩모우드에 의한 제어법을 적용하였을 경우 정상상태오차,정착시간,최대회전수저하량을 모두 만족하였으나 과도상태에서 오실레이션이 발생하는 현상을 볼 수 있었다.

• Proceedings of the KAIS Fall Conference
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• 2005.05a
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• pp.202-205
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• 2005

본 논문에서는 주로 정보의 전달에 치우쳐 있는 인터넷이라는 훌륭한 네트워크를 각종 디바이스나 센서로부터 추출되는 정보를 원격으로 수집하고 분석 및 가공하여 반대로 멀리 떨어져 있는 디바이스나 센서를 제어할 수 있는 살아 움직이는 응용분야에 눈을 돌려보았다. 처음에는 Visual C++에 의한 소켓프로그래밍 및 원격제어장비와의 네트워크 프로그래밍에 중점을 두었으나 그 기초 위에 센서의 제어프로그래밍인 디지털 온도센서의 제어를 Visual C++에 의한 다이얼로그 기반으로 프로그래밍화 하였다. 프로그래밍의 원활한 작업 결과를 토대로 원격 실험 결과가 기초적이나마 완성됨을 결과로서 표시하면서 좀더 발달한 원격 제어 실험이 될 수 있도록 매진하여야 겠다.