• 대한토목학회논문집
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• 제33권6호
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• pp.2551-2562
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• 2013

2006년부터 국내에서는 운전자의 개입 없이 완전 자동화 방식으로 동작하는 지능형 굴삭 로봇을 개발하고 있다. 이러한 굴삭 로봇을 개발함에 있어 주변(로컬영역) 작업환경의 지형이나 이동 경로상의 장애물, 굴삭기에 접근하는 상차트럭 등의 객체를 정확하게 탐지하는 기술은 작업품질과 안전성 확보 측면에서 필수적으로 요구되는 핵심기술이다. 선진 외국에서는 토공 자동화 장비의 로컬영역 3차원 모델링을 위하여 광대역 3D 레이저 스캐너나 스테레오 비전 카메라와 같은 센서를 사용하여 주변 지형을 3차원으로 모델링하는 연구를 수행하였으나, 센싱 시스템 구축에 지나치게 높은 비용이 소요되거나 모델링 결과에 노이즈가 다수 발생하여 모델링 속도가 과다하게 소요되는 문제점이 있었다. 이 연구에서는 지능형 굴삭 로봇의 로컬영역 3차원 모델링을 위하여 현재까지 개발된 3차원 작업환경 모델링 센서의 기술 사양과 장단점을 분석하고, AHP 분석을 통하여 센서별 적용가능성을 분석한다. 또한 실제 토공사 작업현장의 현장실험을 통해 해당 센서의 3차원 모델링 품질과 정확성을 분석하고 지능형 굴삭 로봇의 로컬영역 3차원 모델링에 가장 적합한 센서 선정 및 현장 적용성을 검증하고자 한다.

• 대한기계학회논문집A
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• 제20권7호
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• pp.2205-2212
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• 1996

In order to move the body of a walking robot translationally, and step over the obstacles, the walking robot must have at least 3 degrees of freedom for each leg. Therefore each leg of the general walking robots can be composed of 3-link system with 3 revolute joints. In this paper, the colsed form of inverse kinimatic solutions is shown for this general 3R linkage. Moreover, in order to have efficient walking volume in rough terrain, the workspace of each log is obtained considering the twist angles and the offsets in D-H parameters. When we design a walking robot, the information of the walking volume is needed for planning desired trajectories of the feet effectively. Appropriate knowledge of the walking volume can also be used to maximize linear or angular velocity of minimize power of stress. However, since it is impossible to obrain the information of walking volume in 3-D space directly from the kinematic equations, the walking volume can be searched through the edge detection algorithm using the triangle tracer with closed from inverse kinematic solutions. In this study, we present the closed form inverse kinematic solutions for 3R linkage model, and the walking volume of 6 legged walking robot which is modeled after the darking bettle, Eleodes obscura sulcipennis, through the method of edge detection for an arbitrary 2 dimensional shape using triangle tracer.

• 국제학술발표논문집
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• The 3th International Conference on Construction Engineering and Project Management
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• pp.30-31
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• 2009

Early detection of schedule delay in field construction activities is vital to project management. It provides the opportunity to initiate remedial actions and increases the chance of controlling such overruns or minimizing their impacts. This entails project managers to design, implement, and maintain a systematic approach for progress monitoring to promptly identify, process and communicate discrepancies between actual and as-planned performances as early as possible. Despite importance, systematic implementation of progress monitoring is challenging: (1) Current progress monitoring is time-consuming as it needs extensive as-planned and as-built data collection; (2) The excessive amount of work required to be performed may cause human-errors and reduce the quality of manually collected data and since only an approximate visual inspection is usually performed, makes the collected data subjective; (3) Existing methods of progress monitoring are also non-systematic and may also create a time-lag between the time progress is reported and the time progress is actually accomplished; (4) Progress reports are visually complex, and do not reflect spatial aspects of construction; and (5) Current reporting methods increase the time required to describe and explain progress in coordination meetings and in turn could delay the decision making process. In summary, with current methods, it may be not be easy to understand the progress situation clearly and quickly. To overcome such inefficiencies, this research focuses on exploring application of unsorted daily progress photograph logs - available on any construction site - as well as IFC-based 4D models for progress monitoring. Our approach is based on computing, from the images themselves, the photographer's locations and orientations, along with a sparse 3D geometric representation of the as-built scene using daily progress photographs and superimposition of the reconstructed scene over the as-planned 4D model. Within such an environment, progress photographs are registered in the virtual as-planned environment, allowing a large unstructured collection of daily construction images to be interactively explored. In addition, sparse reconstructed scenes superimposed over 4D models allow site images to be geo-registered with the as-planned components and consequently, a location-based image processing technique to be implemented and progress data to be extracted automatically. The result of progress comparison study between as-planned and as-built performances can subsequently be visualized in the D4AR - 4D Augmented Reality - environment using a traffic light metaphor. In such an environment, project participants would be able to: 1) use the 4D as-planned model as a baseline for progress monitoring, compare it to daily construction photographs and study workspace logistics; 2) interactively and remotely explore registered construction photographs in a 3D environment; 3) analyze registered images and quantify as-built progress; 4) measure discrepancies between as-planned and as-built performances; and 5) visually represent progress discrepancies through superimposition of 4D as-planned models over progress photographs, make control decisions and effectively communicate those with project participants. We present our preliminary results on two ongoing construction projects and discuss implementation, perceived benefits and future potential enhancement of this new technology in construction, in all fronts of automatic data collection, processing and communication.

• 디자인학연구
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• 제18권4호
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• pp.119-128
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• 2005

본 논문에서는 다양한 조형작업의 프로세스 및 도구에 대한 현장조사를 바탕으로 직관적이며 사용자 인지모델에 친숙한 3차원 모델링 인터페이스를 제안한다. 전문적인 디자인 모형제작, 찰흙 조소, 나무 조각, 유리 공예 돈의 모델링 현장을 방문하여 조형작업의 과정, 도구, 작업행태 등을 관찰 분석하였다. 이러한 현장조사를 바탕으로 스프레이 메타포(Spray Metaphor)에 기반 한 스프레이 모델링(Spray Modeling) 인터페이스를 제안하였다. 이는 스프레이 건(Spay Gun)의 입자 분사 방식과 찰흙 조소의 모형제작 프로세스를 결합한 가상 혹은 증강현실 공간상의 3차원 모델링 인터페이스 방식이다. 찰흙 조소에서 덩어리를 덧붙여 가듯이 가상치 단위입자를 대략적인 프레임 위에 분사하면서 형태를 발전시킬 수 있다. 또한 실제 공기분사 반작용을 느낄 수 있는 스프레이 장치를 활용함으로써 실체적 사용자 인터페이스를 제공한다. 프로토타입 개발과 사용자 평가를 통해 스프레이 모델링이 새로운 형식의 형태 발상과 표현을 지원함을 알 수 있었다. 또한 구체적인 조작 인터페이스, 보조적인 도구의 사용 등의 개선 사항을 파악하였다. 본 연구는 가상 및 증강 현실에서의 디자이너들이 활용할 수 있는 새로운 인터페이스에 대한 가능성을 검토하였다는 점에서 의의를 갖는다. 이는 디자인 혹은 예술분야의 3차원 모델링 뿐만 아니라, 컴퓨터 작업공간의 인터페이스 방식으로 응용, 게임, 교육, 미디어 아트 등에 적용할 수 있으리라 기대된다.

• 한국방사성폐기물학회:학술대회논문집
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• 한국방사성폐기물학회 2003년도 가을 학술논문집
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• pp.388-394
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• 2003

밀폐 및 차폐 공간을 갖는 핫셀에서 사용후핵연료와 같은 고방사선 물질을 취급하고 있으며, 핵주기시설에서 마스터-슬레이브 매니퓰레이터는 원격취급장비로서 널리 사용되고 있다. 본 연구에서는 차세대관리공정의 디지털 목업을 구축하고 원격유지보수를 위한 매니퓰레이터의 작업영역 및 작업분석을 수행하였다. 실제 환경과 동일한 가상 작업환경을 갖는 디지털 목업은 3차원 그래픽으로 모델링 된 공정장치 및 원격 취급장비들로 구성된다. 모델링 된 매니퓰레이터는 기구학 및 동작범위에 대한 속성을 부여되고 외부 입력장치는 space ball을 사용하여 매니퓰레이터의 동작을 구현하였다. 또한, Tele-operation 인터페이스를 사용하여 6축 외부 입력장치와 연계한 시스템을 개발하였으며 외부 입력에 따른 매니퓰레이터의 동작에 대한 동기는 만족할 만한 응답을 보였다. 이는 가상환경에서 작업자 교육을 위한 시스템 개발에 유용할 것이다.

• 한국실천공학교육학회논문지
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• 제1권1호
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• pp.51-54
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• 2009

In or automotive engineering education is introduced. Main objective of the system is teaching disassemble/assemble procedure of automatic transmission of a vehicle to students, who study automotive engineering. System includes vehicle transmission, set of tools and mechanical facilities, two video cameras, computer with developed software, HMD glasses and two LCD screens. Developed software gives instructions on assembling and disassembling processes of real vehicle transmission with the help of augmenting virtual reality objects on the video stream. Overlaying of 3D instructions on the technological workspace can be used as an interactive educational material. In disassembling process, mechanical parts which should be disassembled are augmented on video stream from video cameras. Same is done for assembling process. Animation and other visual effects are applied for better indication of the current assembling/disassembling instruction. During learning and training, student can see what parts of vehicle transmission and in which order should be assembled or disassembled. Required tools and technological operations are displayed to a student with the help of augmented reality, as well. As a result, the system guides a student step-by-step through an assembly/disassembly sequence. During educational process a student has an opportunity to return back to any previous instruction if it is necessary. Developed augmented reality system makes educational process more interesting and intuitive. Using of augmented reality system for engineering education in automotive technology makes learning process easier and financially more effective.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2011년도 추계 학술논문 발표대회
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• pp.9-10
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• 2011

Domestic construction industry suffered from the IMF and makes a great effort to improve in 'cost management', 'strengthening the competitiveness of the construction industry'. Therefore, the industry has become interested in improving the productivity of construction and ongoing research is being progressed in various angles. In such circumstances, the needs for a study of concepts and space of the actual construction work place is emerging. This study were utilized BIM to understand the types and causes of problems in space during the finishing work in construction and categorize importance and frequency of occurence through a survey of experts and AHP to analyze the realtive effects of importance then modeling to them to aware of issues and give direction for efficient management. This study is anylize the problem which is caused by same time process in finishing work progress of apartment applied by BIM. and categorize the type of work interference management in finishing work, and anylize by the type of occurence then predict the work interference management through in BIM 3D VIEW and suggest the solutions.

• 한국CDE학회논문집
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• 제7권1호
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• pp.57-65
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• 2002

The purpose of this research is to develop a collaborative architectural design system. Design collaboration requires an extensive use of communication methods as well as the participation of various experts from different domains. Such facts address several issues when the Internet and digital media are able to create a completely new work environment. The building design process was studied, and possible modes of design collaboration were defined. A prototype system is being developed in accordance with the defined collaboration model. The system integrates a set of communication tools and web-based design media. Such media include a synchronous multi-user web CAD tool, a schematic 3D design tool, and a electronic whiteboard. A project database was designed in order to coordinate the project-wide communication which elaborates technologies such as web-based data access. In order to find out the effectiveness of the system, a usability test was performed both in quantitative and qualitative manner. The research will contribute to the development of world-wide design and construction collaboration through the Internet, which is becoming a mainstream building process model.

• 한국건설관리학회논문집
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• 제5권5호
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• pp.163-171
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• 2004

This research investigates a Modeling Spell Checker that, similarly to Word Spell Checker for word processing software, would conform as-built 3D models to standard construction rules. The work is focused on the study of pipe-spools. Specifically pipe diameters and coplanarity are checked and corrected by the Modeling Spell Checker, and elbows are deduced and modeled to complete models. Experiments have been conducted by scanning scenes of increasing levels of complexity regarding the number of pipes, the types of elbows and the number of planes constituting pipe-spools. For building models of pipes from sensed data, a modeling method, developed at the University of Texas at Austin, that is based on the acquisition of sparse point clouds and the human ability to recognize geometric shapes has been used Results show that primitive-based models obtained after scanning construction sites can be corrected and even improved automatically, and, since such models are expected to be used as feedback control models for equipment operators, the higher modeling accuracy achieved with the Modeling Spell Checker could potentially increase the level of safety in construction. Result also show that some improvements are still needed especially regarding the co-planarity of pipes. In addition, results show that the modeling accuracy significantly depends on the primitive modeling method, and improvement of that method would positively impact the modeling spell checker.

• 한국건설관리학회논문집
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• 제13권2호
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• pp.11-24
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• 2012

최근 공공사업 발주조건에 BIM(Building Information Modeling)이 의무화되고 있고, 실무 도입을 통한 성공 사례가 증가되면서 건설 분야의 BIM 도입이 본격화되고 있다. 그러나 기존의 BIM 관련 연구는 대부분 설계 또는 시공단계에 한정되어 수행됨에 따라 건설프로젝트의 생애주기를 고려하지 못하고 있고, 특정 업무지원 기능 위주로 진행되고 있다. 따라서 본 연구에서는 건설공사 프로젝트의 기획부터 유지관리단계의 생애주기 동안 단계별 BIM 적용이 가능한 통합 BIM 운영 프로세스를 제안하고 이를 토대로 통합 BIM 시스템을 개발한다. 이를 위해 교량공사를 대상으로 수행단계별 정보체계를 분석하여 BIM 활용 기능과 적용 프로세스를 제시하였으며, 이에 근거하여 수행단계별 BIM 운영 시스템을 구축하였다. 연구에서는 개발된 시스템의 실무 적합성 검증을 위해서 사례적용과 건설 실무자의 활용성 설문 조사를 수행하였다. 이러한 BIM 통합 운영체계는 생애주기를 고려한 건설공사의 3차원 기반 통합정보관리체계로 활용성이 기대된다.