• 한국정밀공학회지
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• 제3권1호
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• pp.77-92
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• 1986

Wire harness assembly is one of the most labor intensive processes in manufa- tuing, but the process has not been fully automated yet. In this paper a variety of concepts for flexible automated assembly system are suggested to design a robot- based wire harness assembly cell. All concepts are featuring an automatic, fedkng of wires, terminating routing, inserting and bundling. Based upon possible assembly methods and procedures, six alternative systems are proposed and, finally, evaluated10 from the view point of system performance such as flexibility, reliability assembly time and equipment cost.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2009년도 추계 학술논문 발표대회
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• pp.235-239
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• 2009

As robotic technologies have become more actively utilized to automate many construction tasks, they have been able to improve the construction productivity, quality, and worker's safety on site. A new advanced system, Robot-based Construction Automation (RCA) system, is currently being developed. To accomplish RCA system effectively, Design for automation (DFA) should be performed in automation system developing phase. The performance criteria of this system are a major cause of design changes. It is required exhaustive review for development new system. This research analyzed the design changes of Climbing Hydraulic Robot system and Construction Factory (CF), being currently developed in the field of applied RCA systems. And the design change matters according to performance criteria in each system's design-by-step were analyzed. The purpose of this research is developing the performance criteria in the developing phase of RCA system, and then will be served as basis for system design in similar projects.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2393-2395
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• 2001

The mobile robot is used as an instrument of transportation in automated plant. But the greater part of the moving method is the wheel-type. The wheel-type robot is easier control than the track-type, However the track-type is better than the wheel-type in bad landform(bend landform, an incline plane, stairs). In this paper, we propose the navigation algorithm of track-type robot in order to improve a defect of wheel-type. We experiment in bend landfrom and even ground to differentiate the navigation method. To estimate robot pose, we use the 80196 in a close distance and the vision-board in a long distance. Each data is managed in main PC and then the part of managing correspond to every sensor. We also use twelve supersonic wave-sensors to recognize external surroundings. As the result of experiment, we analyze the algorithm of control and make possible surroundings-adaptation.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1998년도 춘계학술대회 논문집
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• pp.274-280
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• 1998

The welding technology and qualities are developed significantly, in recent years, in the use of automated processing technology and welding robot systems. But these automated welding technologies have many difficulties for finding the optimal welding parameter conditions. Because of the lack of mathematical model for determination of optimal welding process parameters. In this study, the sensitivity analysis of the empirical equations for finding weld bead width, height and penetration depth by using the published formulae. The selected major welding process parameters effected to weld bead geometries are the welding speed, current, voltage and weld wire diameter.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.411-416
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• 2000

Cutting process has been automated by progress of CNC and CAD/CAM, but polishing process has been depended on only experiential knowledge of expert. To automate the polishing process, a polishing robot with w degrees of freedom which is attached to a machining center with 3 degrees of freedom has been developed. This automatic polishing robot is able to keep the polishing tool normal on the curved surface of die to improve a performance of polishing. Polishing task for a curved surface die demands repetitive operation and high precision, but conventional control algorithm can not cope with the problem of disturbance such as a change of load. In this research, a new sliding mode control algorithm is applied to the robot. The signal compression method is used to identify polishing robot system. to obtain an effect of 5 degrees of freedom motion, a synchronization between the machining center and polishing robot is accomplished by using M code of machining center. And also a trajectory for polishing the curved surface die by 5 degrees of freedom motion, a synchronization between the machining center and polishing robot is accomplished by using M code of machining center. And also a trajectory for polishing the curved surface die by 5 axes machining center is divided into data of two types for 3 axes machining center and 2 axes polishing robot. To evaluate polishing performance of the robot. various experiments are carried out.

• Advances in robotics research
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• 제2권3호
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• pp.201-217
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• 2018

Agriculture production is a critical human intensive task, which takes place in all regions of the world. The process to grow and harvest crops is labor intensive in many countries due to the lack of automation and advanced technology. Much of the difficult, dangerous and dirty labor of crop production can be automated with intelligent and robotic platforms. We propose an intelligent, agent-oriented robotic team, which can enable the process of harvesting, gathering and collecting crops and fruits, of many types, from agricultural fields. This paper describes a novel robotic organization enabling humans, robots and agents to work together for automation of gathering and collection functions. The focus of the research is a model, called HARMS, which can enable Humans, software Agents, Robots, Machines and Sensors to work together indistinguishably. With this model, any capability-based human-like organization can be conceived and modeled, such as in manufacturing or agriculture. In this research, we model, design and implement a technology application of knowledge-based robot-to-robot and human-to-robot collaboration for an agricultural gathering and collection function. The gathering and collection functions were chosen as they are some of the most labor intensive and least automated processes in the process acquisition of agricultural products. The use of robotic organizations can reduce human labor and increase efficiency allowing people to focus on higher level tasks and minimizing the backbreaking tasks of agricultural production in the future. In this work, the HARMS model was applied to three different robotic instances and an integrated test was completed with satisfactory results that show the basic promise of this research.

• 한국건축시공학회지
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• 제23권2호
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• pp.209-220
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• 2023

먹매김 로봇은 허용오차 이내의 정밀도를 확보하는 것이 매우 중요하다. 그러나 골조공사는 시공과정에서 철근배근의 변위가 빈번하게 발생하며, 해당오차는 먹선이나 철근위치의 수정을 요구한다. 먹매김 로봇은 정밀도 확보 및 자동화를 위해 철근의 오차를 측정하고 먹선과 철근의 수정을 스스로 판단할 수 있어야 한다. 이에 본 연구는 LiDAR 센서를 통한 철근배근의 오차 측정방안과 이를 바탕으로 먹매김 판단 프로세스를 제시하였다. LiDAR 센서를 활용한 철근인식 실험결과 평균적으로 5mm 내외의 오차를 발생하였으며, 이는 일반적으로 벽체에 적용되는 철근 수준에서 인식을 신뢰할만한 수준으로 나타났다. 또한 철근오차를 범위별로 판단하여 철근의 보정여부와 먹매김의 수행여부를 로봇이 스스로 판단할 수 있는 프로세스를 제시하였다. 본 연구결과는 시공오차를 고려한 먹매김로봇의 자동운영에 기여할 수 있으며 이를 통해 골조품질을 향상시킬 수 있을 것으로 기대된다.

• 국제초고층학회논문집
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• 제11권2호
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• pp.115-124
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• 2022

Welding is a significant part of the construction industry. Since most high-rise building construction structures rely on a robust metal frame welded together, welding defect can damage welded structures and is critical to safety and quality. Despite its importance and heavy usage in construction, the labor shortage of welders has been a continuous challenge to the construction industry. To deal with the labor shortage, the ultimate goal of this study is to design and develop an automated robotic welding system composed of a welding machine, unmanned ground vehicle (UGV), robotic arm, and visual sensors. This paper proposes and focuses on automated weaving using the robotic arm. For automated welding operation, a microcontroller is used to control the switch and is added to a welding torch by physically modifying the hardware. Varying weave patterns are mathematically programmed. The automated weaving is tested using a brush pen and a ballpoint pen to clearly see the patterns and detect any changes in vertical forces by the arm during weaving. The results show that the weave patterns have sufficiently high consistency and precision to be used in the actual welding. Lastly, actual welding was performed, and the results are presented.

• 한국산학기술학회논문지
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• 제14권6호
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• pp.3023-3031
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• 2013

본 논문에서는 물류회사에서 수작업으로 이루어지던 물류 배달 구분 작업을 자동화하기 위한 로봇 제어 정보 관리 시스템을 제안한다. 제안한 로봇제어 정보 관리시스템은 3D 영상인식장치로부터 소포의 가로, 세로, 높이, 집는 윗면의 형태 등 소포 형상정보와 무게, 놓여 진 위치, 부대 정보를 기록한 바코드 등의 소포 상황 정보를 넘겨받아서 로봇 매니퓰레이터의 픽업 제어정보와 드롭 제어정보를 생성하여 로봇제어정보를 보내준다. 로봇 매니퓰레이터는 물류 정보에 따른 픽업제어 정보와 드롭 제어정보를 넘겨받아 소포 픽업과 배달 위치에 따른 파레트에 해당물류를 드롭 할 수 있게 된다. 제안된 물류배달을 위한 로봇 제어 정보 관리 시스템은 수작업으로 처리되었던 물류배달 순서 구분 작업을 자동화함으로써 물류 배달에 있어 시간과 비용을 절감시키고 산업재해를 예방하는데 크게 기여하게 될 것이다.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2023년도 가을학술발표대회논문집
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• pp.233-234
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• 2023

Construction robot-based automation can contribute to productivity and quality improvement by replacing manpower in tasks that have simple repetitive properties or require high precision. In this respect, layout work is one of the most effective tasks in introducing robot-based automation technology. The development of a robotic layout system for building structures has recently been promoted in Korea, and a prototype of a marking robot has been produced. However, for commercialization, the technology improvement is required through the analysis of major improvement directions. Therefore, this study aims to derive the improvement priorities of the marking robot based on the evaluation of researchers who participated in the development process. As a result, there was a high demand for improvement in factors such as the robot's precise positioning method and robot size and weight. The results of this study are expected to serve as guidelines for the efficient input of limited resources in the future technology development process.