• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.606-608
• /
• 1989

Force/torque sensors are now providing widespread practical solutions to manufacturing problems, particularly in the area of automated assembly. The current state of the industry is discussed, including the evolution of transducer and controller design, and the trend of robot manufacturers to integrate force/torque sensors into their robot systems thereby greatly improving cycle time and simplifying the application development task for the end-user. Current and future application areas are discussed as well as the benefits of force/torque sensing.

• The KSFM Journal of Fluid Machinery
• /
• v.18 no.5
• /
• pp.26-32
• /
• 2015

This paper describes performance evaluation of design parameters, air velocity inside a pipeline and pressure along a pipeline, using experimental measurements in an automated vacuum waste collection system. Automatic robot having six cameras is introduced to analyze the internal pipeline conditions whether waste accumulates at the bottom of the pipeline or not. Throughout the experimental measurements of the pipeline having the various shapes, it is found that pressure and internal air velocity linearly increase along the pipeline from a waste inlet to a waste collection station while air density decreases due to the air compression effect with high pressure. Although air velocity inside the pipeline at a waste inlet keeps design velocity range between 20 m/s and 30 m/s, it is noted that air velocity near the waste collection station exceeds maximum design velocity of 30 m/s. Pressure increase per unit length is changed from 17.6 Pa/m to 18.9 Pa/m, which depends on the air velocity inside the pipeline. From the investigation inside the pipeline with CCTV loaded on an automated robot, waste accumulated at the bottom of the pipeline is mainly found at the downstream of a circular curved pipe, an inclined pipe and a bended pipe.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2008.04a
• /
• pp.178-183
• /
• 2008

A robot crane truck is being developed by the Bridge Inspection Robot Development Interface(BRIDI) for an automated and/or teleoperated bridge inspection. At the end of the telescoping boom allows the operator to scan the bridge structure under the deck trough the camera. Boom vibration induced by wind and deck movement can cause serious problems in this scanning system. This paper presents a control system to mitigate such vibration of the robot boom In the proposed control system an actuator is installed at the end of the working boom. This control system is studied using a mathematical model analysis with LQ control algorithm and a scaled model test in the laboratory. The study indicates that the proposed system is efficient for the vibration control of the robot booms, thereby demonstrating its immediate applicability in the field.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.179.4-179
• /
• 2001

Most of shoes manufacturing processes are not yet automated, it puts restrictions on increasing of productivity. Among them, adhesive application processes particularly are holding the most workers and working hours. In addition, its working conditions are very poor due to the toxicity of adhesive agents. In case of automating adhesive application processes by using robots, the robot teaching by playback is difficult to produce high productivity because the kinds of shoes to be taught mount up to several thousands. Therefore, it is essential to generate the robot working paths automatically according to the kind, the size, and the right and left of shoes, and also to teach them to the robot automatically ...

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2000.11a
• /
• pp.635-638
• /
• 2000

It is necessary to work on a vertical plane of workpiece in order to produce a large structure like a ship. These works can be automated by using the robot with permanent magnet wheels. We developed the permanent magnet wheel which can be used by a mobile robot and easily detached. We enhanced an adhesive power by restricting the occurrence direction of magnetic flow. And we also developed a method which weakens adhesive magnetic force by changing magnetic flow with metal pins. We used the load cell and the gaussmeter to measure the characteristics of the adhesive force and magnetic force. We obtained the result that the adhesive power is reduced to 1/3 of normal state by using 4 inducing pins.

• Proceedings of the KSME Conference
• /
• 2003.11a
• /
• pp.1518-1523
• /
• 2003

Automation of roadway sign painting offers more safety for workers, shortening of work period, etc., compared with manual painting. In this study, an automated system using a gantry-type robot was developed for roadway sign painting which has been done manually. Any characters (Korean and English) as well as symbols can be painted by the system. A simulator was also developed, which can show the painted results in advance. The developed system performed well, and the signs painted by the system were found to be as accurate as those made by the simulator.

• ETRI Journal
• /
• v.27 no.6
• /
• pp.666-676
• /
• 2005

In recent years, motivated by the emergence of ubiquitous computing technologies, a new class of networked robots, ubiquitous robots, has been introduced. The Ubiquitous Robotic Companion (URC) is our conceptual vision of ubiquitous service robots that provide users with the services they need, anytime and anywhere in ubiquitous computing environments. To realize the vision of URC, one of the essential requirements for robotic systems is to support ubiquity of services: that is, a robot service must be always available even though there are changes in the service environments. Specifically robotic systems need to be automatically interoperable with sensors and devices in current service environments, rather than statically preprogrammed for them. In this paper, the design and implementation of a semantic-based ubiquitous robotic space (SemanticURS) is presented. SemanticURS enables automated integration of networked robots into ubiquitous computing environments exploiting Semantic Web Services and AI-based planning technologies.

• Journal of the Semiconductor & Display Technology
• /
• v.10 no.1
• /
• pp.75-81
• /
• 2011

Today, FPD manufactures are eager to develop larger and larger glass to become the prime market leader. To follow this need, larger AMHS(Automated Material Handling System) development is essential. The radical increase of glass/cassette weight puts a lot of pressure on stocker robot's dual arms, which can cause a damage of expensive glasses and contaminate a clean room facility. In this paper the axiomatic design method is used to institute a design guideline to evenly distribute a pressure throughout the stocker robot structure.

• Proceedings of the Korea Society for Simulation Conference
• /
• 1997.04a
• /
• pp.23-28
• /
• 1997

We discuss development of a simulator for automated manufacturing systems (AMSs) which have sophisticated automated material handling equipments and complicated work flows. The simulator is designed to satisfy the following requirements. A user should be able to easily configure or specify an AMS through a graphical user interface (GUI) and minimal data input. The user should be able to model diverse and complied control logic for automated material handling systems like automated guided vehicle (AGV) systems, robot workcell systems and conveyor systems as well as complicated job flow program. Real time animation is desired. Finally, the simulator should be easily maintained and extended. To satisfy the requirements, we use an object-oriented paradigm for modeling, designing, and programming of the simulator. We use an object-oriented modeling framework to design the modeling elements library, and take the process interaction approach for scheduling processes and events. To model a user-defined diverse control logic, we also develop a script language and its interpreter. We explain design and implementation strategies. We implement the simulator using Visual C++ 4.2 and Open GL on Windows NT and the Windows95. Some modeling examples will be demonstrated.

• Journal of the Korea Institute of Building Construction
• /
• v.13 no.4
• /
• pp.416-423
• /
• 2013

An adjusted assessment model based on benefit-cost analysis (BCA) is proposed for evaluating the economic efficiency of automated construction technologies. In contrast to conventional BCA, the model does not compare monetary values, but the differences in benefits and costs between traditional and automated construction methods. To verify the usefulness of the model, it was applied to a real-scale building construction project that used a fully automated building construction system, and the face validity of the model was confirmed. The results indicate that the model can support decision makers in identifying valuable benefit factors and in assessing the cost effectiveness of the system.