• Journal of the Korean Society for Precision Engineering
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• v.27 no.1
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• pp.76-83
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• 2010

There have been many studies regarding development of autonomous excavation system which is helpful in construction sites where repetitive jobs are necessary. Unfortunately, bucket trajectory planning was excluded from the previous studies. Since, the best use of excavator is to dig efficiently; purpose of this research was set to determine an optimized bucket trajectory in order to get best digging performance. Among infinite ways of digging any given path, criterion for either optimal or efficient bucket moves is required to be established. One method is to adopt work know-how from experienced excavator operator; However the work pattern varies from every worker to worker and it is hard to be analyzed. Thus, other than the work pattern taken from experienced operator, we developed an efficiency model to solve this problem. This paper presents a method to derive a bucket trajectory from optimization theory with empirical CLUB soil model. Path is greatly influenced by physical constraints such as geometry, excavator dimension and excavator workspace. By minimizing a energy function under these constraints, an optimal bucket trajectory could be obtained.

• Journal of KIBIM
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• v.1 no.1
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• pp.1-5
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• 2011

Earthwork is important in terms of construction time and duration, and highly related to the construction productivity. However, current earthwork system has stick to labor intensive process depending on skilled operator's heuristic decision making, so it is hard to improve overall productivity. To overcome this drawback, this paper presents a BIM based Intelligent Excavation System(IES). The BIM technology is applied in the excavation task planning system, Human-Machine Interface for remote-control/autonomous work environment, and web-based Project Management Information System(PMIS) in the IES integration process, and the results are addressed.

• Korean Journal of Computational Design and Engineering
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• v.20 no.3
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• pp.298-311
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• 2015

Nowadays, automatic digging operation of an excavator is a big challenge due to the complexity of digging environment, the hardness of soil and buried obstacles into the ground. In order to achieve the maximum soil bucket volume, this paper introduces a novel engineering model that was developed as a virtual excavator in the design phase. Through this model, the designs of mechanical and control systems for autonomous excavator are executed and modified easily before developing in real testbed. Based on a concept of an autonomous excavation, a mechanical system of excavator was first designed in SOLIDWORKS, and a soil model also was modeled by finite-element analysis in ANSYS, both modeled models were then exported to ADAMS environment to investigate the digging behavior through virtual simulation. An intelligent control strategy was generated in MATLAB/Simulink to control the excavator operation. The simulation results were demonstrated by effectiveness of the proposed excavator robot in testing scenarios with many soil types and obstacles.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2004.04a
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• pp.455-460
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• 2004

Recently, As a part of NGIS project, cultural-assets digital map is produced by cultural properties administration and local autonomous entities. Cultural-assets unified GIS(Geographical Information System) is essential to cultural properties managers and other organizations which is executing land related business for appling it at planning stage. With explosive national land developments, it has been obligated to implement surface survey by the cultural properties protection Art(clause 2, Atr 74). In this paper, the author used the district of Sachon city and made 3D terrain model using digital map which is made of It5000 scale. moreover, the author improved to RDBMS(Relational Database Management System) structure and remodeled the existing DB design in detail. The author suggest to realize shape and kind of remains which have 3D information of accuracy and actualization from surface survey to excavation.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.134.4-134
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• 2001

Hydraulically driven manipulators are superior to electrically driven ones in the power density and electrical insulation. But an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous field tasks such as the maintenance task of high voltage active electric line or the automatic excavation task by hydraulic excavator. In this report, we propose robust force control algorithm, which can be applied to the real field task such as the construction field, nuclear plant and so on. Proposed force controller has the same structure as that of disturbance observer for position control. The difference between force and position disturbance ...

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.353-356
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• 1997

Hydraulically driven manipulators are superior to electrically driven ones in the power density and electrical insulation. But an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and this parameter fluctuations are greater than those of electrically driven manipulator. So this is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous field task such as the maintenance task of high voltage active electric line or the automatic excavation task by hydraulic excavator. In this report, we propose robust force control algorithm, which can be applied to there real field task such as the construction field, nuclear plant and so on. Proposed force controller has the same structure as that of disturbance observe for position control. The difference between force and position disturbance observer is that the input and output of disturbance observer are forces in the case force disturbance observer and the plant varies much compared to the case of position control. In the design of force disturbance observer, generalized plant is derived and the stabilized filter is designed by H infinity control theory to ensure the robuts t stability even though the stiffness of environment changes from sponge to steel, and the contact surface also changes from flat to round shape. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions.

• Korean Journal of Construction Engineering and Management
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• v.12 no.6
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• pp.22-30
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• 2011

In the construction operation, foundation work should be done in advance for the building structure to be installed. This foundation work include a number of activities such as excavation, ground water prevention, piling, wale installation, etc. Caution should be taken in the operation because the dynamics of earth movement can cause a significant failure in the temporary structure. The temporary structure, therefore, should be constantly monitored to understand its behavior. This paper introduces the USN-based monitoring system to automatically identify the behavior of the temporary structure in addition to visual inspection. The autonomous capability of the monitoring system can increase the safety in the construction operation by providing the detailed structural changes of temporary structures.

• Journal of Korean Society for Geospatial Information Science
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• v.12 no.4 s.31
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• pp.27-33
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• 2004

Recently, as a part of NGIS project, cultural-assets digital map is produced by cultural properties administration and local autonomous entities. Cultural-assets unified GIS(Geographic Information System) is essential to cultural properties managers md other organizations which are executing land related business for appling it at planning stage. With explosive national land developments, it has been obligated to implement surface survey by the cultural properties protection Art. In this paper, the authors used the district of Sachon city and made 3D terrain model using digital map which is made of 1/5000 stale. Moreover, the authors improved to RDBMS(Relational Database Management System) structure and remodeled the existing DB design in detail, and also tried recovery of past sea level, based on researches about the water level of southern area. By recover past sea level. the shell mound, apart from lever is actually near lever at past, and it make sure its nature. The authors suggested to realize shape and kind of remains which have 3D information of accuracy and actualization from surface-surveying to excavation.

• Journal of the Korean Institute of Traditional Landscape Architecture
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• v.29 no.4
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• pp.111-123
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• 2011

This study aims to present the basic materials, which lead us to preserve the Korea Rice Terrace as scenic sites resources and study it continuously, through researching about the present status and the preservation method of the Rice Terrace in Korea, China and Japan. The results of this study are as follows. First, The Rice Terrace has a traditional agricultural technique which minimizing the damage of the scenic view while cultivating the slope. And also, it has the value of one of the Korea unique traditional scenic views. However, The no cultivation land or disappearing desert land of rice terrace were increasing by the disadvantage of operation in land cultivation. Therefore, The Government must need preparing the base of scene resources excavation by executed the established of Korea Rice Terrace Database for preserving of Korea traditional scene. however it is getting to disappearance. And also, The High valued of Rice Terrace by cultural and scenic view which is must managed by designation of scenic sites or monument. Second, The internal and external reference book researched and analyzed results are as followings for understanding about Korea Rice Terrace feature. First of all, The Rice Terrace's dictionary meaning is just difference by each nations. However, Generally speaking that It means the terraced land by cultivated of sloped land. The Rice Terrace has cross relation with mountain valley and piedmont slope cultivation in location of condition. It occurred era is before approximately estimated from 3000 of years until 6000 of years. It can divide two type by topography shape those are slope and valley type. However, The natural element of forest has very big position in this part. But, The Rice Terrace is just managed and designated by the scenic sites with the Cultural Properties Protection Law. It must needs more binding force and effectiveness for the Rice Terrace scenic view plan establishment by scenic laws and farming and fishing village laws etc. I think that it must need the Rice Terrace related law establishment as soon as possible for efficient preservation and management of the Rice Terrace. Third, The Rice Terrace were researched and analyzed results are as followings those were executed at the Korea, China and Japan. The Korea and Japan have good Rice Terrace Characteristic. And also, The high valued scenic sites area were good managed by the Cultural Properties Protection Law as well as the superior scenic valued Rice Terrace in China. Those are also managed by designated scenic sites for protection and preservation positively. Those were managed by each autonomous district management Department. The each nation's related laws of Rice Terrace protection were just little bit different. However, The basic purpose is same. for example, it based on superior scenic view preservation and protection. Especially, The Japan's Cultural Properties Law and Scenic law linkage, and China Autonomous district legislation and effectiveness. The Korea Government must need above elements for Korea Rice Terrace culture and scenic view preservation. Fourth, We need inducing the owner system and the policy of Rice Terrace preservation promotion association for efficient preservation of Rice Terrace in japan. The owner system in japan gives the owner of the land a permission to rent the land to Rice Terrace preservation promotion association and the local government. In this system the village would be revitalized by commons in the way of the management of the terraces, beautifying the area around the terraces and etc. And also, Making the each village management operating system for Rice Terrace management through educating civilization. The civilization could receive quick help from a consultative body comprised of experts such as representatives of Cultural Heritage Administration and professors. And it is in a hurry to solve the problem of revitalization of the region by exchange between cities and the village.