• Proceedings of the Korean Institute of Building Construction Conference
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• 2016.05a
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• pp.85-86
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• 2016

Recently, needs for the window cleaning for 2~5 stories in a building has been increased but existing window cleaning work by workers is not easy to clean the windows. Therefore a demand for development of alternative techniques have been raised. The purpose of this study is to analyze feasibility of development of the guide rail-type cleaning device for cleaning window for the lower stories. For this, we analyze the status of the job, such as risk, limitations of by workers and examine the potential producer needs through interviewing field experts of the cleaning work. Futhermore, we define the required features of the window cleaning device and proposed the validity of the relised device development of the function.

• Proceedings of the Korean Society of Computer Information Conference
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• 2013.01a
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• pp.17-18
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• 2013

이 논문에서는 저비용 고효율 청소 로봇을 구현하기 위한 효율적 주행 기법을 발굴하기 위하여 다양한 주행 기법들을 제안하고, 시뮬레이션 도구를 이용하여 실험한 후 그 결과를 비교, 분석하였다. 이 논문에서 저비용이라는 것은 전방에 하나의 근접 센서만을 갖는 단순한 구조의 청소 로봇을 의미하며, 이전 주행 경로나 장애물에 대한 영상 정보 등은 물론 좌우 상태에 대한 정보없이 진행 경로 상에 장애물의 존재 여부만으로 청소를 수행할 수 있는 청소 로봇을 의미한다. 이 논문에서 제안한 여러 주행기법들을 비교 분석한 결과, 바둑판식 주행 기법의 패턴에 주행 중 진행 방향을 0.05의 확률로 좌우 90도 방향으로 랜덤 변경하는 주행 기법이 가장 효율적인 주행 기법임을 확인할 수 있었다.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.2
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• pp.100-106
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• 2013

This paper presents design and control of an 'Omni-directional Cleaning Robot (OdCR)' which employs omni-wheels at three edges of its triangular configuration. Those omni-wheels enable the OdCR to move in any directions so that lateral movement is possible. For OdCR to be localized, a StarGazer sensor is used to provide accurate position and heading angle based on landmarks on the ceiling. In addition to that, ultrasonic sensors are installed to detect obstacles around OdCR's way. Experimental studies are conducted to test the functionality of the system.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2018.05a
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• pp.320-321
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• 2018

In the past, the results of window cleaning work have been judged subjective and complaints about cleaning results are being raised. In this study, we tried to quantify the evaluation of the cleaning result. For the quantification of the evaluation, a colorimeter was selected and the basic experiment was carried out. In addition, this study examined the use of standard dust powder for artificial production of contaminants in glasses. Further evaluation and analysis will be carried out to quantify the evaluation criteria of the cleaning results.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.923-924
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• 2012

• Journal of Sensor Science and Technology
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• v.32 no.5
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• pp.300-306
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• 2023

A hull-cleaning robot sticks to the surface of a vessel and moves for efficient cleaning. Precise path planning and tracking using the current position is crucial. Many robots rely on the INS algorithm, but errors accumulate. To fix this, GPS, sonar, and USBL are used, though with limitations. Selecting suitable sensors for the surface operation and accurate positioning algorithm are vital. In this study, we developed a robot position estimation algorithm using the structure of a ship. Problems that arise when expanding the 2D position estimation algorithm used in existing wall structures to 3D were evaluated and methods for solving them were proposed. In addition, we aimed to improve performance by deriving singularities that exist in the robot path and proposing an error correction algorithm based on the singularities.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.5
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• pp.1030-1035
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• 2011

The remote control of mobile robot is widely used to perform dangerous and complex tasks such as underwater exploration and cleaning of nuclear reactor. For this purpose, the obstacle avoidance process will proceed to ensure a safe drive. In this paper, we tested that mobile robot drive in which replaced a pipe with a box. After we measured the distance around the obstacle through a sensor of robot, we got the information that changed haptic force from the distance of the obstacle.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.73-78
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• 1990

As a preliminary study for the application of robots in electrical power company, several case studies in foreign countries, such as a substation patrol robot, a robot for nuclear power facilities, an insulator cleaning robot and a robot system for live-distribution line works, have been carried out for the application of robots. Various application fields, application-related problems, technical difficulties, and the feasibility of applications are studied.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.15 no.1
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• pp.8-13
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• 2016

The micro drill bit automatic regrinding in-line system is a system that refurbishes drill bits used in a PCB manufacturing process. This system is able to refurbish drill bits with a minimum size of ø0.15-0.075mm that have previously been discarded. Beyond the conventional manual cleaning process using ultrasound, this system adopts a water jet cleaning system, making it capable of cleaning drill bits with a minimum size of ø0.15-0.075mm. This paper analyses various contact pressures applied to the surface of drill bits depending on the shooting pressure of the cleaning device and fluid velocity in order to optimize the nozzle location and to detect structural instability caused by the contact pressures.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2018.11a
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• pp.138-139
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• 2018

The purpose of this study is to analyze the work of the existing manpower dependent cleaning method by investigating the window cleaning site. In this study, detailed work contents were confirmed by on-site investigation and interview with experts, and the relationship, procedure, repetition work, and time required for each work were analyzed. The future analysis results will be used as a basic data for comparative analysis of productivity and economical efficiency with the window cleaning device to be developed.