• Proceedings of the Korean Institute of Building Construction Conference
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• 2019.05a
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• pp.244-245
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• 2019

Recently, a variety of window cleaning devices have been developed. There are, however, few cases of anticipated problems and countermeasures that may arise after these devices are installed. Therefore, in this study, the emergency condition was derived and the emergency scenario was derived for the rail-mounted cleaning device. Emergency scenarios and countermeasures derived from this study will be used for continuous improvement and supplementation of cleaning devices through prototyping and testing.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.42 no.5
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• pp.31-40
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• 2005

In this study, we study measurement of wafer processing throughput and sequence simulation of single wafer type for wafer cleaning equipments that were used for etching, cleaning and polishing of wafer. Based on finite state machine, simulation model was built with identification of robot's status according to scheduling algorithm. Moreover, through performance of simulation as above, throughput per hour of cleaning equipment was measured. By the simulation method that are proposed in this paper, we could measure the wafer throughput per hour according to recipe and robot motion speed, and find optimal recipe and moving sequence of robot that maximize the throughput.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.10
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• pp.1217-1223
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• 2011

In this paper, the dielectric barrier discharge plasma generator has been studied for producing of the high concentration ozone gas. Proposed plasma generator has the structure of extremely narrow discharge air gap(0.15mm) in order to realize the high electric field discharge. We investigate the performance of the dielectric barrier discharge plasma generator experimentally and the results show that the generator has very high ozone concentration characteristics of 13.7[wt%/$O_2$] at the oxygen flow rate of 1[${\ell}$/min] of each discharge cell. So, we confirmed that the proposed plasma generator is suitable for the high concentration ozone production facility of the eco-friendly ozone functional water cleaning system in the electronic components cleaning process.

• Journal of Digital Convergence
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• v.10 no.10
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• pp.13-18
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• 2012

This paper aims at examining the Korean export competitiveness of clean robot industry and presenting the strategy to improve capability of clean robot industry under Korea-US FTA. For this purpose, the current status and environment of Korea-US clean robot industry and the core points of Korea-US FTA are analyzed. In addition, using SWOT analysis of Korean clean robot field, we analyzed the characteristics of Korean cleaning robot industry and proposed the strategy for export expansion and strength of export competitiveness. Through above analyzation and strategies, we found out that Korean clean robot industry have some advantage to go into the US market and get the opportunity to improve the export capability though Korea-US FTA. In conclusion, to improve current status and to get the competitiveness, government and companies should recognize and utilize Korea-US FTA effect significantly.

• The Journal of Korea Robotics Society
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• v.16 no.4
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• pp.327-335
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• 2021

In this paper, we propose an embedded robot system based on "ROS2 on Yocto" that can support various robots. We developed a lightweight OS based on the Yocto Project as a next-generation robot platform targeting cloud robotics. Yocto Project was adopted for portability and scalability in both software and hardware, and ROS2 was adopted and optimized considering a low specification embedded hardware system. We developed SLAM, navigation, path planning, and motion for the proposed robot system validation. For verification of software packages, we applied it to home cleaning robot and indoor delivery robot that were already commercialized by LG Electronics and verified they can do autonomous driving, obstacle recognition, and avoidance driving. Memory usage and network I/O have been improved by applying the binary launch method based on shell and mmap application as opposed to the conventional Python method. Finally, we verified the possibility of mass production and commercialization of the proposed system through performance evaluation from CPU and memory perspective.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.19 no.1
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• pp.85-95
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• 2019

This work shows how to design a robot structure and to control to overcome obstacles while traveling through ducts of various diameters and shapes by three-legged robot. Circuits are centered in the body to connect the three wheel bodies that are driven around the center body with the 4-section slider link structure. Also, the springs are used to contract and expand the robot legs so that it can be caparable of various environments. Geared motor, spring, and belt were selected based on the static and dynamic calculation to be suitable to horizontal and vertical travels. The center body is equipped with a camera and the distance sensors, and a control algorithms are implemented so that it can be successfully performed in L-type and T-type ducts. Using UWB modules and trilateration algorithm, the location of the duct-cleaning robot inside the duct could be identified successfully.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.10a
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• pp.9-10
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• 2006

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.800-804
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• 1999

An intelligent path planning algorithm for an autonomous cleaning robot is presented. This algorithm recognizes obstacle on the architectural CAD draft and generates subgoals as tracking points which executes the area filling task based on heuristic approach. A sweeping path is planned by sequentially connecting the tracking points in such a way that (1) the connected line segments should be crossed, (2) the total tracking points should be as short as possible, (3) the tracking line should not pass through the obstacle. Feasibility of the developed techniques has been demonstrated on real architectural CAD draft.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.429-432
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• 2003

In this paper, a novel neural network approach is proposed for cleaning robot to complete coverage path planning with obstacle avoidance in stationary and dynamic environments. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation derived from Hodgkin and Huxley's membrane equation. There are only local lateral connections among neurons. The robot path is autonomously generated from the dynamic activity landscape of the neural network and the previous robot location without any prior knowledge of the dynamic environment.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.2
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• pp.158-165
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• 2013

This paper presents design and workspace analysis of a Korean home service robot. The robot is designed with specific needs of floor-task applications suitable for Korean life style. Shoulder and waist of the robot are adjusted by sliding mechanism to increase the workspace of the robot arms. Manipulators are designed and built and their workspaces are analyzed. Experimental studies of the robot for cleaning the floor are conducted.