• 제어로봇시스템학회논문지
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• 제22권6호
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• pp.470-476
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• 2016

This paper proposes a practical algorithm for the reduction of measurement errors due to drift in a micro-electromechanical system (MEMS) gyros that are used for a mobile robot. Any drift in a MEMS gyro will cause an unbounded growth of errors in the estimation of heading, which makes it nearly useless in applications that require high accuracy over a long operating time. In proposed method, maneuvers of a cleaning robot are observed through encoders' measurement process and a decision to correct bias drift will be made if necessary. The method used in this paper is called the "heading estimation filter". To evaluate the accuracy of the proposed method, a comparison was made between the estimation of the heading of the cleaning robot and one from a motion capture system.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2011년도 춘계 학술논문 발표대회 2부
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• pp.77-79
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• 2011

As residents and building owners demand maintenance that is required to achieve sustainable building performance, efficient building management methods are required. Even though the demand for maintenance systems is increasing, current maintenance work for high-rise buildings mostly uses conventional ropes and gondolas that pose a high risk of accidents and exhibit poor performance and efficiency. Thus, there is an urgent need to develop an automation robot system that can reduce accidents and improve the maintenance efficiency of the conventional high-rise building façade maintenance system. As a preceding work for the development of an automation robot system, this study classified and analyzed the work processes of actual construction sites and proposed basic techniques for the work mechanisms of the robot system by investigating the motions of cleaning workers.

• 로봇학회논문지
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• 제14권3호
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• pp.191-195
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• 2019

This paper presents a rope modeling and verification for the robotic platform of the wall cleaning robot (ROPE RIDE). ROPE RIDE has the characteristics of climbing up and down using a rope fixed on the roof like traditional workers. In order to perform a stable operation with a wall cleaning robot, it is necessary to estimate the position of the robot in a vertical direction. However, due to the high coefficient of extension and nonlinearity of the climbing rope, it is difficult to predict the behavior of the rope. Thus, in this paper, the mathematical modeling of the rope was carried out through the preliminary experiment. Extensive experiments using different types of rope were used to determine the parameters of the constitutive equation of climbing ropes. The validity of the determined parameters of various ropes was verified through the experiment results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 제38회 하계학술대회
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• pp.1769-1770
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• 2007

To prevent an insulator failure, an automatic cleaning robot was developed for suspension insulator strings. The robot autonomously moves along the insulator string using the clamps installed on its two moving frames, and adopts a dry cleaning method using rotating brushes and a circular motion guide. In addition, a mechanized brush bristles and a voltage-balancing contactor are devised to increase cleaning efficiency and to prevent arc generation under live-line conditions, respectively. Moreover, a manual tool for its installation and removal is presented. We confirmed its effectiveness through experiments.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권5호
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• pp.300-306
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• 2005

In this paper we present a guideline to evaluate how easy the use of personal robots is and how good their learning abilities are, based on the analysis of their built-in commands, user interfaces, and intelligences. Recently, we are living with robots that can be able to do lots of roles; cleaning, security, pets and education in real life. They can be classified as home robots, guide robots, service robots, robot pets, and so on. There we, however, no standards to evaluate their abilities, so it is not easy to select an appropriate robot when a user wants to buy it. Thus, we present, as a guideline that can be a standard for the evaluation of the personal robots, the standards by means of analyzing existing personal robots and results of the recent research works. We will, also, demonstrate how to apply the evaluation method to the cleaning robot as an example.

• 제어로봇시스템학회논문지
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• 제15권10호
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• pp.1021-1028
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• 2009

In this paper, a location identification for a cleaning robot using a camera shooting forward a room ceiling which kas three point landmarks is introduced. These three points are made from a laser source which is placed on an auto charger. A fisheye lens covering almost 150 degrees is utilized and the image is transformed to a camera image grabber. The widly shot image has an inevitable distortion even if wide range is coverd. This distortion is flatten using an image warping scheme. Several vision processing techniques such as an intersection extraction erosion, and curve fitting are employed. Next, three point marks are identified and their correspondence is investigated. Through this image processing and image distortion adjustment, a robot location in a wide geometrical coverage is identified.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.421-423
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• 2005

Power transmission lines have been playing a key role as the mainstay of national industry. When a power failure occurs, it can have severe effects on national security as well as national industry and economy. In this paper, we consider an insulator failure, which is one of the main causes of such a power failure. In spite of its importance, however, a shortage of manpower in the insulator maintenance field is getting more serious due to working environments with a high voltage and a high place. For this reason, a new active maintenance technique using a robot system is required to prevent such an insulator failure. In this paper, a new robot mechanism for insulator cleaning and inspection was developed. We confirmed its effectiveness through experiments.

• 한국공작기계학회논문집
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• 제15권4호
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• pp.69-73
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• 2006

This paper present the optimal cleaning condition of the out-hull preprocessing robot by Taguchi method in design of experiments. A $L_8(2^4)$ orthogonal array is adopted to study the effect of adjustment parameters. The adjustment parameters consist of robot speed, motor torque, motor speed and tool angle. And the quality feature is selected as surface roughness of sheet metal. Taguchi analysis is performed in order to evaluate the effect of adjustment parameters of the quality feature of cleaning process by $Minitab^{(R)}$.

• 한국산업융합학회 논문집
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• 제26권2_1호
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• pp.225-230
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• 2023

This research addresses sound command based human tracking problems for autonomous cleaning mobile robot in a networked AI space. To solve the problem, the difference among the traveling times of the sound command to each of three microphones has been used to calculate the distance and orientation of the sound from the cleaning mobile robot, which carries the microphone array. The cross-correlation between two signals has been applied for detecting the time difference between two signals, which provides reliable and precise value of the time difference compared to the conventional methods. To generate the tracking direction to the sound command, fuzzy rules are applied and the results are used to control the cleaning mobile robot in a real-time. Finally the experiment results show that the proposed algorithm works well, even though the mobile robot knows little about the environment.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
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• pp.1335-1341
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• 2011

Conserving clean air and removing contaminants and particular matters accumulated in the ventilation system of the subway stations are key issue for green railway environment. There is no national guideline or industrial regulations to sustain clean duct and ventilation system, which requires rapid reformation of cleaning procedure and system. In fact, accumulated various particular matters and dusts can occur secondary air contamination and become a primary health harm factor for subway passengers. This study investigates various duct cleaning technologies and trends. In additon, effective cleaning method with an automated robot device is proposed. In particular, current dust cleaning technologies and duct cleaning robots are analyzed based on their functions and feasibilities. The proposed design of automated device is expected to save the operating cost of subway HVAC system and sustain clean air environment.