• The Journal of the Korea institute of electronic communication sciences
• /
• v.18 no.5
• /
• pp.853-858
• /
• 2023

Various types of robots are being utilized in the construction industry. Particularly, there is high interest in robots that can be applied to plastering automation, which can ensure consistent work quality. In this paper, we propose a robot platform based on wheels for plastering automation. Through experiments, we measured the surface pressure according to the air pressure of the wheel using the designed robot. As a result, we were able to confirm that the designed robot could perform plastering work on soft mortar with uniformly low pressure per wheel.

• Proceedings of the Korean Institute of Building Construction Conference
• /
• 2016.05a
• /
• pp.255-256
• /
• 2016

In order to overcome the limitation of conventional cleaning method by workers, variety attempts to develop a window cleaning apparatus has been tried. However, the existing cleaning devices were lack of consideration for avoiding projection parts of the window such as frames or profiles. In this study, operating mechanism of cleaning tool for avoiding the projections parts using a two-axis robot is proposed. Proposed mechanism is that a wiper are reposed in a relatively stationary in the vicinity of the projection and avoided the projection in this state. It is expected that the mechanism is the base of driving cleaning tool part in the new window cleaning apparatus.

• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.2840-2842
• /
• 2000

This paper describes sensor-based occupancy grid map construction method through complete coverage navigation algorithm in unknown environment. In this paper, we use the updated Baysian model for probabilistic grid map. For map construction, complete coverage navigation method in which mobile robot can navigate complete field through as short path as possible in unknown environment, is used. The computer simulations result show that map construction method using complete coverage algorithm is efficient.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.859-864
• /
• 2003

This paper presents a design for the novel suspension mechanism of a two-wheeled mobile robot having two casters which is used for indoor environment. Although the indoor environment is less rough than the outdoor one, the fixed caster mechanism has some problems such as causing the robot to be immovable because robot's driving wheels do not have contact with the ground. Therefore, we tried installing a spring-damper suspension mechanism to keep driving capability and to remove pitching phenomenon. However, this suspension mechanism also has the problem, which the robot body inclined by disturbances does not return to the initial position. To deal with above problems and to accomplish desired performances, we designed the Multilayered Suspension Mechanism, which has springs and dampers working partially according to the inclined angle and angular velocity of robot body concerned with pitching. To analyze design, the equations of motion describing their dynamics were developed. Using the equations, simulation results show the improved performance. We confirm the usefulness of the Multilayered Suspension Mechanism by construction and test of a actual prototype.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2007.04a
• /
• pp.90-95
• /
• 2007

Conventional bridge inspection involves the physical positioning of an inspector by the hydraulic telescoping boom of a "snooper truck" thereby providing visual access to bridge components. The process is time consuming, hazardous, and may be affected by lighting conditions, Therefore, it is of great interest that an automated and/or teleoperated inspection robot be developed to replace the manual inspection procedure. This paper describes the advanced bridge inspection robot system under development and other related activities currently undergoing at the Bridge Inspection Robot Development Interface (BIRDI). BIRDI is a research consortium with its home in the Department of Civil and Environmental System Engineering at Hanyang University at Ansan. Its primary goal is to develop advanced robot systems for bridge inspection and monitoring for immediate field application and commercialization. The research program includes research areas such as advanced inspection robot and motion control system, sensing technologies for monitoring and assessment, and integrated system for bridge maintenance. The center embraces 12 institutions, which consist of 7 universities, 2 research institutes, and 3 private enterprises. Research projects are cross-disciplinary and include experts from structural engineering, mechanical engineering, electronic and control engineering. This research project will contribute to advancement of infrastructure maintenance technology, enhancement of construction industry competitiveness, and promotion of national capacity for technology innovation.

• The Journal of Korea Robotics Society
• /
• v.17 no.3
• /
• pp.381-386
• /
• 2022

We develop a business model for facade cleaning service robot system that provides service by meeting the market needs and environments. The size of the facade cleaning market is growing rapidly in recent years due to the increasing importance of indoor space and the modern trend of building construction methods. Also, maintenance of exterior appearance of buildings has become an important factor in residential and commercial facilities. Though demand for facade cleaning services is rising, the current facade cleaning services are performed dangerously in a human labor-dependent way. It is desirable that the existing human resource service should be replaced with robot-based services. In addition, quantitative analysis of rental pricing model was conducted to propose effective launch of products to the market. The robot system is economically attractive from the consumer's point of view. When the actual facade cleaning robot service is released, it is expected that verification of the business models and more accurate analysis with specific figures can be performed.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.3
• /
• pp.273-279
• /
• 2004

This research is concerned with the development of an Internet-based robot system, which is insensitive to the unpredictable internet time delay. For this purpose, a simple mobile robot system that moves in response to the user s direct control on the internet has been developed. The time delay in data transmission is an important problem for the construction of this kind of system. Therefore, the PPS (Position Prediction Simulator) is suggested and implemented to compensate for the time delay problem of the internet. The simulation and experimental results show that the distance error can be reduced using the developed PPS.

• Journal of Drive and Control
• /
• v.17 no.1
• /
• pp.44-50
• /
• 2020

For the requirement of accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Because of the complexity of humanoid robot dynamics, the TDC (time-delay control) is practical because it does not require a dynamic model. However, there occurs a considerable error due to discontinuous non-linearities. To solve this problem, the TDC-FLC (fuzzy logic compensator) is applied to humanoid robots. The applied controller contains three factors: a TDE (time-delay estimation) factor, a desired error dynamic factor, and FLC to suppress the TDE error. The TDC-FLC is easy to execute because it does not require complicated humanoid dynamic calculations and the heuristic fuzzy control rules are intuitive. TDC-FLC is implemented on the whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the TDC-FLC for humanoid robots.

• Proceedings of the KSME Conference
• /
• 2007.05a
• /
• pp.435-440
• /
• 2007

Fish-mimetic robots or fish-mimetic propulsors have been developed or under construction. A mechanical system cannot have the same functions as bio-organic systems. Thus, the hydrodynamic characteristics of fish locomotion should be well understood in order to develop and control a feasible intelligent fish-mimetic robot with its optimal motion pattern known. In this paper, a mackerel-mimetic robot fish is fabricated in order to understand the hydrodynamic characteristics of fish locomotion. A simplified unsteady flow theory is also applied to the hydrodynamic analysis of the motion of the anterior part of the robotic fish. The normal and axial forces of the fish are measured by changing the amplitude and frequencies of fanning motion. It is found that the present theoretical results agree with the measured data.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.9
• /
• pp.755-762
• /
• 2004

In this research, EOG(Electrooculogram) signal was analyzed to predict the subject's intention using a fuzzy classifier. The fuzzy classifier is built automatically using the EOG data and evolutionary algorithms. An assistant robot manipulator in redundant configuration has been developed, which operates according to the EOG signal classification results. For automatic fuzzy model construction without any experts' knowledge, an evolutionary algorithm with the new representation scheme, design of adequate fitness function and evolutionary operators, is proposed. The proposed evolutionary algorithm can optimize the number of fuzzy rules, the number of fuzzy membership functions, parameter values for the each membership functions, and parameter values for the consequent parts. It is shown that the fuzzy classifier built by the proposed algorithm can classify the EOG data efficiently. Intelligent motion planner that consists of several neural networks are used for control of robot manipulator based upon EOG classification results.