• 한국전자통신학회논문지
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• 제18권5호
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• pp.853-858
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• 2023

건설 산업에 다양한 종류의 로봇들이 활용되고 있다. 특히, 일관된 작업의 품질을 보장할 수 있는 미장 자동화에 적용할 수 있는 로봇에 관한 관심이 높다. 이에 본 논문에서는 wheel을 기반으로 미장 자동화를 위한 로봇 플랫폼을 제안한다. 실험을 통해 우리는 설계한 로봇을 이용하여 wheel의 공기압에 따른 표면 압력을 측정하였다. 그 결과, 설계한 로봇은 무른 모르타르 위에서 휠당 균일하고 낮은 압력으로 미장 작업이 가능할 것임을 확인할 수 있었다.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2016년도 춘계 학술논문 발표대회
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• pp.255-256
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• 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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2840-2842
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• 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
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.859-864
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• 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.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2007년도 정기 학술대회 논문집
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• pp.90-95
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• 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.

• 로봇학회논문지
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• 제17권3호
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• pp.381-386
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• 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.

• 제어로봇시스템학회논문지
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• 제10권3호
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• pp.273-279
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• 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.

• 드라이브 ㆍ 컨트롤
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• 제17권1호
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• pp.44-50
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• 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.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.435-440
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• 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.

• 제어로봇시스템학회논문지
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• 제10권9호
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• pp.755-762
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• 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.