• 한국건축시공학회:학술대회논문집
• /
• 한국건축시공학회 2012년도 춘계 학술논문 발표대회
• /
• pp.157-159
• /
• 2012

In recent years, the number of high-rise buildings has been on the rise. As buildings have become larger in scale, significantly different issues related to their construction and maintenance have emerged. In addition, the automation and mechanization of the cleaning work for the curtain wall, one of the most frequently-performed tasks in building maintenance, is required as a fundamental measure. For this reason, a guide-rail type cleaning robot system is emerging as one of the measures in response to external factors, including gust. The major objective of this study is to propose an economic feasibility forecasting model and to apply the a building facade cleaning robot which is now under development.

• 한국건축시공학회:학술대회논문집
• /
• 한국건축시공학회 2009년도 추계 학술논문 발표대회
• /
• pp.235-239
• /
• 2009

As robotic technologies have become more actively utilized to automate many construction tasks, they have been able to improve the construction productivity, quality, and worker's safety on site. A new advanced system, Robot-based Construction Automation (RCA) system, is currently being developed. To accomplish RCA system effectively, Design for automation (DFA) should be performed in automation system developing phase. The performance criteria of this system are a major cause of design changes. It is required exhaustive review for development new system. This research analyzed the design changes of Climbing Hydraulic Robot system and Construction Factory (CF), being currently developed in the field of applied RCA systems. And the design change matters according to performance criteria in each system's design-by-step were analyzed. The purpose of this research is developing the performance criteria in the developing phase of RCA system, and then will be served as basis for system design in similar projects.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2011년도 춘계학술대회 논문집
• /
• pp.57-58
• /
• 2011

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.1288-1291
• /
• 1996

The submaterials are used for restoration of the impurities involved in iron ore. Robot system is constructed to measure the content of moisture in submaterials automatically, so we achieve the confidence of measuring work and the promotion of operation efficiency.

• 한국건축시공학회지
• /
• 제12권2호
• /
• pp.220-229
• /
• 2012

매년 초고층 건축물 관련 프로젝트가 증가하고 있으며, 초고층 건축물의 높이가 증가함에 따라 시공법과 함께 유지관리 방법도 기존방식과는 큰 차이를 보이고 있다. 또한 유지관리 업무 중 가장 빈번하게 수행되는 외벽 청소작업을 보다 안전하게 작업하기 위한 근본적인 대책으로 청소작업의 자동화 및 기계화가 요구되고 있다. 그리고 초고층에서 발생되는 돌풍 등 외부환경의 영향에 대응할 수 있는 방법으로 가이드레일 청소로봇 시스템이 제기되고 있다. 따라서 본 연구는 초고층 건축물 외벽 청소작업의 자동화 및 기계화를 위한 선행연구로써, 외벽 청소로봇 운용을 위한 가이드레일 기본단위유닛 도출과 가이드레일 개념(안)을 개발하는 것이다. 이를 통하여 초고층 건축물 외벽 청소로봇운용을 위한 선행연구이며, 운용에 필요한 최적의 가이드레일 최종설계의 기반을 마련하고자 한다.

• 한국정밀공학회지
• /
• 제17권9호
• /
• pp.32-38
• /
• 2000

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2007년도 춘계학술대회 논문집
• /
• pp.81-82
• /
• 2007

• 한국건설관리학회:학술대회논문집
• /
• 한국건설관리학회 2002년도 학술대회지
• /
• pp.188-191
• /
• 2002

This paper concerns 3-D graphical modeling and simulation techniques for design and control of automated equipment for construction and facility maintenance. A case study on the use of 3-D graphics techniques for developing a power plant maintenance robot is presented. By simulating equipment operation within the 3-D geometry models of the work environment the environment design was improved. The 3-D graphical models of the equipment and the work environment were further utilized for the control of the robot from a remote distance. By presenting the real-time updated equipment configuration and the work environment to the operator, the graphical model-based equipment control system helped the operator overcome the problems associated with spatial perception. The collision between the robot and the plant structures was also avoided based the real-time analysis of the dynamically updated graphical models.

• 드라이브 ㆍ 컨트롤
• /
• 제19권4호
• /
• pp.70-76
• /
• 2022

In this paper, we develops an unmanned test system for the purpose of realizing an actual forklift-based test-bed for the operation durability of the forklift mast. First, two robot actuators were applied to the lever to replace lever manipulation of the operator. For detecting the height of the fork and the tilt angle of the mast, the laser displacement sensor and the inclinometer were installed to the forklift. Next, the embedded control system was used to control the robot actuator with reference to test mode. Experimental evaluation verified that developed test system was effective and practical for the viewpoint of the repeatability of the test mode.

• 한국정밀공학회지
• /
• 제17권5호
• /
• pp.145-153
• /
• 2000

This paper discusses the dynamic modeling and robust control development for a differentially steered mobile robot subject to wheel slip according to high load. Consideration of wheel slip is crucial for high load applications such as construction automation tasks because wheel slip acts as a severe disturbance to the system. It is shown that the uncertainty terms due to the wheel slip satisfy the matching condition for the sliding mode control design. From the full dynamic model of the mobile robot, a reduced ideal model is extracted to facilitate the control design. The sliding mode control method ensures the dynamic tracking performance for such a mobile robot. Numerical simulation shows the promise of the developed algorithm.