• 한국정밀공학회지
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• 제30권4호
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• pp.421-426
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• 2013

Nowadays in building construction field, workers become aged and avoid dirty, difficult, and dangerous work. Above all, a person who is in charge of beam assembling work in high and narrow space just relies on safety belt. So these workers should be highly trained. This paper deals with a new locomotion robot that can take this in charge, which will be able to provide less labor costs, less time to build a building and safer environments for workers. The geometric features of steel structure in building construction were carefully analyzed and developed a locomotion mechanism optimized to it. The robot was designed to be rugged, strong, and fast rather than having excessive mobility. Feasibility of the developed robot was verified through experiments.

• 한국생산제조학회지
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• 제25권2호
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• pp.112-117
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• 2016

In the construction industry, concrete polishing is used to grind and rub the surface of concrete grounds with polishing machines to increase the strength of the concrete after deposition. Polishing is performed manually in spite of the generation of dust and the requirement of frequent replacements of the polishing pad. The concrete polishing robot developed in this research is a novel polishing automation system for preventing the workers from being exposed to poor working environments. This robot is able to change multiple polishing tools automatically; however, the workers can conveniently replace the worn-out polishing pads with new ones. The mobile platform of the polishing robot employs omnidirectional wheels to enable a flexible motion even in small and complicated workspaces. To evaluate the performance of the developed concrete polishing robot, extensive experiments including square trajectory tracking, automatic tool changing, actual polishing, and path generation simulation were performed.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2007년도 정기 학술대회 논문집
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• pp.68-73
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• 2007

Civil engineering construction work has always been accompanied by a high proportion of tasks that are either dangerous or unpleasant or both. Enhancing the general working environment and boosting safety levels are critical issues for the industry. In addition to that, the industry has been slow to utilize automation & robot technology, and there is substantial scope for the use of technology th boost efficiency, cut costs and improve quality levels in construction. In a bid to address this issue, Ministry of Construction & Transportation launched a five-year project in 2003 entitled Development of Intelligent Excavating System. The aim of the project is to use telecommunications and robotics technology to minimize inefficiencies and eliminate the dangerous and unpleasant aspects of tile construction process through the development of specific applications such as IT-equipped construction machinery and advanced construction management systems. In this paper, the project introduces on the research and development content related to multi-disciplinary, a intuitive operator control unit(Robot Technology) included.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1488-1493
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• 2003

Recently, higher and bigger building is trend of the construction. Accordingly the building material is getting bigger and construction equipments are developed. But operation is still depends on human resource. Therefore there have several problems that are safety, laborious operation, and shortage of worker. In the various construction sites, the automation in construction is introduced to solve these problems. This paper proposed the automation system in construction that installs curtain wall in a high building. The system is expected effects that are reduction of a construction period, retrenchment of the cost and assurance of safety.

• 한국건축시공학회지
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• 제15권3호
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• pp.339-349
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• 2015

A large-scale research project to develop a robot-based automated building construction system for steel structures was successfully conducted in South Korea. This paper discusses the results of the real-scale test and the key lessons gained from the testing process. The system was assessed in terms of system productivity, construction cost, quality control, and safety improvements. While the productivity of the automated system showed an improvement of about 9.5%, the construction cost was about six times higher than that of the conventional method. The field test also indicated that the automated system requires more on-site quality control measures. However, because the system can eliminate the causes of various safety accidents, safety levels might be expected to be improved significantly. It is expected that this paper will provide knowledge and insight for developing new systems, and the results of the real-scale test might be useful for other researchers and similar research projects in the future.

• 로봇학회논문지
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• 제16권3호
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• pp.207-215
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• 2021

There is a risk of serious injury to workers who work at height in pier construction process. By using auto climbing formwork system that does not need to dismantle and reinstall formworks, it is possible to improve work efficiency and safety of workers. However, auto climbing formwork system still requires workers to work on a pier for rebar connection works and so on. In order to eliminate works by workers on the pier, robot manipulators with special end effectors are proposed. Through analysis of works on the pier, three specialized end effectors which are a gripper, a rebar coupler press, and a concrete vibrator, are suggested. Also, new pier construction scenario by the suggested system is confirmed using 3d modeling. It is expected that the proposed system and method enables pier construction without workers on piers. It will increase safety and efficiency of pier construction.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2012년도 추계 학술논문 발표대회
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• pp.185-187
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• 2012

Recently increasing high-rise building cleaning on the exterior walls of high-rise buildings, there has been increased interest. Building exterior cleaning is cleaned by a cleaning robot and how to clean the exterior walls of the building and exterior glass cleaned by personnel. Number of stories in the building increases, being carried out by personnel cleaning the outer wall as there is a limit order to overcome this method. therefor, this study is a new exterior wall cleaning device has been proposed.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2022년도 봄 학술논문 발표대회
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• pp.103-104
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• 2022

Cracks may occur in reinforced concrete (RC) structures due to various physical and chemical factors, and the growth of cracks causes deterioration of the structure's performance. It is important to prevent the expansion of cracks through periodic diagnosis of cracks in structures. In order to enable free crack exploration even in a narrow space, a construction robot using a Mecanum wheel that can move up, down, left and right and rotate in place was designed. High-quality crack images were periodically collected through the camera, and the image fragments stored during the exploration were combined into a single photo after the exploration was completed. The robot detected cracks with a width of 0.2 mm or more on the concrete probe surface with an accuracy of about 90% or more.

• 국제초고층학회논문집
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• 제9권1호
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• pp.95-104
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• 2020

Recently, robotic technologies have significantly improved, bringing considerable enhancements in many sectors; the main objective of this paper is to figure out if these innovations have also involved the building industry. To achieve this purpose, it has been considered crucial to first reshape and clarify some concepts, incorporating a much more flexible understanding of the term "robot", as well as the formulation of its future potential. Subsequently, it has been carried out an analysis of the various advanced devices that are currently available to be employed in the construction processes; the review includes a thorough classification of construction robots, divided into 18 families reflecting their purpose of use, and a dissection based on the term used to define them. The attention has been focused on the most updated and recent robots and, in their absence, on the most advanced machines prevailing. This operation has been achieved taking into account the development history of construction robots, as well as the analyses and classifications previously conducted, reconsidering them according to the just mentioned reflections. Furthermore, an in-depth exploration of the exoskeletons, as well as on a sophisticated robot recently developed by Schindler Group has been executed.

• 드라이브 ㆍ 컨트롤
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• 제19권2호
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• pp.1-10
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• 2022

Field robots operate in various areas, including construction, agriculture, forestry and manufacturing. Typical tasks of field robots used in various areas include excavation, flattening, and demolition. Such tasks are often accomplished in narrow alleys or indoors. In the case of field robots, there is a limit to working in a small space. Thus, to compensate for these shortcomings, many field robots equipped with Tiltrotators have recently been observed. The advantages of Tiltrotator are improved task efficiency and reduced operating time by reducing unnecessary behavior. We need simulation models that can improve the ability of new people to work and simulate tasks in advance. Thus, in this paper, we developed a simscape-based simulation model and modeling of 6DOF systems for field robots equipped with Tiltrotator. Dynamic modeling of field robot 3D models using Simcape multibody and hydraulic systems of field robots using Simcape Hydraulics were modeled. We applied a PID controller to create a control system that operates along the input angle. Simulation results show that errors occur when comparing input and output angles, but overall, they move along input angles.