• Title/Summary/Keyword: Installation site

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Development of robot calibration method based on 3D laser scanning system for Off-Line Programming (오프라인 프로그래밍을 위한 3차원 레이저 스캐닝 시스템 기반의 로봇 캘리브레이션 방법 개발)

  • Kim, Hyun-Soo
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.20 no.3
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    • pp.16-22
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    • 2019
  • Off-line programming and robot calibration through simulation are essential when setting up a robot in a robot automation production line. In this study, we developed a new robot calibration method to match the CAD data of the production line with the measurement data on the site using 3D scanner. The proposed method calibrates the robot using 3D point cloud data through Iterative Closest Point algorithm. Registration is performed in three steps. First, vertices connected by three planes are extracted from CAD data as feature points for registration. Three planes are reconstructed from the scan point data located around the extracted feature points to generate corresponding feature points. Finally, the transformation matrix is calculated by minimizing the distance between the feature points extracted through the ICP algorithm. As a result of applying the software to the automobile welding robot installation, the proposed method can calibrate the required accuracy to within 1.5mm and effectively shorten the set-up time, which took 5 hours per robot unit, to within 40 minutes. By using the developed system, it is possible to shorten the OLP working time of the car body assembly line, shorten the precision teaching time of the robot, improve the quality of the produced product and minimize the defect rate.

Prediction of Long-term Behavior of Ground Anchor Based on the Field Monitoring Load Data Analysis (현장 하중계 계측자료 분석을 통한 그라운드 앵커의 장기거동 예측)

  • Park, Seong-yeol;Hwang, Bumsik;Lee, Sangrae;Cho, Wanjei
    • Journal of the Korean Geotechnical Society
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    • v.37 no.8
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    • pp.25-35
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    • 2021
  • Recently, the ground anchor method is commonly applied with nail and rock bolt to secure the stability of slopes and structures in Korea. Among them, permanent anchor which is used for long-term stability should secure bearing capacity and durability during the period of use. However, according to recent studies, phenomenon such as deformation to slope and the reduction of residual tensile load over time have been reported along the long-term behavior of the anchors. These problems of reducing residual tensile load are expected to increase in the future, which will inevitably lead to problems such as increasing maintenance costs. In this study, we identified the factors that affect the tensile load of permanent anchor from a literature study on the domestic and foreign, and investigated the prior studies that analyzed previously conducted load cell monitoring data. Afterwards, using this as basic data, the load cell measurement data collected at the actual site were analyzed to identify the tensile load reduction status of anchors, and the long-term load reduction characteristics were analyzed. Finally, by aggregating the preceding results, proposed a technique to predict the long-term load reduction characteristics of permanent anchors through short-term data to around 100 days after installation.

Evaluation of High Flux Combined with Pretreatment Process for Application of Decentralized Water Supply System with Ceramic Membrane (세라믹 분리막의 분산형 용수공급 시스템 적용을 위한 전처리 연계공정의 고플럭스 평가)

  • Kang, Joon-Seok;Park, Seo Gyeong;Lee, Jeong Eun;Kang, So Yeon;Lee, Jeong Jun;Quyen, Vo Thi Kim;Kim, Seongsu;Kim, Han-Seung
    • Journal of Korean Society of Water Science and Technology
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    • v.26 no.6
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    • pp.61-72
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    • 2018
  • In this study, applicability of the decentralized water supply system were investigated by the high flux evaluation using ceramic membrane with combined pretreatment process. A) filtration process increased the transmembrane pressure of 1.4 kPa and 89.5 kPa on 2 and $5m^3/m^2{\cdot}d$ of filtration flux, respectively, the physical backwashing recovery rate were less than 28.6%. The (B) Coag./Floc. - Sedi. combined process with 4 mg / L of A-PAC showed that the transmembrane pressure increased to within 6 kPa, the physical backwashing recovery rate was over 37.9 % higher than (A) Filtration process. (C) Coag./Floc. combined process showed an increase of transmembrane pressure compared with (B) Coag./Floc. - Sedi. combined process, physical backwashing recovery rate was over 84%. As a result of the membrane fouling analysis using the resistance in series model, the combined pretreatment process showed that the cake resistance (Rc) was more than 92% at membrane filtration flux of $2m^3/m^2{\cdot}d$. In the (C) Coag./Floc. combined process, cake resistance(Rc) was over 86% on high flux conditions. The coagulation floc contained in influent was removed by the membrane, and the cake layer formed with the removed floc was identified as reversible fouling resistance which could be recovered by physical backwashing. The decentralized water supply system, which has the limitation of site area and installation space, is considered to could be operation of high flux of ceramic membrane by applying (C) Coag./Floc. combined process without sedimentation process.

GPR Exploration of Non-metallic Water Pipes Linked with Network RTK (네트워크 RTK와 연계한 비금속 상수관의 GPR 탐사)

  • Lee, Keun-Wang;Park, Joon-Kyu
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.22 no.2
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    • pp.296-301
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    • 2021
  • GPR is used for non-destructive investigations, ground investigations, and underground facilities exploration at construction sites. In this study, the applicability to GPR exploration of water pipes linked to Network RTK was presented. Data on the water supply pipes in the study site were acquired using GPR, and the location and depth of buried water pipes could be measured. The accuracy was evaluated from the GNSS observation performance and showed a deviation of -0.16m ~ 0.15m. This satisfied the equipment performance of the public survey work regulation, suggesting that the exploration of water pipes using GPR is possible. Because GPR does not require grounding installation, as in conventional metal pipe detectors, it will increase the efficiency of work for underground facility exploration. Exploration using GPR can acquire the location and depth of metallic and non-metallic underground facilities, so it can be utilized in the construction of a GIS system. If a comparison of the exploration characteristics is carried out, it will be possible to present various uses of underground facility exploration using GPR.

A Study on the Installation of a Sewage Separator Pipe inside an Existing Combined Sewer System for CSO Control (기존 합류식 하수관거에 CSO 제어를 위한 하수분리관의 설치에 관한 연구)

  • Guerra, Heidi B.;Kim, Youngchul
    • Journal of Wetlands Research
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    • v.23 no.1
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    • pp.85-93
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    • 2021
  • Sewage separation which often involves installing a new pipe to separate wastewater flow from stormwater runoff flow can be costly and depends highly on its feasibility in a site. To be able to develop a potentially more economical alternative that can also lessen major road traffic disturbance during this process, a different approach where a smaller sewage separator pipe is installed inside an existing combined sewer pipe was investigated. A small-scale of a box sewer and the proposed sewage separator pipe was constructed in the laboratory to observe and compare the deposition of solids and other solid-associated major pollutants at different flow rates. In addition, three-dimensional flow simulations considering five different scenarios were conducted using Ansys Fluent to observe the effect of the proposed sewage separator pipe to the hydraulic flow if installed inside the combined sewer pipe. Results revealed that the deposition of TSS, TCOD, TN, and TP were reduced by at least 60% when the wastewater was conveyed by the sewage separator pipe instead of the combined sewer pipe. Moreover, the flow simulations conducted showed that there was little to no major disturbance in hydraulic flow and velocity distribution when the sewage separator was installed inside a straight pipe and even at pipe transitions such as intersections, turns, and drop in elevation. Considering the pipe dimensions and the results of the study, the proposed approach can be promising in terms of reduction in pollutant deposition without a major effect on the hydraulic flow. Further investigation and cost-analysis should be done in the future to support these preliminary findings and help alleviate the problems caused by combined sewer overflows by introducing an alternative approach.

Height Determination Using Vanishing Points of a Single Camera for Monitoring of Construction Site (건설현장 모니터링을 위한 단안 카메라 기반의 소실점을 이용한 높이 결정)

  • Choi, In-Ha;So, Hyeong-Yoon;Kim, Eui-Myoung
    • Journal of Cadastre & Land InformatiX
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    • v.51 no.2
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    • pp.73-82
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    • 2021
  • According to the government's announcement of the safety management enhancement policy for small and medium-sized private construction sites, the subject of mandatory CCTV installation has been expanded from large construction sites to small and medium-sized construction sites. However, since the existing CCTV at construction sites has been used for simple control for safety management, so research is needed for monitoring of construction sites. Therefore, in this study, three vanishing points were calculated based on a single image taken with a monocular camera, and then a camera matrix containing interior orientation parameters information was determined. And the accuracy was verified by calculating the height of the target object from the height of the reference object. Through height determination experiments using vanishing points based on a monocular camera, it was possible to determine the height of target objects only with a single image without separately surveying of ground control points. As a result of the accuracy evaluation, the root mean square error was ±0.161m. Therefore, it is determined that the progress of construction work at the construction sites can be monitored through the single image taken using the single camera.

[Retracted]Case Study of Microseismic Monitoring System Installation based on Underground Mine Communication System ([논문철회]지하광산 갱내통신 기반 미소진동 모니터링 체계 구축 사례)

  • Heo, Seung;Choi, Yongkun
    • Tunnel and Underground Space
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    • v.32 no.2
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    • pp.120-130
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    • 2022
  • In this study, the applicability of the microseismic monitoring system based on the underground mine communication system has been verified by operation test in the domestic underground mine. The microseismic data consists of wavelet data and meta-data for mine safety management, and both data should be transferred, stored, analyzed and managed with proper method according to the purpose and size of each data. In order to select the optimal communication system for the microseismic monitoring system considering the underground environment as well as properties of data, various types of communication system have been tested and compared during operation test after installing the optical cable communication system, 2.4 GHz and 900 MHz wireless communication system through the underground mine tunnel and overground area of the test site. The integrated microseismic monitoring software, which was developed to secure the stability of data management and ease of use, has been updated according to findings from operation test. Through the operation test of the microseismic monitoring system including the communication system and the monitoring software, the technical basis was established corresponding to various requirements of the domestic mine for adoption of the microseismic monitoring system.

Analysis of Photovoltaic Potential of Unused Space to Utilize Abandoned Stone Quarry (폐채석장 부지 활용을 위한 유휴 공간의 태양광 발전 잠재량 분석)

  • Kim, Hanjin;Ku, Jiyoon;Park, Hyeong-Dong
    • Tunnel and Underground Space
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    • v.31 no.6
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    • pp.534-548
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    • 2021
  • In this paper, the feasibility of generating solar power near an abandoned quarry is examined with the objectives of resolving the essential problems that quarries encounter, such as rockfalls and space usage issues. On an abandoned quarry site in Sadang, Seoul, Republic of Korea, two different PV installation methods were analyzed. The first is attaching PV directly on the quarry slope. Since there are no corresponding safety standards and precedents for installing solar panels directly on slopes, the power generation potential was calculated by using topographic data and reasonable assumptions. The surface area of cut slope section was extracted from the Digital Elevation Model(DEM) via ArcGIS and Python programming to calculate the tilt and power capacity of installable panels. The other approach is installing PV as a rockfall barrier, and the power generation potential was analyzed with the assumption that the panel is installed in the direction of facing solar irradiation. For the derivation of power generation, the renewable energy generation analysis program SAM(System Advisor Model) was used for both methods. According to the result, quarries that have terminated resource extraction and remain devastated have the potential to be transformed into renewable energy generation sites.

A Study on the Suitability Analysis of Welding Robot System for Replacement of Manual Welding in Ship Manufacturing Process (선박 제조 공정 분야에서 수용접 대체를 위한 용접 로봇 시스템 도입의 적합성 분석 연구)

  • Kwon, Yong-Seop;Park, Chang-Hyung;Park, Sang-Hyun;Lee, Jeong-Jae;Lee, Jae-Youl
    • Journal of the Korean Society of Industry Convergence
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    • v.25 no.5
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    • pp.799-810
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    • 2022
  • Welding work is a production work method widely used throughout the industry, and various types of welding technologies exist. In addition, many methods are being studied to automate these welding operations using robots, but in the ship manufacturing field, welding such as painting, cutting, and grinding is also the most common operation, but the manual operation ratio is higher than in other industries. Such a high manual labor ratio in the field of ship manufacturing not only causes quality problems and production delays according to the skill of workers, but also causes problems in the supply and demand of manpower. Therefore, this paper analyzed the reason why the automation rate is low in welding work at ship manufacturing sites compared to other industries, and analyzed the production process and field environment for small and medium-sized ship manufacturing companies that repeatedly manufactured with a small quantity production method. Based on the analysis results, it is intended to propose a robot system that can easily move between workplaces and secure uniform welding quality and productivity by collaborating simple welding tasks with humans. Finally, the simulation environment is constructed and analyzed to secure the suitability of robot system application to current production site environment, work process, and productivity, rather than to develop and apply the proposed robot system. Through such pre-simulation and robot system suitability analysis, it is expected to reduce trial and error that may occur in actual field installation and operation, and to improve the possibility of robot application and positive perception of robot system at ship manufacturing sites.

Time Reduction Effect Analysis of SMART Frame for Long Span and Heavy Loaded Logistics Buildings (SMART 프레임의 공기단축 효과 분석 - 대형 물류창고 사례 -)

  • Kim, Doyeong;Ji, Woomin;Lim, Jeeyoung
    • Journal of the Korea Institute of Building Construction
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    • v.22 no.5
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    • pp.519-530
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    • 2022
  • As online commerce increases, the construction of large logistics buildings worldwide is exploding. Most of these buildings have the characteristics of long span and heavy loaded and use precast concrete components, a pin joint structure, for rapid construction. However, due to construction safety and structural stability requirements, the pin joint structure has many limitations in terms of the erection of the PC member, which increases the time and cost. A structural frame connected with steel joints between precast concrete components, called a SMART frame, has been developed, which addresses these constraints and risks. However, the effect of the appllication of a SMART frame on the time aspect has not been analysed. The study is a time reduction effect analysis of a SMART frame for long span and heavy loaded logistics buildings. For this study, the authors select a case site erected using existing PC components, and compare the time reduction with the SMART frame erection simulations. Through this analysis, it was found that a time reduciton about 4 months, approximately 48% of the conventional PC installation period could be achieved. If the SMART frame is applied when carrying out future large-scale logistics building projects, it can be expected to have the effect of significantly shortening the construction period compared to the conventional method.