• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.25-31
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• 2022

Moving among multiple floors is one of the most challenging tasks for indoor autonomous robots. Most of the previous researches for indoor mapping and localization have focused on singular floor environment. In this paper, we present an algorithm that creates a multi-floor map using 3D point cloud. We implement localization within the multi-floor map using a LiDAR and an IMU. Our algorithm builds a multi-floor map by constructing a single-floor map using a LOAM-based algorithm, and stacking them through global registration that aligns the common sections in the map of each floor. The localization in the multi-floor map was performed by adding the height information to the NDT (Normal Distribution Transform)-based registration method. The mean error of the multi-floor map showed 0.29 m and 0.43 m errors in the x, and y-axis, respectively. In addition, the mean error of yaw was 1.00°, and the error rate of height was 0.063. The real-world test for localization was performed on the third floor. It showed the mean square error of 0.116 m, and the average differential time of 0.01 sec. This study will be able to help indoor autonomous robots to operate on multiple floors.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.293-295
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• 2004

In this research, we suggest the effective technique that the thickness of slab isn't increased, and considering proper shock absorbing material and supporting point, we make the floating floor which has multi-supporting system floating floor. As the result, it is effective in reduction of heavy weight system as well as one of light weight

• Journal of Mechanical Science and Technology
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• v.15 no.5
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• pp.544-554
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• 2001

A shop floor can be considered as an important level to develop Computer Integrated Manufacturing system (CIMs). However, a shop floor is a dynamic environment where unexpected events continuously occur, and impose changes to the planned activities. To deal with this problem, a shop floor should adopt an appropriate control system that is responsible for the coordination and control of the manufacturing physical flow and information flow. In this paper, a hybrid control system is described with a shop floor activity methodology called Multi-Layered Task Initiation Diagram (MTD). The architecture of the control model contains three levels: i.e., he shop floor controller (SFC), the intelligent agent controller (IAC) and the equipment controller (EC). The methodology behind the development of the control system is an intelligent multi-agent paradigm that enables the shop floor control system to be an independent, an autonomous, and distributed system, and to achieve an adaptability to change of the manufacturing environment.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.928-931
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• 2003

In this research, we suggest the effective technique that the thickness of slab isn't increased, and considering proper shock absorbing material and supporting point, we make the floating floor which has multi-supporting system floating nut. As the result, it is effective in reduction of heavy weight system as well as one of light weight

• Journal of Animal Science and Technology
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• v.62 no.2
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• pp.276-291
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• 2020

This study was conducted to investigate behavioral changes in laying hens (Hy-Line Brown) after transfer to a multi-tier system from the floor system and to examine their production performance. The hens were randomly divided into two groups and were allocated to the multi-tier system and the floor system at a commercial farm. Behavior of the laying hens was recorded by CCD (charge-coupled device) cameras and a digital video recorder. The data were scanned every 2 min to obtain an instantaneous behavioral sample or were immediately counted whenever the hens exhibited a designated behavior. Behavior changed dramatically during the first seven days. Egg production was higher in the multi-tier system, while cracked and dirty eggs were more frequent in the floor system (p < 0.05). No differences in mortality rate or egg quality were observed between the groups. In conclusion, the hens needed at least seven days to adapt to the multi-tier system. The multi-tier system was more efficient than the floor system in terms of production performance.

• Proceedings of the Korea Concrete Institute Conference
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• 1998.10a
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• pp.474-479
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• 1998

In this paper, the structural behavior of R.C. multi-layered floor structure including foam concrete layer is numerically analyzed. For the analysis, 3D interface element has been implemented to finite element analysis program to consider the interfacial behavior of multi-layered floor structure which consists of rubber layer, foam concrete layer and mortar layer on RC slab. Based on analysis results on multi-layered structure, its structural behavior is analyzed according to geometrical and material properties of foam concrete. Optimum material property of each layer of the floor structure is proposed to get optimum multi-layered concrete structure.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.10-17
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• 2023

Recently, robots have been actively utilized for logistics and delivery services in various places such as restaurants, hotels, and hospitals. In addition, it provides a safer environment, convenience, and cost efficiency to the customers. However, when it comes to autonomous delivery in a multi-floor environment, the task is still challenging. Especially for wheeled mobile robots, it is necessary to deal with elevators to perform the last-mile delivery services. Therefore, we present a multi-floor route planning algorithm that enables a wheeled mobile robot to traverse an elevator for the delivery service. In addition, an elevator boarding mission algorithm was developed to perceive the drivable region within the elevator and generate a feasible path that is collision-free. The algorithm was tested with real-world experiments and was demonstrated to perform autonomous postal delivery service in a multi-floor building. We concluded that our study could contribute to building a stable autonomous driving robot system for a multi-floor environment.

• International Journal of Precision Engineering and Manufacturing
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• v.1 no.2
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• pp.124-131
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• 2000

A shop floor can be considered as and importand level to develop a Computer Integrated Manufacturing system (CIMs). The shop foor is a dynamic environment where unexpected events contrinuously occur, and impose changes to planned activities. The shop floor should adopt an appropriate control system that is responsible for scheduling coordination and moving the manufacturing material and information flow. In this paper, the architecture of the hybrid control model identifies three levels; i.e., the shop floor controller (SFC), the cell controller(CC) and the equipment controller (EC). The methodology for developing these controller is employ an object-oriented approach for static models and IDEF0 for function models for dispatching a job. SFC and CC are coordinated by employing a multi-factors bidding and an adapted Analytic Hierarchy Process(AHP) prove applicability of the suggested method. Test experiment has been conducted by with the shopfloor, consisting of six manufacturing cells.

• IE interfaces
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• v.21 no.2
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• pp.170-176
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• 2008

Consider a multi-floor facility with multiple rooms of unequal size on each floor. Students come from many organizations to attend the conference to be held at this facility. In assigning the rooms to the students, several constraints must be met; such as boys and girls must not be assigned to the rooms on the same floor. Given the capacity of each room and the number of students from each organization, the problem is assigning students to rooms under a set of constraints and various objectives. We present six models with different objective functions; and formulate them as binary integer programming problems. A numerical example and a case study follow to illustrate the proposed models.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.225-226
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• 2014

In multi-story buildings, heavy-weight floor impact noise propagates through multiple layers. In order to evaluate the influence of structural vibration and propagation, the actual twelve-story building was excited by an impact ball. Sound and vibration responses of each floor was measured using accelerometers and a microphone. Vibration characteristics and its transfer paths were different depending on the excitation floor locations due to differences in the structural characteristics. From the measurement result, transfer characteristics were quantified by statistical energy analysis. It was confirmed that the heavy-weight floor impact noise influence not only adjacent floor. The impact noise transferred and affected multiple layers.