• 디지털산업정보학회논문지
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• 제5권3호
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• pp.39-45
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• 2009

In this paper we present a cleaning robot system for an autonomous mobile robot. Our robot performs goal reaching tasks into unknown indoor environments by using sensor fusion. The robot's operation objective is to clean floor or any other applicable surface and to build a map of the surrounding environment for some further purpose such as finding the shortest path available. Using its cleaning robot system for an autonomous mobile robot can move in various modes and perform dexterous tasks. Performance of the cleaning robot system is better than a fixed base redundant robot in avoiding singularity and obstacle. Sensor fusion using the clean robot improves the performance of the robot with redundant freedom in workspace and Map-Building. In this paper, Map-building of the cleaning robot has been studied using sensor fusion. A sequence of this alternating task execution scheme enables the clean robot to execute various tasks efficiently. The proposed algorithm is experimentally verified and discussed with a cleaning robot, KCCR.

• 자동차안전학회지
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• 제14권2호
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• pp.75-82
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• 2022

Automated vehicles (AVs) are coming to our roadways. In practice, there are still several challenges that can impede the AV sensors are polluted on various road conditions. In this paper, we propose a strategy for V2E performance assurance technology using Kano model. We are developing the vehicle sensor cleaning system about the three types of commonly used sensors: camera, radar, and LiDAR. Surveys were carried out in 30 AV's experts on quality characteristics about V2E performance assurance technology. As a result, the Kano model developed to verify a major requirement of autonomous vehicle's sensor cleaning system. It is expected that the Kano model will be actively used to verify the importance of V2E development strategy.

• 한국정보통신학회논문지
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• 제20권2호
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• pp.385-393
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• 2016

본 논문에서는 선체 청소로봇의 자동화를 위한 새로운 위치추정 방법을 제안하였으며, 제안한 위치추정 방법을 실제 선체 청소로봇에 적용 가능성을 평가하기 위해 동일한 주행방법을 가지는 소형로봇에 적용하여 위치추정 실험을 수행하였다. 위치추정 실험을 통해 광 변위센서를 사용한 위치추정 방법이 회전 엔코더를 사용한 방법보다 더 정확하게 위치를 추정하는 것을 확인하였으며, 더불어 제안한 위치추정 방법을 통해 로봇 주행방향 또한 기존의 회전 엔코더 방식보다 정확하게 계산되는 것을 확인하였다. 이후의 연구에서 제안한 위치추정 방법에 오차보정을 위한 센서를 추가하여 위치추정 정확도를 보완하고, 이를 실제 선체 청소로봇에 적용하여 사용할 계획이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2019-2023
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• 2005

In this paper, an autonomous omni directional cleaning robot which recognizes an obstacle and a battery charger is introduced. It utilizes a robot vision, ultra sonic sensors, and infrared sensors information along with appropriate algorithm. Three omni-directional wheels make the robot move any direction, enabling a faster maneuvering than a simple track typed robot. The robot system transfers command and image data through Blue-tooth wireless modules to be operated in a remote place. The robot vision associated with sensor data makes the robot proceed in an autonomous behavior. An autonomous battery charger searching is implemented by using a map-building which results in overcoming the error due to the slip on the wheels, and camera and sensor information.

• 대한임상검사과학회지
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• 제53권1호
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• pp.19-31
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• 2021

이 연구의 목적은 기능적, 정량적 분석을 바탕으로 수입 LX 세정액(LX-CS)과 자가제조 OC 세정액(OC-CS)의 성능을 비교하였다. 기능적 분석은 ADC값을 사용하여 평가하였다. 정량적 분석을 위해 CLSI 지침에 따라 정도 관리 물질을 이용하여 정밀도, 직선성 및 오염률을 평가하였다. OC-Sensor PLEDIA(Eiken Chemical, Japan)를 이용한 모든 cuvette의 ADC값은 허용기준을 만족하였다. 정량적 분석의 경우 두 제품의 정밀도는 5.0% 미만이었고, 오염율은 ±1.00% 이하였다. 직선성 기울기와 r2 값은 LX-CS에서 각각 1.0017와 0.9982였으며, OC-CS에서 0.9924와 0.9996이였다. 상관계수(r)는 0.9997이였다. 또한 40개의 가변을 이용한 % difference는 10% 미만, P값은 0.1 미만이였다. 각 각 차이: 표준 편차 비(D: ±1 SD 비)에 기초한 두 제품 모두 유사한 결과를 보였다. 결론적으로 두 제품의 기능적, 정량적 분석을 비교한 결과 유사하였다. 향후 자가제조한 OC세정액은 수입 LX세정액보다 훨씬 더 안정적이고 빠른 공급을 제공할 수 있을 것이라 기대된다.

• 전자공학회논문지
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• 제51권7호
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• pp.223-229
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• 2014

화력발전소와 같은 석유화학 설비, 소각 설비 등에서는 재, 먼지 등의 이물질이 발생하며 이물질을 효과적으로 제거하기 위한 방법으로 음향 세척 장치를 이용하는 방식이 있다. 하지만 이 방법의 경우 이물질로 인하여 혼의 입구가 막혀 오작동할 가능성이 있다는 단점이 있다. 본 연구에서는 음향 세척 장치의 정상 작동을 감시하기 위한 음파 검출 무선 센서를 개발하였으며, 센서의 원리를 설명하였다. 이 음파 검출 무선 센서는 실험을 통하여 고온 혹은 저온의 다양한 산업 환경에서 안정적인 동작을 확인하였다. 또한 음파 검출 무선 센서와 424MHz 대역을 이용한 통신을 하여 데이터를 수신하는 무선 데이터 수집 장치를 개발하여 음파 검출 무선 센서의 동작 상태를 외부에서 확인할 수 있도록 하였다.

• Agribusiness and Information Management
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• 제9권1호
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• pp.18-22
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• 2017

It takes lots of time and labor if a worker have to measure the water quality at a certain but designated time every day in an un-automated aqua farm. In addition, if the equipment is soaked in the sea water consistently, it will be contaminated by diverse floating matters and barnacles, and it often becomes mal-functional within 2~3 months. Therefore, we need to develop a system with which the sensed data could be checked in real time and operated automatically, while preventing the contamination of the sensor, a crucial component for water quality measuring equipment, as much as possible, and increasing the replacement cycle. We have developed a non-cleaning water quality measuring equipment and its software which are used in the fishery household of offshore aqua farms. By providing the workers with a mobile application which has a function of monitoring the water quality in real time, they can check the situation directly without going to the fishery household.

• 반도체디스플레이기술학회지
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• 제18권3호
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• pp.144-149
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• 2019

This paper describes the results of a study on the unmanned maintenance robot that simultaneously performs the cleaning and inspection of the photovoltaic panels. The robot has a special adsorptive device, an infrared sensor, a vacuum level sensor and a camera. The robot uses two SSC (Sliding Suction Cup) adsorptive devices to move up and down the slope. First, the forces generated when the robot moves up the slope are mechanically analyzed, and the required design and control of the adsorption system are suggested. The robot was designed and manufactured to operate stably by using the presented results. Next, the normal force between the panel and the wheel was measured to confirm that the robot was manufactured and operated as intended, and the robot motion was tested on the inclined panel. It has been proven that robots are well designed and built to clean and inspect sloped panels.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
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• pp.779-790
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• 1993

A prototype of the feeding-milking robot was developed in the Hungarian Institute of Agricultural Engineering in 1988-89. Before starting with the operation tests the cleaning system had to be elaborated . The cleaning system has two parts. Those are the complete cleaning of the system, producing a practically sterile state, as well as flushing through the milking device between milking of two cows. Separate electronic sensor development was necessary for both system which can connect to the control system of the robot. To clean the system pneumatic air input was applied. As an effect of the local adjustment of the electronic control system optimal flow conditions can be formed what is more favourable comparing to the earlier solutions of cleaning due to the mechanical effect. In the flushing through overpressure air is applied. The air and the cleaning liquid input duration can be adjusted to the local conditions. The electronic control unit can be connected to the electric ircuits of robot.

• Transactions on Electrical and Electronic Materials
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• 제14권5호
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• pp.254-257
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• 2013

In-situ optical emission spectroscopy (OES) is employed for PECVD chamber monitoring. OES is used as an addon sensor to monitoring and cleaning end point detection (EPD). On monitoring plasma chemistry using OES, the process gas and by-product gas are simultaneously monitored. Principal component analysis (PCA) enhances the capability of end point detection using OES data. Through chamber cleaning monitoring using OES, cleaning time is reduced by 53%, in general. Therefore, the gas usage of fluorine is also reduced, so satisfying Green Fab challenge in semiconductor manufacturing.