• 제어로봇시스템학회논문지
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• 제5권4호
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• pp.454-461
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• 1999

A concrete floor trowel machine, developed in the U.S in 1990's, consists of only two rotary trowels, and doesn't need any other mechanism for motion such as wheels. When the machine flattens a concrete floor with its rotary trowels, the machine can move in any direction by utilizing the unbalanced friction forces occurring between the rotary wheels and the floor when the trowels are tilted in appropriate directions. In order to automate the trowels machine, this paper proposed the self-propulsive concrete finishing trowel robot which has twin trowels. For the control of the robot, this paper discussed the following. Firstly, the dynamics model of the driving frictional force applied on each trowel from the floor is derived. Secondly, the relationship between the driving force for the robot and the control variable of the robot is derived. Finally, the basic motion of the robot are realized by using the obtained relationship. This paper figures out how the concrete floor finishing robot with tow trowels moves and will contribute to realizing it.

• 한국정밀공학회지
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• 제16권8호
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• pp.38-45
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• 1999

The 2-trowel type concrete floor finishing robot can move in any direction by adjusting the posture or trowels without any wheels. Since the quality of the smoothed and polished concrete floor is determined by plastering speed, we need to control the velocity of the robot. However, we cannot use the typical motion control method because it is very difficult to measure the velocity of the robot, in contrast to the mobile robots with wheels. To overcome this difficulty, the following are studied in this paper: we found that the robot dynamics has the disturbance depending on its translational speed, and showed that there exists the saturated velocity of the robot which is set by the posture of the trowels, and obtained the relationship between the saturated velocity and the posture in the translation. The result enables us to control the motion of the robot only by adjusting the posture of trowels without measuring the velocity of the robot. Currently, we built the troweling robot and are experimenting its performance with the proposed motion control method.

• 한국정밀공학회지
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• 제18권8호
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• pp.193-200
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• 2001

Recently, the concrete floor finishing robot, which can be used for flattening and smoothing the concrete floor, has been developed in Korea and Japan. While the previous research assumes that the concrete floor is deformable and the trowel is rigid in modeling the concrete floor finisher, we assume that the concrete floor is rigid and the trowel is deformable. Based on this assumption, we derived the equations of motion and found the convergent velocity of the concrete floor finisher using the computer simulation. From these results, we can understand the relationship between the motion characteristics and the design and control parameter of the robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1480-1484
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• 2004

In this paper, a self-propulsive and small concrete floor finishing trowel robot with twin trowels is proposed. Due to the small size and omni-directional moving capability, it is adequate for small space such as apartment. By adjusting the posture of trowels, it can move in any direction without wheels. We used cheap PIC processor for the cost saving design of the modules and adopted mode processors for easy operation of control stick. For the position control of the robot, we made a motion control algorithm appealing to the stepping motor driver module and the wireless communication module between the robot and PC (or control stick). In this paper, we discuss the control problem of the floor finishing robot in order to move to the right position. By comparing experimental result with simulation, we show the validity of the robot mechanism, sensors, and the control system.

• 대한안전경영과학회지
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• 제9권2호
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• pp.135-147
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• 2007

이 논문은 CC 프로세스의 movable side trowel 효과를 연구하기 위한 실험과 모델링을 제시한다. FEA simulation을 이용하여 우리는 movable side trowel의 효과와 움직임에 대한 기초적인 이해를 얻어냈다. 단면의 side trowel 보다 양면의 side trowel이 실제의 3D 형상을 만드는 동안에 층간의 최적의 결합을 만들어 준다는 면에서 가장 적합하다는 것을 알아냈다. 우리의 실험이 위의 결과를 입증하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.614-617
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• 2004

The construction industry is typical of the ' job of 3D ', the automated construction equipments are getting used in the domestic construction sites and the construction robots began to be sold in the abroad. The research developed the small sized robot which could be used at the apartments and the office buildings with the small floors. But the past finishing robot could not be operated easily, it had expensive controller which could not increase the production of robot. In this paper, user interface is made to operate easily the small concrete floor finishing robot with two trowel which has low cost controller, motion algorithm including modeling and mechanism about the concrete finishing robot is developed to control moving. Simulation and experiment figure out how the finishing robot moves and will contribute to realizing it.lizing it.

• 대한안전경영과학회:학술대회논문집
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• 대한안전경영과학회 2006년도 추계공동학술대회
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• pp.437-450
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• 2006

The Contour Crafting(CC) process, which has been developed at the University of Southern California, aims at automated construction of whole houses as well as sub-components. For this purpose, new trowel mechanism is basically needed in order to fabricate the true 3D shape. This paper presents our concepts and initial investigation of 3D free form fabrication using the pivoting side trowel. Specifically, the status of research and development of the processand experiments with ceramics materials, and its potential application areas are detailed.

• 대한안전경영과학회:학술대회논문집
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• 대한안전경영과학회 2007년도 추계학술대회
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• pp.27-37
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• 2007

CC 프로세스는 부가 구성물들뿐만이 아니라 전체구조물을 자동화로 만드는 것을 목적으로 한다, 이런 목적을 위하여, 새로운 Trowel 메카니즘이 3D 자유형상을 만들기 위해서 기본적으로 필요하다. 이 논문은 선회하는 Side towel을 사용하여 3D 자유곡면의 제작에 대한 기초적인 조사 및 개념을 보여준다. 특히, ceramics 재료를 이용하여 실험과 개발과정, 및 장래의 적용범위가 상세히 설명된다.

• 인간식물환경학회지
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• 제21권6호
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• pp.473-484
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• 2018

The purpose of this study is to analyze the patterns of farming materials required for creating and operating elementary school vegetable gardens and to propose a plan for vitalizing business related to urban agriculture. As a result of the survey, the farming materials purchased most for the operation of the school gardens were seeds materials focused on seedlings, compost/fertilizer, and farming tools focused on trowels, sprinklers, and hoes. Purchases of farming materials were made mostly through the internet, while most purchases of seedlings were made in pesticide stores. Therefore, it is necessary to provide information and education related to the use of farming materials. Thus, establishment and maintenance of highly accessible and reliable internet sources are recommended to provide the lists of farm products necessary as well as related information to help users in purchase and use in order to create and operate the school garden. In order to supply high-quality seedlings, it is necessary to provide information and education on the kinds of seedlings, management, cultivation, delivery methods, and the like, focusing on pesticide stores producing and distributing seedlings. Providing such information for participants will improve their satisfaction. Also, if businesses related to urban agriculture use these study results in producing, preparing, managing and selling seedlings and farming materials, they will also be able to generate profits and vitalize urban agriculture.