• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2013년도 춘계 학술논문 발표대회
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• pp.292-294
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• 2013

When the number of skyscrapers are increased in the domestic, it has increased the need of the outer wall cleaning robot. However, it does not exist the construction specification of the outer wall cleaning robot in the domestic. it is difficult to apply in the domestic that the outer wall cleaning robot. For this reason, it raised the need of the construction specification. And it is urgent that the construction specification of the outer wall cleaning robot is needed to develop in the domestic. Therefore, this study aims to propose the construction specification framework of the outer wall cleaning robot. In the future, this study will be based on the development of the construction specification on the outer wall cleaning robot.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2011년도 춘계 학술논문 발표대회 2부
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• pp.89-90
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• 2011

External wall cleaning is a task that is currently being performed by human workers. The recent surge in the number of high-rise buildings has led to such problems as difficulties in cleaning the wall, high risk to the specialized workers, and increased maintenance expenses. As a fundamental measure to perform external wall cleaning work in a safer manner, automation/mechanization has been on the rise. This research aims to classify façade types and analyze the performance requirements of a wall-cleaning robot, as preliminary research to develop a wall-cleaning robot. The replacement of specialized workers with robots is expected to improve both safety for workers and quality of cleaning.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2013년도 추계 학술논문 발표대회
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• pp.224-225
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• 2013

Most of the building exterior wall cleaning robots use a water jet device for spraying water. However this method is sprayed excessive water usage than water quantity required for cleaning. And setting weight of the water pump cleaning device increase the weight of the building exterior wall cleaning robot. Therefor, this paper suggest that the mechanisms scatter minimal cleaning water using a spinning device of the building exterior wall cleaning robot.

• 로봇학회논문지
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• 제5권1호
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• pp.14-22
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• 2010

Recently researches on the window cleaning robot are being conducted actively. Moving mechanismsof these window cleaning robots are divided into two categories, which are towed type and walking type. Towed type is focused on fast cleaning on the flat surface of building and walking type has priority on cleaning task on relatively complex surface with overcoming obstacles. Currently commercialized towed type window cleaning robot has weakness that it is hard to adhere closely with the wall and easy to be affected by wind. In case of walking type it has the problem that the position errors are continuously accumulated during motion. In this paper, we propose new towed and walking type mechanism which can compensate previous weaknesses. After that we estimate the performance of each proposed mechanism by simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.108.1-108
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• 2002

This paper is willing to propose a method of wall tracing, a moving algorithm between two points, when a Cleaning robot between two points moves. We use the information about obstacles and wall side in calculating different weight vector the each infrared sensors in cleaning robot. Therefore the cleaning robot navigates the wall. In the algorithm of wall tracing, the value of error in angle and distance between starting point and ending point should be zero to navigate the wall safely. The propriety of algorithm of the wall tracing is simulated as this method by using Visual C++. The result simulated proved to the simulation.

• 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 2011년도 추계 학술논문 발표대회
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• pp.197-198
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• 2011

Most of buildings' exterior walls are curtain wall systems and in the respect, the cleaning robot system is the main research item for cleaning and maintenance of them. We have structurely analysed the cases to review on the structural stability of the mullion members where the cleaning robot is attached. The result is showing that the largest stress is formed by the basic wind speed, which is specified in Korean Building Code-Structural.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.415-415
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• 2000

The functions of a mobile robot such as obstacle knowledge and collision avoidance for in-door cleaning are necessary features, as has been much studied in the field of industrial automatic guided vehicle or general mobile robot. A mobile robot, in order to avoid collision with obstacles, has to gather data with environment knowledge sensors and recognize environment and the shape of obstacles from the data. In the study, a wall-following algorithm was suggested as a autonomous moving algorithm in which a mobile robot can recognize obstacles in indoor like environment and do cleaning work in effect. The system suggested in the study is for cleaning of nuclear material dusts generated in the process of nuclear fuel manufacturing and decontamination of devices in disorder which is performed in M6 radioactive ray shield hot-cell in IMEF(Irradiated Material Examination Facility) in the Korea Atomic Energy Research Institute.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.233-234
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• 2012

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.1369-1370
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• 2011