• 한국건설관리학회논문집
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• 제5권5호
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• pp.151-162
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• 2004

Current methods for construction site modeling employ large, expensive laser range scanners that produce dense range point clouds of a scene from different perspectives. Days of skilled interpretation and of automatic segmentation may be required to convert the clouds to a finished CAD model. The dynamic nature of the construction environment requires that a real-time local area modeling system be capable of handling a rapidly changing and uncertain work environment. However, in practice, large, simple, and reasonably accurate embodying volumes are adequate feedback to an operator who, for instance, is attempting to place materials in the midst of obstacles with an occluded view. For real-time obstacle avoidance and automated equipment control functions, such volumes also facilitate computational tractability. In this research, a human operator's ability to quickly evaluate and associate objects in a scene is exploited. The operator directs a laser range finder mounted on a pan and tilt unit to collect range points on objects throughout the workspace. These groups of points form sparse range point clouds. These sparse clouds are then used to create geometric primitives for visualization and modeling purposes. Experimental results indicate that these models can be created rapidly and with sufficient accuracy for automated obstacle avoidance and equipment control functions.

• 한국항공운항학회지
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• 제29권4호
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• pp.166-172
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• 2021

Obstacle Limitation Surfaces (OLS) are set to protect a certain amount of airspace to limit objects, such as building, other structures, penetrating OLS for safety and regularity of aircraft operations in the vicinity of aerodromes. However, many civil petitions have been raising for effective utilization of lands and permission of building construction which penetrating OLS. While Republic of Korea are limiting installation of penetrating objects based on the National law of airport facilities, such objects are possibly permitted, only if, the possible risks coming from objects are acceptable or negligible in terms of safety and regularity in aircraft operations through the evaluation process, called as an aeronautical study. However, many countries are currently applying their own criteria, processes resulting in failing secure reliable results in aeronautical study. This research aims to establish the framework on criteria, process, and methodologies how the aeronautical study works including work flows between many stakeholder and responsibilities to be specified in national regulation system.

• 디지털융복합연구
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• 제6권4호
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• pp.1-11
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• 2008

We conducted a survey to investigate the actual conditions of work experience, job-hunting, vocational training for unemployed women. The motivation of the study is that the conditions of unemployed women can serve as an important data in developing and utilizing womanpower. We can see that maintaining a balanced work-family life is the major obstacle against developing and utilizing womanpower, so it needs to be solved firstly. Secondly, vocational training system should satisfy the demand of business and conduct unemployed women to employment after training. Thirdly, political support is needed to make social service jobs that women of every class can participate in.

• International Journal of Aeronautical and Space Sciences
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• 제18권4호
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• pp.767-779
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• 2017

Automated mission planning for unmanned aerial vehicles (UAVs) is difficult because of the propagation of several sources of error into the solution, as for any large scale autonomous system. To ensure reliable system performance, we quantify all sources of error and their propagation through a mission planner for operation of UAVs in an obstacle rich environment we developed in prior work. In this sequel to that work, we show that the mission planner developed before can be made robust to errors arising from the mapping, sensing, actuation, and environmental disturbances through creating systematic buffers around obstacles using the calculations of uncertainty propagation. This robustness makes the mission planner truly autonomous and scalable to many UAVs without human intervention. We illustrate with simulation results for trajectory generation of multiple UAVs in a surveillance problem in an urban environment while optimizing for either maximal flight time or minimal fuel consumption. Our solution methods are suitable for any well-mapped region, and the final collision free paths are obtained through offline sub-optimal solution of an mTSP (multiple traveling salesman problem).

• 한국레이저가공학회지
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• 제5권3호
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• pp.15-20
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• 2002

The principal obstacle to selection of a laser processing method in production is its relatively high equipment cost and the natural unwillingness of production supervision to try something new until it is thoroughly proven. The major objective of this work is focused on the combined features of gas tungsten arc and a low-power cold laser beam. In this work, the laser beam from a 7 watts carbon monoxide laser was combined with electrical discharges from a short-pulsed capacitive discharge GTA welding power supply. When the low power CO laser beam passes through a special composition shielding gas, the CO molecules in the gas absorbs the radiation, and ionizes through a process blown as non-equilibrium, vibration-vibration pumping. The resulting laser-induced plasma(LIP) was positioned between various configurations of electrodes. The high-voltage impulse applied to the electrodes forced rapid electrical breakdown between the electrodes. Electrical discharges between tungsten electrodes and aluminum sheet specimens followed the ionized path provided by LIP. The result was well-focused melted spots.

• 한국산업보건학회지
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• 제27권2호
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• pp.87-96
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• 2017

Objectives: Improvement of the reliability of work environment measurement results is one of the principal subjects to be resolved in the field of industrial hygiene. Thus, this study was conducted in order to review domestic programs for enhancing the reliability of work environment measurement results and propose a more efficient management plan for workplace monitoring. Materials and Methods: The current domestic programs reviewed in this study are the quality control system and evaluation system for industrial hygiene laboratories, the reliability system accompanied by KOSHA (the Korea Occupational Safety and Health Agency), the system of permissible exposure limits and observed inspection system for permissible exposure limits. Their contents and data were analyzed by reviewing articles, reports, and guidelines related to reliability improvement for work environment measurement results. Results: As a result of the literature review, all the domestic programs investigated in this study had both merits and demerits in terms of considering the reliability of work environment measurement results. In particular, the fact that preliminary notification is provided to the head of a workplace before implementation would be an obstacle for elevating the reliability of work environment measurement results. Conclusions: Based on the review results obtained from this study, it is proposed that on-site measurement without preliminary notification should be considered for a more efficient inspection system that would enhance the reliability of workplace monitoring.

• 국제학술발표논문집
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• The 1th International Conference on Construction Engineering and Project Management
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• pp.527-532
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• 2005

The construction industries are facing problems of productivity, quality of work, safety, and the completion of projects in time. In construction industry a worker is exposed to hazardous environment, and has to do more physical work, effecting his health and also productivity. The automation and robotics can offer solution to many problems of the industry. In the past the major barrier to construction automation is the lack of electronic components and systems. This is solved now with the development of information technology, and the current obstacle is the high cost of automated systems, shortage of public money for R&D, and problems of acceptance. The robots employed in construction have followed the same concept as those employed in manufacturing. However, construction industry requires a different kind of robot compared to manufacturing Industry. The robots are stationery and product moves along the assembly line in manufacturing sector, but construction robots have to move about the site because buildings are stationary and of large size. The construction robots must function in adverse weather conditions, including variation in humidity, and temperature and increase the overall construction productivity rate. The major objective of the paper is to review the existing applications of building robots and to assess their implementation in building industry. A case study is considered for the implementation of robots for the painting work of the University Building at Saifabad PG College of Science, Hyderabad, India.

• 한국지능시스템학회논문지
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• 제22권2호
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• pp.218-224
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• 2012

최근에는, 초소형 AUV(Autonomous Underwater Vehicle)의 개발에 대한 요구가 증가하고 있으므로 그 요소 기술의 확보가 시급하다. 요소 기술의 하나로서 국부경로제어의 기존 연구에서는 주로 전방감시소나(Forward Looking Sonar : FLS)의 정보를 활용하고 있는데, FLS의 크기는 초소형 AUV에 적합하지 않으므로 장애물회피소나(Obstacle Avoidance Sonar : OAS)를 이용하는 것이 바람직하다. 요약하면, 초소형 AUV를 위한 OAS 기반의 국부경로제어 시스템은 다음과 같은 문제점들을 가지고 있다. 즉, OAS는 낮은 방위(bearing) 분해능 및 지역적인 거리(range) 정보를 제공하며, 임무시간을 증대하기 위해서 에너지 소비가 적은 시스템을 필요로 한다. 나아가, 구조 및 파라메터 관점에서 용이한 설계 절차를 요구한다. 이 문제를 해결하기 위해서 OAS 빔 모델링을 기반으로 진화 전략(Evolution Strategy : ES) 및 퍼지논리 제어기(Fuzzy Logic Controller : FLC)를 이용하는 지능형 국부경로제어 기법이 제안되었다. 제안된 기법의 성능을 검증하고 특성을 분석하기 위해서 수중비행체(Underwater Flight Vehicle : UFV)의 수평면 침로(course) 제어가 수행되었다. 시뮬레이션 결과는 제안된 기법에 있어서 실제 적용의 가능성과 추가 연구의 필요성을 보여준다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제15권4호
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• pp.305-314
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• 2015

The work presented in this paper deals with a navigation problem for multiple mobile robot system in unknown indoor environments. The environment is completely unknown for all the robots and the surrounding information should be detected by the proximity sensors installed on the robots' bodies. In order to guide all the robots to move along collision-free paths and reach the goal positions, a navigation method based on the combination of a set of primary strategies has been developed. The indoor environments usually contain convex and concave obstacles. In this work, a danger judgment strategy in accordance with the sensors' data is used for avoiding small convex obstacles or moving objects which include both dynamic obstacles and other robots. For big convex obstacles or concave ones, a wall following strategy is designed for dealing with these special situations. In this paper, a state memorizing strategy is also proposed for the "infinite repetition" or "dead cycle" situations. Finally, when there is no collision risk, the robots will be guided towards the targets according to a target positioning strategy. Most of these strategies are achieved by the means of fuzzy logic controllers and uniformly applied for every robot. The simulation experiments verified that the proposed method has a positive effectiveness for the navigation problem.

• 드라이브 ㆍ 컨트롤
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• 제15권4호
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• pp.81-90
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• 2018

Indoor construction site such as building demolition sites, tunnel, vinyl house, and cattle shed are subject to various risk factors such as falling stones, soot and bad odors. However, most of the mini excavators have no cabin that can protect the driver from such risk factors. Therefore, researches on remote control technology of construction equipment are actively conducted as a method for protecting the driver from the risk factors occurring in the working environment. For effective remote control, it is necessary to be able to control the travelling and work using a portable small transmitter. However, due to the limitation of the size of the transmitter, complex operation control is required to control two or more actuators with a single joystick. Also, it is essential to check how remote control characteristics change in various environments such as distance, signal strength, obstacle. Therefore, in this study, an algorithm that can control two actuators simultaneously with a single joystick signal was developed, and a communication method suitable for indoor and outdoor mini construction equipment by analyzing experimentally how the remote control characteristics vary according to various work environments and telecommunication methods proposed.