• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.243-251
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• 2012

In this paper, developing of a pool cleaning robot is addressed. First, we analyze commercial pool cleaning robot mechanisms, and the merits and demerits of wireless version of a pool cleaning robot is introduced. And then the water-jet moving mechanism for a pool cleaning robot is proposed to improve energy efficiency and mechanical design advantage, which is one of the strong candidates for wireless pool cleaning robots. Next, the method of cleaning performance evaluation of pool cleaning robots is firstly defined with five key factors, and it was verified by experimental results. If the cleaning performance can be quantitatively defined, we can design optimally a pool cleaning robot, which results in the cost down.

• Journal of Korea Society of Digital Industry and Information Management
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• v.5 no.3
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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.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.65-77
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• 2017

In this paper, we introduce the pipe cleaning robot developed to clean the gas impurities of the iron manufacturing equipments. The pipe cleaning robot is composed of two driving modules and one cleaning module. 2-DOF joint units were developed for connections among the modules. To maximize the traction power of the driving parts, it became caterpillar type. The extension links have been developed to maintain the traction force in case the pipe inner diameters change. Three cleaning modules were developed for the effective cleaning in the pipe. The driving and cleaning performance tests of the pipe cleaning robot were proceeded in the field of the iron manufacturing equipments.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.153-155
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• 2009

Cleaning robot system consists of four parts; navigation system for moving of robot, cleaning system, power system, and main system with cleaning algorithm. Navigation system is the most expensive part because it has motors and sensors which is high price. Navigation system is also essential to service robot system, but user should buy two systems which are service robot system and cleaning robot system. If it is possible to share navigation system, user can save money. In this paper, we design the cleaning robot system based on modular architecture.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2013.05a
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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.

• The Journal of Korea Robotics Society
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• v.5 no.1
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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.

• Korean Journal of Computational Design and Engineering
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• v.20 no.3
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• pp.291-297
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• 2015

A water jet cleaning robot system for micro drill bits is to refurbish micro drill bits used for the PCB manufacturing process. It can refurbish drill bits with the minimum diameter of ${\phi}0.15{\sim}0.075mm$ of which the total quantity have been discarded before. Micro drill bits with the minimum diameter of ${\phi}0.075mm$ can be cleaned by applying the water jet cleaning robot system out of the manual ultrasonic cleaning in the past for the cleaning equipment as the initial process in refurbishing. This study analyzed problems, while applying the apparatus mechanism for the workability such as the robot traces of Transfer Robot I and II, drill bit loading and unloading, and cleaning tasks in the water jet cleaning robot system in an effort to carry out simulations. In addition, the cleaning work process was optimized as the work process was verified in advance and the production quantity was analyzed through simulations.

• Journal of the Korea Society of Computer and Information
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• v.14 no.11
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• pp.31-40
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• 2009

The most common cleaning methods of cleaning robot can be divided into two categories: the random and the boustrophedon method. A cleaning robot using the random method moves straight until it bumps into an obstacle. If it collides with an obstacle, the cleaning robot turns a specific angle and continues moving straight. Therefore, the random method often tends to clean the already clean area repeatedly. In addition, it takes a long time to complete cleaning. A cleaning robot using the boustrophedon method moves straight until it collides with an obstacle. If it meets an obstacle, the cleaning robot moves to the next uncleaned space through turning and moving ahead. when resuming cleaning from the new region, a cleaning robot moves in the direction opposite to the direction of the previous cleaning. Because the boustrophedon method cleans a cleaning space more densely, its performance is excellent in an obstacle-free space or a small space. However, In a space with obstacles or a complex structure, it takes a long time to complete the cleaning work. Cleaning should be systematically approached with a good understanding of the work area. The virtual map-based cleaning robot proposed in this paper cleaned a work space efficiently. The efficiency of the proposed method was measured through simulation.

• International Journal of Naval Architecture and Ocean Engineering
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• v.4 no.4
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• pp.335-352
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• 2012

An underwater hull cleaning robot can be a desirable choice for the cleaning of large ships. It can make the cleaning process safe and economical. This paper presents a hydrodynamic design of an underwater cleaning robot and its evaluation for an underwater ship hull cleaning robot. The hydrodynamic design process of the robot body is described in detail. Optimal body design process with compromises among conflicting design requirements is given. Experimental results on the hydrodynamic performance of the robot are given.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.849-854
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• 2003

The Korea Atomic Energy Research Institute has developed a teleoperated cleaning robot for use in the radioactive zone of the isolation room of the Irradiated Material Examination Facility where direct human access to the interior is strictly limited. The teleoperated cleaning robot that was designed to completely eliminate human interaction with the hazardous radioactive contaminants has five remotely replaceable submodules - a mobile module for navigation, a cleaning module for dislodging and sucking contaminated waste, a sensing module for obstacle avoidance, a collection module for storing the acquired waste, and a cover module for protecting the collection module. This cleaning robot is capable of cleaning the contaminated floor surface of the isolation room and collecting loose dry spent nuclear fuel debris and other radioactive waste fixed or scattered on the floor surface. The developed cleaning robot is operated either by a manual control or by autonomous control in conjunction with a graphical simulator, by which the human operator can monitor and intervene the robot performing cleanup tasks in the isolation room. In this paper, we present the mechanical and environmental design considerations and development of the teleoperated cleaning robot for radioactive isolation room use. We also demonstrate its mock-up performance test results from the viewpoint of a remote cleanup operation and remote maintenance.