• Journal of Advanced Navigation Technology
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• v.13 no.5
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• pp.705-713
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• 2009

This paper proposes CORBA-based visual servoing system of humanoid robot. To effectively control the humanoid robot which is connected to network, it needs to define necessary services for visual servoing as distribution object, and realize them in the middleware. For realizing it following services should be addressed. Naming service for searching a necessary service with unique name assigned to each object, image service for supplying image obtained from stereo camera. In the experiment, we show the result of balloon tracking and bursting that the robot tracks balloons as target objects in the real time, and if a balloon stop for a certain time, then the robot bursts the balloon.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.756-760
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• 2005

By development of a robot technology, personal robot is being developed very actively. Various infra-technologies are accumulated in hardware and software how by internal a lot of research and development efforts, and it is circumstance that actual commodity is announced. But, personal robot is applied to be acting near human, and takes charge of safety and connected directly a lot of works of home security, gas-leakage, fire-warning facilities, or/and etc. So personal robot must do safe and stable action even if any unexpected accidents are happened, important functions are always operated. In this paper, we are wished to show design structures for supporting fault-tolerant operation from our real-time robot middleware viewpoint. Personal robot, in being developed, was designed by module structure to do to interconnect and to interoperate among each module that is mutually implemented by each research facilities or company. Also, each modules can use appreciate network system that is fit for handling and communicating its data. To guarantee this, we have being developed a real-time network middleware, for especially personal robot. Recent our working is to add and to adjust some functions like connection management, distributed routing mechanism, remote object management, and making platform independent robot application execution environment with self-moving of robot application, for fault-tolerant personal robot.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1304-1308
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• 2005

This paper presents the case that the existing analog control systems were retrofitted with digital DCS(Distributed Control System)s for boiler unit in thermal power plant. Replacement of existing worn-out or obsolete analog control systems has been considered. Replacement of existing analog control systems with another analog control systems has lots of difficulties in maintaining the systems due to being out of stock. Due to those difficulties, existing analog control systems have been retrofitted with digital DCSs in many industrial sites. KEPRI(Korea Electric Power Research Institute) accomplished the project that retrofitted analog control systems with the developed DCSs for boiler unit in middle-scale coal-fired thermal power plant. The benefits of an upgrade to digital control include a increase of reliability due to system redundancy, ease of modifying the control logic and the parameters of function block, ease of maintenance due to available spare parts, improvement of information display, ease of modifying MMI(Man Machine Interface) displays, a increase in system availability, and improvement of control performance. This paper describes how to use the parameters of existing analog controllers, the implementation of digital PID controller, control system configuration for boiler unit in thermal power plant, some boiler control loops, control result during commissioning, and the comparison of boiler characteristic test data after retrofitting with the existing test data.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1781-1786
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• 2005

In sensor network systems, all the nodes are interconnected and the positional information of each sensor is essential. To measure the temperature, position detection and communication functions are required. Many sensor nodes are distributed to a measurement field, and these sensors have three main functions: they measure the distance to the other nodes, the data of which are used to determine the position of each node; they communicate with other nodes; and they measure the temperature of each node. A novel range measurement method using the difference between light and sound propagation speed is proposed. The experimental results show the temperature distribution as measured with the aid of the determined positions. The positions of every node were calculated with a PC program. Eight nodes were manufactured and their fundamental functions were tested. The results of the range measurement method, which takes relatively accurate measurements, contribute significantly to the accuracy of the position determination. Future studies will focus on 3-D position determination and on the architecture of appropriate sensors and actuators.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.9-12
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• 1999

This paper presents the development of a control architecture for the autonomous underwater vehicle (AUV) with VARIVEC (variable vector) propeller. Moreover this paper also describes the new technique of controlling the servomotors using the Field Programmable Gate Array (FPGA). The AUVs are being currently used fur various work assignments. For the daily measuring task, conventional AUV are too large and too heavy. A small AUV will be necessary for efficient exploration and investigation of a wide range of a sea. AUVs are in the phase of research and development at present and there are still many problems to be solved such as power resources and underwater data transmission. Further, another important task is to make them smaller and lighter for excellent maneuverability and low power. Our goal is to develop a compact and light AUV having the intelligent capabilities. We employed the VARIVEC propeller system utilizing the radio control helicopter elements, which are swash plate and DC servomotors. The VARIVEC propeller can generate six components including thrust, lateral force and moment by changing periodically the blade angle of the propeller during one revolution. It is possible to reduce the number of propellers, mechanism and hence power sources. Our control tests were carried out in an anechoic tank which suppress the reflecting effects of the wall surface. We tested the developed AUV with required performance. Experimental results indicate the effectiveness of our approach. Control of VARIVEC propeller was realized without any difficulty.

• Smart Structures and Systems
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• v.1 no.4
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• pp.325-338
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• 2005

Utilizing robotic based reconfigurable nodal structural health monitoring systems has many advantages over static or human positioned sensor systems. However, creating a robot capable of traversing a variety of civil infrastructures is a difficult task, as these structures each have unique features and characteristics posing a variety of challenges to the robot design. This paper outlines the design and implementation of a novel robotic platform for deployment on ferromagnetic structures as an enabling structural health monitoring technology. The key feature of this design is the utilization of an attachment device which is an advancement of the common magnetic base found in the machine tool industry. By mechanizing this switchable magnetic circuit and redesigning it for light weight and compactness, it becomes an extremely efficient and robust means of attachment for use in various robotic and structural health monitoring applications. The ability to engage and disengage the magnet as needed, the very low power required to do so, the variety of applicable geometric configurations, and the ability to hold indefinitely once engaged make this device ideally suited for numerous robotic and distributed sensor network applications. Presented here are examples of the mechanized variable force magnets, as well as a prototype robot which has been successfully deployed on a large construction site. Also presented are other applications and future directions of this technology.

• International conference on construction engineering and project management
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• 2022.06a
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• pp.492-499
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• 2022

A large number of employees shifted to Work from home (WFH) due to the COVID-19 pandemic, including the construction workforce. The changes in workload and productivity due to WFH impact the work performance and economic outputs of companies. However, there are mixed results about the impacts of WFH on workload and productivity. In particular, limited studies focused on specific types of work of different occupations in the construction workforce. This study aims to explore the impacts of WFH on workload and productivity considering different types of work for the construction workforce in the U.S. After identifying three main occupations and five types of work, an online survey (N = 69) was distributed. Descriptive analysis showed that participants had less workload (0.82 hours/week) and lower productivity (9.69%) during WFH. Three occupations had varied changes due to the different types of work. Analysis of Variance (ANOVA) indicated that there was no significant difference in workload, while productivity was decreased during WFH. In particular, the productivity of project-related work and communication and documentation decreased significantly. Overall, participants finished 2.85% less workload per week during WFH. The findings provide an insight into WFH in the construction workforce, which improves future remote or hybrid work arrangements in the construction industry.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.1
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• pp.11-17
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• 2013

'Multi-scale mass-deployable cooperative robots' is a next generation robotics paradigm where a large number of robots that vary in size cooperate in a hierarchical fashion to collect information in various environments. While this paradigm can exhibit the effective solution for exploration of the wide area consisting of various types of terrain, its technical maturity is still in its infant state and many technical hurdles should be resolved to realize this paradigm. In this paper, we propose to develop new design and manufacturing methodologies for the multi-scale mass-deployable cooperative robots. In doing so, we present various fundamental technologies in four different research fields. (1) Adaptable design methods consist of compliant mechanisms and hierarchical structures which provide robots with a unified way to overcome various and irregular terrains. (2) Soft composite materials realize the compliancy in these structures. (3) Multi-scale integrative manufacturing techniques are convergence of traditional methods for producing various sized robots assembled by such materials. Finally, (4) the control and communication techniques for the massive swarm robot systems enable multiple functionally simple robots to accomplish the complex job by effective job distribution.

• Journal of Positioning, Navigation, and Timing
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• v.1 no.1
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• pp.35-43
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• 2012

The UGV is one of the special field robot developed for mine detection, surveillance and transportation. To achieve successfully the missions of the UGV, the accurate and reliable navigation data should be provided. This paper presents design and implementation of multi-sensor-based open architecture integrated navigation for localization of UGV. The presented architecture hierarchically classifies the integrated system into four layers and data communications between layers are based on the distributed object oriented middleware. The navigation manager determines the navigation mode with the QoS information of each navigation sensor and the integrated filter performs the navigation mode-based data fusion in the filtering process. Also, all navigation variables including the filter parameters and QoS of navigation data can be modified in GUI and consequently, the user can operate the integrated navigation system more usefully. The conventional GPS/INS integrated system does not guarantee the long-term reliability of localization when GPS solution is not available by signal blockage and intentional jamming in outdoor environment. The presented integration algorithm, however, based on the adaptive federated filter structure with FDI algorithm can integrate effectively the output of multi-sensor such as 3D LADAR, vision, odometer, magnetic compass and zero velocity to enhance the accuracy of localization result in the case that GPS is unavailable. The field test was carried out with the UGV and the test results show that the presented integrated navigation system can provide more robust and accurate localization performance than the conventional GPS/INS integrated system in outdoor environments.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1516-1519
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• 1997

With disseminationof Distributed Control Systems(DCS), the huge amounts of process operation data could have been available and led to figure out process behaviors better on the statistical basis. Until now, the statistical modeling technology has been susally applied to process monitoring and fault diagnosis. however, it has been also thought that these process information, extracted from statistical analysis, might serve a great opportunity for process operation improvements and process improvements. This paper proposed a general methodolgy for process operation improvements including data analysis, backing up the result of analysis based on the methodology, and the mapping physical physical phenomena to the Principal Components(PC) which is the most distinguished feature in the methodology form traditional statistical analyses. The application of the proposed methodology to the Balst Furnace(BF) process has been presented for details. The BF process is one of the complicated processes, due to the highly nonlinear and correlated behaviors, and so the analysis for the process based on the mathematical modeling has been very difficult. So the statisitical analysis has come forward as a alternative way for the useful analysis. Using the proposed methodology, we could interpret the complicated process, the BF, better than any other mathematical methods and find the direction for process operation improvement. The direction of process operationimprovement, in the BF case, is to increase the fludization and the permeability, while decreasing the effect of tapping operation. These guide directions, with those physical meanings, could save fuel cost and process operator's pressure for proper actions, the better set point changes, in addition to the assistance with the better knowledge of the process. Open to set point change, the BF has a variety of steady state modes. In usual almost chemical processes are under the same situation with the BF in the point of multimode steady states. The proposed methodology focused on the application to the multimode steady state process such as the BF, consequently can be applied to any chemical processes set point changing whether operator intervened or not.