• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.517-517
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• 2000

Welding automation is one of the most important manufacturing issues in shipbuilding in order to lower the cost, increase the quality, and avoid the labor problems. Generally the on-line teaching is utilized on the robot that is used in the welding automation system, but it requires much effort and long time to program. Especially, if the system is composed of more than two cooperating robots, it demands much more skill to program the robots' motion. Thus, a convenient programming tool is required for efficient utilization of welding automation system. In this study, a convenient programming tool is developed for welding automation in which gantry-robot system is used. The system is composed of a gantry transporter and two robots mounted on the gantry to cover the wide work range in the ship building application. As a programming tool, an off-line programming software based on PC is developed. By using this software, field operator does not need to concern about coding of task programs for three control units, one is for gantry and two are for robots. The task programs are automatically generated by assembling the program modules in database according to geometrical information of workpiece and welding condition, which become the only concern of field operator, The feasibility of the generated programs can be verified via a motion simulator previously to on-line running.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1518-1523
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• 2003

Automation of roadway sign painting offers more safety for workers, shortening of work period, etc., compared with manual painting. In this study, an automated system using a gantry-type robot was developed for roadway sign painting which has been done manually. Any characters (Korean and English) as well as symbols can be painted by the system. A simulator was also developed, which can show the painted results in advance. The developed system performed well, and the signs painted by the system were found to be as accurate as those made by the simulator.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1999.10a
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• pp.333-344
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• 1999

Currently many studies on the unmanned gantry crane for the automated container terminal are accomplished. This is needed for the development of large scale, automation, high speed, unmanned system and information system in port facility. In order to do efficient container handling job in port yard, the automated handling system is well adapted to the job environments and all-season weather, In order to realize the automatic and unmanned system for container handling job, the required functions and main structure system are studied. The major problems of operation of the conventional gantry crane are that the vibration of gantry structure body is occurred by operation and that high-speed and precision position-velocity control and the capability to dope to the external disturbances caused by the wind, rain, fog and job environments. In this paper, the fundamental study for establishment of the concept and the dynamic modelling of the major sub system of the unmanned gantry crane is presented. These studies are useful for design and manufacturing of the new concept model of the unmanned gantry crane for efficient operation of the automated container terminal.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.18 no.12
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• pp.67-72
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• 2019

In manufacturing sites that process and produce parts in large quantities for the automotive and electronics industries, users require the reducing of costs and shortened delivery times. To meet these demands, an increase in the number of processes and an decrease in assembly times need to be addressed. Gantry loaders currently on the market in Korea are mostly used for processing lightweight and simple shapes and are not suitable for conveying and processing complex shapes such as automobile engines and aircraft parts. This makes it difficult to mount the material in place. This study aims to smoothen the transportation of complex shapes through the development of jigs and various approaches in the installation of the feed shaft by researching the gantry loader system for transporting multiple materials with complex shapes.

• Nuclear Engineering and Technology
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• v.56 no.5
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• pp.1913-1924
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• 2024

This paper presents the design and operation of an autonomous robot for pyroprocess automation, which requires unique approaches beyond those used in industrial applications to achieve the desired performance. Maintaining an extremely dry atmosphere is crucial to handle various materials, including chloride, and an autonomous system ensures this dry environment. The drying room dehumidifier was carefully selected and designed to generate dry air, and different types of dry air conditioning performance were evaluated, including assessing worker accessibility inside the mock-up to determine the system's feasibility. Containers used for process materials were modified to fit the gripper system of the gantry robot for automation. The loading and unloading of process materials in each equipment were automatically performed to connect the process equipment with the robotic system. The gantry robot primarily operated through macro motion to approach waypoints containing process materials, eliminating the need for precise approach motion. The robot's tapered jaw design allowed it to grasp the target object even with imperfect positioning. Robot motions were programmed using a robot simulator for initial positioning and motion planning, and real accuracy was tested in a mock-up facility using the OPC platform.

• Journal of Mechanical Science and Technology
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• v.19 no.6
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• pp.1268-1279
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• 2005

The current method for pavement sign marking operations is labor-intensive and very dangerous due to the exposure of workers to passing traffic. It also requires blocking traffic for a long period of time resulting serious traffic jam. This paper deals with the development of a robotic system for automating the pavement sign painting operations. The robotic system consists of gantry frame equipped with transverse drive rail and automatic paint spray system. The workspace of the gantry robot is extended to one-lane width with the transverse rail system. This research also includes the development of font data structures that contain the shape information of pavement signs, such as Korean letters, English letters and symbols. The robot path is generated with this font data through the procedures of scaling up/down and partitioning the signs to be painted depending on the workspace size.

• Journal of IKEEE
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• v.19 no.1
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• pp.64-72
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• 2015

In this paper, we have developed the gantry automation system via information technology (IT) to improve the productivity of fuel filter manufacturing process. The monitoring system of manufacturing process plays an important role in analyzing the defective products as well as improving the production yield rate. The experimental results of 3 months with 10000 samples validate that the error rate is decreased from 0.65 % to 0.45 %. Also, the defect of raw material is decreased via monitoring of material tools which can notify the time for replacement and accurate insertion of raw materials to the loader. The productivity is increased by reducing the process time from 94.7 sec to 78.8 sec per raw material through comparing the whole manufacturing courses : from inserting of raw material to outcome of product. The process time is decreased by 20.2 % by automation of inserting and outcome course. Moreover, safety of worker as well as reduction of transfer time are highly related with increase of productivity.

• International conference on construction engineering and project management
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• 2022.06a
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• pp.336-343
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• 2022

Industrial robotic arms are widely adopted in numerous industries for manufacturing automation under factory settings, which eliminates the limitations of manual labor and provides significant productivity and quality benefits. The U.S. modular construction industry, despite having similar controlled factory environments, still heavily relies on manual labor. Thus, this study investigates the U.S., Canada, and Europe-based leading modular construction companies and research labs implementing industrial robotic arms for manufacturing automation. The investigation mainly considered the current research scope, industry state, and constraints, as well as identifying the types and specifications of the robotic arms in use. First, the study investigated well-recognized modular building associations, the Modular Building Institute (MBI), and renowned architecture design magazine, Dezeen to gather industry updates. The authors discovered one university lab and a few companies that adopted Switzerland-based robotic arms, ABB. Researching ABB robotics led to the discovery of ABB's competitor, Germany-based KUKA robotic arms. Consequently, research extended to the companies and labs adopting KUKA models. In total, this study has identified seven modular companies and four research labs. All companies employed robotic arms and gantry robot combinations in a production-line-like system for partial automation, and some adopted design standardization for optimization. The common goal among the labs was to achieve greater flexibility and full automation with robotic arms. This study will help companies better implement robotic arm automation by providing recommendations from investigating its current industry status.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.197-205
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• 2000

Productivity of container cranes and gantry cranes is influenced by the performance of crane hardware and cycle time. Cycle time in container handling is influenced by the path of containers and relative positioning of containers. So we have to minimize the sway of containers and spreaders to minimize relative positioning time. And sway minimization is influenced by the skill of workers in manual gantry cranes. In this paper, we will survey some anti-sway systems. Each system has some merits and some shortages. And we will show our choice and its experimental equipment which is under construction.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.18 no.1
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• pp.13-21
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• 2009

Interactive Graphic Robotics Integrated Programming(IGRIP) can handle various types of robot models and can exchange graphic or numerical data easily with other CAD software. In a cutting process of shape-steels, however. IGRIP is inconvenient because the users must generate all the tag points manually. In this study we developed an automation program module in order to generate the tag points automatically in IGRIP This program can read and analyze the macro data containing the information for cutting processes of shape-steels and can generate automatically the parts, the devices, the tag points and the Graphic Simulation Language(GSL) program files useful in IGRIP.