• 국제학술발표논문집
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• The 3th International Conference on Construction Engineering and Project Management
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• pp.250-256
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• 2009

This paper presents a robotic tower-crane system using encoder and gyroscope sensors as path tracking devices. Tower crane work is often associated with falling accidents and industrial disasters. Such problems often incur a loss of time and money for the contractor. For this reason, many studies have been done on an automatic tower crane. As a part of 5-year 23-million-dollar research project in Korea, we are developing a robotic tower crane which aims to improve the safety level and productivity. We selected a luffing tower crane, which is commonly used in urban construction projects today, as a platform for the robotic tower crane system. This system comprises two modules: the automated path planning module and the path tracking module. The automated path planning system uses the 3D Cartesian coordinates. When the robotic tower crane lifts construction material, the algorithm creates a line, which represents a lifting path, in virtual space. This algorithm seeks and generates the best route to lift construction material while avoiding known obstacles from real construction site. The path tracking system detects the location of a lifted material in terms of the 3D coordinate values using various types of sensors including adopts encoder and gyroscope sensors. We are testing various sensors as a candidate for the path tracking device. This specific study focuses on how to employ encoder and gyroscope sensors in the robotic crane These sensors measure a movement and rotary motion of the robotic tower crane. Finally, the movement of the robotic tower crane is displayed in a virtual space that synthesizes the data from two modules: the automatically planned path and the tracked paths. We are currently field-testing the feasibility of the proposed system using an actual tower crane. In the next step, the robotic tower crane will be applied to actual construction sites with a following analysis of the crane's productivity in order to ascertain its economic efficiency.

• 한국항공우주학회지
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• 제32권1호
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• pp.83-89
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• 2004

• 한국광학회:학술대회논문집
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• 한국광학회 2006년도 하계학술발표회 논문집
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• pp.317-318
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• 2006

• Journal of Electrical Engineering and Technology
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• 제11권5호
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• pp.1475-1485
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• 2016

• 한국항해학회지
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• 제19권1호
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• pp.71-83
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• 1995

Various types of optical gyroscopes have been proposed and researched to the present in the world. This paper provides an overview of the types of optical gyroscopes, and also introduces technical principles, characteristics, advantages and disadvantages for each type. Moreover, the critical problems in a design have been discussed.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2013년도 추계학술대회 논문집
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• pp.611-612
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• 2013

• 한국광학회:학술대회논문집
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• 한국광학회 1988년도 광학 및 양자전자학 워크샵
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• pp.104-104
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• 1988

Single-mode 광섬유를 이용한 Sersor 및 그와 관련된 광섬유 device 의 작동원리 및 연구동향에 대하여 논의하였다. 논의된 광섬유 sersor 로는 intensity type sersor, fiber gyroscope, sensor array 등이 포함되어 있고, 관련 부품으로는 directional coupler, acousto-optic, fiber-optic amplifier 등이 설명되었다.

• 로봇학회논문지
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• 제6권4호
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• pp.334-343
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• 2011

This paper presents a new approach for mobile robot heading detection using MEMS Gyro north finding method in the indoor environment. Based on this, the robot heading angle measurement scheme is proposed; improved north finding theory and algorithm are also explained. Several approaches are applied to confirm system's precision and effectiveness. In order to find out the heading angle, a single axis MEMS gyroscope to sense the angle between the robot heading direction and the north is used. To reach enough estimation accuracy and reduce detection time, the least square method (LSM) for the signal fitting and parameter estimation is applied. Through a turn-table, we setup a carouseling system to decrease the substantial bias effect on gyroscope's heading angle. For the evaluation of the proposed method, this system is implemented to the Pioneer robot platform. The performance and heading error are analyzed after the test. From the simulation and experimental results, system's accuracy, usefulness and adaptability are shown.

• 한국광학회지
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• 제14권4호
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• pp.460-465
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• 2003

Double-pass forward(DPF) 방식으로 구성되고 0.98 $\mu$m 파장 대역으로 펌핑된 자이로스코프용 erbium 첨가 광섬유(EDF) 광원의 출력광 특성을 수치계산을 이용하여 분석하였다. EDF길이, 펌프 power, 그리고 펌프 파장 등의 변화에 따른 출력광 power, 파장선폭, 중심파장 안정성 둥을 분석하였으며 일부 특성에 대하여 실험결과와 비교ㆍ검증하였다. 그 결과, DPF 방식의 EDF 광원에서 광원의 특성이 EDF 길이에 크게 의존함을 알 수 있었으며 펌프 power와 펌프 파장의 변화에 대해서 안정된 중심파장을 얻을 수 있는 최적 동작조건도 존재함을 알 수 있었다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.616-619
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• 2003

In this paper, we develop an input device equipped with accelerometers and gyroscopes. The installed sensors measure the inertial measurements i.e., accelerations and angular rates produced by the movement of the system when a user is writing on the plane surface or in the three dimensional space. The gyroscope measurement are integrated once to give the attitude of the system and consequently used to remove the gravity included in the acceleration measurements. The compensated accelerations bin doubly integrated to yield the position of the system. Due to the integration processes involved in recovering the users'motions, the accuracy of the position estimation significantly deteriorates with time. Among various error sources of the system incorrect estimation of attitude causes the largest portion of the positioning error since the gravity is not fully cancelled. In order to solve this problem, we propose a Kalman filler-based attitude estimation algorithm which fuses measurement data from accelerometers and gyroscopes by fuzzy logic approach. In addition, the online calibration of the gyroscope biases are performed in parallel with the attitude estimation to give more accurate attitude estimation. The effectiveness and the feasibility of the presented system is demonstrated through computer simulations and actual experiments.