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빌트인형 BMR 시스템의 이동 중 충격완화를 위한 모션제어
이승훈(Seunghoon Lee),강민성(Min-Sung Kang),강성필(Sungpil Kang),황순웅(Soonwoong Hwang),김영수(YoungSoo Kim),문성민(Sung-Min Moon),홍대희(Daehie Hong),한창수(Chang-Soo Han) Korean Society for Precision Engineering 2013 한국정밀공학회지 Vol.30 No.4
Maintenance works for current high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. Herein, this paper proposes robotic building maintenance system using motion control, in specific, reducing a system jerk which is directly subjected to improve the process performance and economic feasibility. The sensor for detecting straight and curvature section of the building facade, moreover rail-joint segment can be detected and be utilized for reducing jerk of the system. Analysis of the proposed system error caused by excessive vibration, e.g. jerk motion is introduced. To enhance the stability and safety of the system, herein, the strategy is proposed for enhancing the performance of the system based on anti-jerk motion control algorithm which comes out increasing the stability and sustainability of the integrated system, as well.
문성민(Sung-Min Moon),허재명(Jaemyung Huh),이승훈(Seunghoon Lee),강성필(Sungpil Kang),한창수(Chang-Soo Han),홍대희(Daehie Hong) Korean Society for Precision Engineering 2013 한국정밀공학회지 Vol.30 No.4
With recent growth of the economy and development of construction technology, the increase of high-rise buildings is appearing rapidly in urban areas. For this reason, the interest in building maintenance has also been increasing. However, it has many safety problems because it is difficult for the workers to access the exterior wall of building. Therefore, the maintenance system of high-rise building stands out as being important issues to be developed, so that a variety of robot systems have been developed to accomplish the building-wall maintenance works. In this paper, the maintenance robots are classified in painting, inspecting, cleaning systems according to the maintenance works. Then, their locomotion and adhesion mechanisms are analyzed including their applicability to the real maintenance works. This study can be used to develop maintenance robotic system that is more efficient and stable than existing ones.
Built-in Guide형 빌딩 외벽 청소 로봇의 수평 플랫폼 localization 알고리즘에 관한 연구
천보일(Boill Chun),이승훈(Seunghoon Lee),강민성(Min-Sung Kang),신동수(Shin dongsu),강성필(Kang sungpil),한창수(Changsoo Han) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.11
High rise building that is defined as higher than 50th floors or 200 meters building tends to be increased gradually due to increasing citizen in downtown and demanding. But, expensive cost of construction and difficulty of maintenance is caused by growing high-rise buildings and large-scale buildings. In specific, maintenance works for high-rise buildings, significantly depend on human labor, unlike other construction processes that are gradually being automated. Thus, economical and social lose because of unsecured high-quality manpower and safety accident is pretty huge. This study proposes the built-in-guide type robotic building maintenance system using additional module such as guidance mullion to the facade. In addition, To enhance the safety and efficiency of the system, herein, the strategy is proposed for localization algorithm to the position control of the robot.