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In-pipe Robot Based on Selective Drive Mechanism
노세곤,김도완,이정섭,문형필,최혁렬 제어·로봇·시스템학회 2009 International Journal of Control, Automation, and Vol.7 No.1
This paper presents an in-pipe robot, called MRINSPECT V (Multifunctional Robotic crawler for In-pipe inSPECTion V), which is under development for the inspection of pipelines with a nominal 8-inch inside diameter. To travel freely in every pipeline element, the robot adopts a differential driving mechanism that we have developed. Furthermore, by introducing clutches in transmitting driving power to the wheels, MRINSPECT V is able to select the suitable driving method according to the shape of the pipeline and save the energy to drive in pipelines. In this paper, the critical points in the design and construction of the proposed robot are described with the preliminary results that yield good mobility and increased efficiency.
노세곤,오기용,최혁렬 제어로봇시스템학회 2004 제어로봇시스템학회지 Vol.10 No.4
배관(pipeline)은 가스나 기름과 같은 많은 양의 유체를 빠르고 안전하게 수송하는 수단으로 현대 산업에서 필수적인 요소이다. 석유화학공장, 발전소 등과 같은 시설의 배관에서부터 우리의 생활과 밀접하게 관계되어 있는 가스관, 냉난방용 배관, 상하수도관까지 널리 설치, 운영되고 있다. 이러한 배관은 시간이 지남에 따라 노화, 부식으로 인한 결함이나 공사 등으로 인해 손상이 야기되고, 결국 배관의 안전성에 많은 문제점이 발생하게 되어 대형사고의 주요한 원인이 되고 있다. (중략)
지하 매설 가스배관용 차동 구동형 배관검사 로봇의 개발
노세곤,류성무,최혁렬,No, Se-Gon,Ryu, Seong-Mu,Choe, Hyeok-Ryeol 대한기계학회 2001 大韓機械學會論文集A Vol.25 No.12
Up to now a wide variety of researches on inpipe inspection robots have been introduced, but it still seems to be difficult to construct a robot providing mobility sufficient to navigate inside the complicated configuration of underground pipelines. This paper introduces a robot called MRINSPECT IV(Multifunctional Robotic Crawler for inpipe inSPECTion IV) for the inspection of urban gas pipelines with a nominal 4-inch inside diameter. The proposed robot can freely move along the basic configuration of pipelines such as along horizontal or vertical pipelines. Moreover it can travel along reducers, elbows, and steer in the branches by modulating the speeds of driving modules. Especially, its capability for steering in tile three-dimensional pipeline configuration has a competative edge over the other ones and provides excellent mobility in navigation. Its critical points in the design and construction are introduced and results of experiments are given.
노세곤,최혁렬 한국비파괴검사학회 2002 한국비파괴검사학회지 Vol.22 No.3
현재까지 검사를 목적으로 하는 배관 검사용 로봇에 관한 많은 연구가 소개되어 왔다. 그러나 지하매설 배관의 복잡한 배관 요소 내에서 주행 할 수 있는 충분한 이동성을 갖추고 있는 로봇을 개발한다는 것은 여전히 어려운 것처럼 보인다. 배관 검사에 사용하기 위한 로봇은 수평관 및 수직관과 같은 기본적인 배관요소 내에서 자유롭게 주행해야 한다. 더불어 축소관이나 곡관에서 주행 할 수 있고 특히 분기관에서 조항 능력은 필수적이다. 본 논문에서는 배관 검사 로봇의 개발에 있어 필수적인 요소와 기술이 소개되며 지난 수년간 연구를 통하여 개발한 배관검사 로봇이 소개된다. Up to now a wide variety of researches on inpipe robots for inspection have been introduced, but it still seems to be difficult to construct a robot providing mobility sufficient to navigate inside the complicated configuration of underground pipelines. The robot for the inspection of pipelines should freely move along the basic configuration of pipelines such as along horizontal or vertical pipeline. Moreover it should be able to travel along reducers and elbows. and especially the capability for steering in branches is essential to it. In this report, critical pointss and technologies in the development of the inpipe inspection robots are introduced and inpipe robots developed for last several years are introduced.
백상훈,류성무,노세곤,최혁렬,Baek, Sang-Hun,Ryu, Seong-Mu,No, Se-Gon,Choe, Hyeok-Ryeol 대한기계학회 2001 大韓機械學會論文集A Vol.25 No.12
Recently, various inpipe inspection robots are developed and its effective values are increased in industrial use. However, it is so difficult to make a inpipe inspection robot system which has flexible mobility and accuracy of inspection in pipelines. Especially, it is very important to know the exact crack position. In this paper, we are to present a lately developed inpipe inspection robot system which can resolve the above Problems. The robot is configured as an articulated structure like a snake. Two active driving vehicles are located in front and rear of the inspection robot respectively and passive modules such as a nondestructive testing module and a control module are chained between the active vehicles. Special feature of the robot system is a ground interface, which is able to show informations of robot and pipelines. By using this, so called virtual map in this paper, user is able to know the pipelines'feature and crack position.
이동혁,문형필,노세곤,황달연,유원필,최혁렬 한국로봇학회 2010 로봇학회 논문지 Vol.5 No.1
Recently researches on the window cleaning robot are being conducted actively. Moving mechanisms of 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.