콘크리트 표면 균열 실링을 위한 로봇의 제어 방법에 관한 연구

조철주,임계영,Cho, Cheol-Joo,Lim, Kye-Young 대한토목학회 2015 대한토목학회논문집 Vol.35 No.2

콘크리트 표면에 발생된 균열은 구조물의 수명에 영향을 미치는 주요원인으로 작용하기 때문에 주기적인 검사와 유지관리가 필요하다. 콘크리트 표면 유지관리를 위한 실링작업은 표면에 발생된 균열을 초기에 보수하는 방법으로 시간 경과에 따른 균열의 추가생성 및 확산을 방지하는데 효과적이다. 하지만, 교량 하부의 실링작업은 열악한 작업환경으로 인하여 작업자들의 안전성 확보에 문제가 있다. 이런 이유로, 콘크리트 구조물의 유지관리를 위한 실링자동화의 필요성이 부각되고 있다. 본 논문은 콘크리트 교량 하부에 발생된 균열의 실링작업에 로봇을 적용하기 위한 두 가지 제어방법에 대하여 제안한다. 하나는, 균열의 궤적을 자동으로 추적하는 방법이다. 로봇은 카메라로부터 취득되는 영상정보로 균열의 궤적을 파악하는데, 이전 시점의 궤적 정보를 통하여 다음 이동할 시점의 정보를 유추할 수 있다면, 실시간으로 변동되는 궤적 정보에 대응이 가능하면서 자동으로 균열을 추적할 수 있다. 다른 하나는 접촉면에 일정한 힘을 유지하여 실링하는 방법이다. 장기간 외부 환경에 노출된 거친 표면에서도 로봇이 일정한 접촉력을 유지하며 실링작업을 수행한다면, 균등한 완성도를 유지할 수 있다. 이러한 균일한 힘의 유지를 위하여 임피던스를 이용한 힘 제어 기법을 제안한다. 본 논문에서는 실링 로봇에 적용하기 위하여 개발한 두 가지 제어기법들을 소개하고, 그것을 적용한 Lab Test와 Field Test를 수행한다. 이 시험결과를 토대로 로봇의 현장적용에 대한 의견을 제시한다. Since the crack in the surface of the concrete acts as the main reason influencing the life span of the structure, regular inspections and maintenance are required. The sealing required for maintenance of the concrete surface is a method of repairing the crack in the surface in the beginning, and is effective in preventing additional cracks and expansion that occurs with time. However, sealing on large sized structures such as tall buildings or bottom parts of bridges are difficult to ensure safety of the workers due to inadequate working environments. Due to this reason, the importance of the need for sealing automation for the maintenance of large sized concrete structures is emerging. This study proposes two control methods to apply robot systems to the sealing of cracks on the bottom parts of concrete bridges. First is the method of automatically tracking the trajectory of cracks. The robot gets the trajectory of the cracks using video information obtained from cameras. Comparing the previous several points and new point, the next point can be estimated. Thus, the trajectory of the crack can be tracked automatically. The other method is sealing by maintaining steady force to the contacting surface. The concrete surface exposed to an external environment for a long time gets an irregular roughness. If robots are able to carry out sealing while maintaining a steady contact force on these rough surfaces, complete equal sealing can be maintained. In order to maintain this equal force, a force control method using impedance is proposed. This paper introduces two developed control methods to apply to sealing robots, and conducts a Lab Test and Field Test after applying to a robot. Based on the test results, opinions on the possibilities of field application of the robot applied with the control methods are presented.

The Optimal Profile of Housing Development Programs; A Model of Social Benefits Maximization

조철주(Cheol Joo Cho) 한국지역학회 2003 지역연구 Vol.19 No.1

본 연구는 주택개발에 있어서 사회편익을 극대화시키는 최적의 개발양태를 결정하기 위한 접근 방법을 제시하고 이 방법을 서울시의 경우에 실제 적용하여 보는 것을 목적으로 하고 있다. 본 연구의 사회편익 극대화 접근법은 2단계 주택특성가격방법과 비선형 최적화기볍의 결합으로 구성된다. 본 방법을 이용하여 서울시의 주택개발 상태를 분석한 결과 기존의 주택개발이 산출하는사회편익의 수준은 최적의 개발이 이루어 졌다고 가정했을 때 산출될 수 있는 사회편익에 미치지 못하는 결과를 보여준다. 이는 주택개발과정에서 자원의 배분이 효율적으로 이루지지 못해 왔음을 의미한다. 분석결과는 자원배분의 강조를 상업시설과 문화시설에서 지하철에 대한 접근성의 중대 쪽으로 전환함으로써 사회편익을 향상시킬 수 있음을 보여준다. This paper aims to formulate a modeling framework for evaluating housing developments, with an empirical application on data from Seoul The basic idea of the proposed approach is that the optimal development of housing projects should generate a maximum level of social benefits. The modeling framework has been structured by combining the two-step hedonic housing pricing method with a nonlinear optimization model. Based on the outcomes of the model application, the social benefits that the existing housing development yields are compared with the potential maximum benefits predicted by the optimization model. The results indicate that the profiles of the existing housing development are deviant from an efficient allocation in terms of the loss of social benefits. Then, it is claimed that a proper redistribution of the development attributes would attain a higher level of social benefits.

공공정책의 갈등 해소를 위한 협력적 거버넌스 모형 연구

조철주(Cho Cheol-Joo),장명준(Jang Myungjun) 한국도시행정학회 2011 도시 행정 학보 Vol.24 No.2

There have always been social conflicts in implementing spatial planning and development projects. However, currently we are confronting more complicated and difficult social conflicts. Moreover, these conflicts undergo metamorphosis into new forms of conflicts following by rapid social changes. Therefore, it is unattainable to seek for appropriate conflict resolutions through the method that we take for granted in the past. The major method to deal with social conflict has been the government-oriented method system with the instrumental rationality theory. However, the method cannot reflect multifaceted social changes and needs. Thus this research aims to develop a collaborative governance model as an alternative method for conflict resolutions. In order to construct the collaborative governance model, this study analyzes the theoretical foundation of the collaborative governance with the frame of New-Institutionalism and Communicative Rationality perspectives. Furthermore, this study provides fundamentals of collaborative governance. This will assist to understand the core mechanism of collaborative governance.

PRODUCTION SYSTEM AND REGIONAL POLICY

Cho, Cheol Joo(조철주) 충북연구원 1993 지역정책연구 Vol.4 No.2

Planning Responses to Global Restructuring

Cheol-Joo Cho(趙喆柱) 충북연구원 1994 지역정책연구 Vol.5 No.2

에코폴리스 계획기법에 의한 청주시 환경개선방안 연구

조철주(Cho Cheol Joo),박종호(Park Jong Ho),고병호(Ko Byung Ho),이종호(Yi Jong Ho) 한국지역개발학회 1997 韓國地域開發學會誌 Vol.9 No.2

The object of this study is to suggest some ecopolis planning techniques towards sustainable urban development of Chongju city in Korea. This study analyses urban environmental indicators (population density, land use, road, park, car etc.), level of air and water pollution and solids waste generation by comparing Chongju city and other large cities. Some ecopolis planning techniques towards sustainable development in Chongju city would be summarized and suggested as follows. 1) higher concentrated land use (compact city), mixed land use for the reduction of energy consumption and trip generation, 2) establishment of green corridor between the urban center and suburban area, and greening of building surface, 3) total emission regulation of air and water pollutants, establishment of regional environmental standards and regional effluent regulations, 4) supply of mass transit such as light rail transit and operation of exclusive bicycle road for more bicycle use, 5) composting of biodegradable waste and establishment of collection and disposal system of large size waste, 6) consideration of kinds, location, scale of industry, preparation for international environmental related convention, 7) strengthen of environmental impact assessment the introduction of regional environmental impact assessment and strategic environmental assessment (SEA) into environmental impact assessment, 8) linkage of the ecopolis planning techniques and the Local Agenda 21 of Chongju.

신행정수도 건설이 주변도시의 구조와 부동산시장에 미치는 영향 분석모형

조철주(Cheol-Joo Cho) 한국지역개발학회 2003 韓國地域開發學會誌 Vol.15 No.3

This paper attempts to suggest a modeling approach to impact anaJysis, by which the effects of New Adrrúnistrative City (NAC) on the urban structure and realestate market of the neighboring urban region. The proposed NAC is expeαed to impose substantial impacts on urban densities, prices and rents of real estates, including housing and land, and population of the existing cities in the vicinity of NAC. To estimate the urban impacts, a series of mathematical models have been formulated within the framework of urban econornics and realestate market principles. The anaJysis indicates that the impacts are differentiated depending on the location within the existing city of interest or policy responses on the part of the existing city. The finding implies the unfruitful efforts of the existing city to engage in fierce competition to attract NAC near to or within its jurisdiction. Rather, placing policy emphasis on urban improvements and prouctive innovation may have a larger share of benefits winding up into the city of interest

Economic and Fiscal lmpacts of lndustrial Growth on the Urban Fringe of the Seoul Metropolitan Region

조철주(Cho, Cheol-Joo) 한국지역개발학회 2007 韓國地域開發學會誌 Vol.19 No.4

본 논문은 서울대도시권의 주변지역에서 일어나고 있는 산업성장의 양상과 이에의하여 지방정부의 재정에 미치는 영향을 분석하는데 목적을 두고 있다. 서울대도시권 주변지역을 서울로부터의 거리에 따라 3 개의 지역으로 구분할 때 산업성장의 패턴은 이들지역별로 상이한 양상을 보이고 있음을 분석결과는 보여주고 있다. 한편 주변지역에서의 산업의 확산과 지방정부 재정과의 상호연관성을 규명하기 위한 회귀분석의 결과는 산업개발밀도와 도로시설이 지방재정과 빌접한 관련이 있음을 보여준다, 고밀도 산업개발은 주변부 부분지역별로 다르기는 하지만 대체로 주변부 지방정부의 지방재정 건강성을 강화시키 는 반면 높은 수준의 도로시설 재고는 오히려 지방재정을 위축하는 요인으로 작용한다. 연구결과는 대도시권 주변부의 산업입지와 산엽성장 정책에서 부분지역별로 차별화된 산업개발밀도를 계획적으로 유도하고 정부의 산업개발지원은 중심도시로부터 원거리에 위치한 주변부지역에 우선적으로 투여하는 것이 필요함을 암시한다.

수도권 규제완화 효과의 산업부문별 차이와 지역적 분화

조철주(Cho Cheol Joo) 한국지역개발학회 2015 韓國地域開發學會誌 Vol.27 No.5

As the debates on the effect of development deregulation in the capital region have been contentious and the findings of various studies on the deregulation effects are not shown to be uniform, it is not acceptable to define the deregulation impacts in a unanimous way. In this context, this research aims at assessing the effects of deregulation in the capital region which would be differentiated across three macro-regions--the capital region, the contiguous regions adjacent to the capital region, and the non-contiguous region--and three industrial sectors--the key industrial sector, the knowledge-based manufacturing sector, and the knowledge-based service sector. A multiple linear regression model, which is derived from the framework of knowledge spillovers as provided by endogenous growth theory, is empirically estimated to analyze the regional as well as sectoral differentiation of the deregulation impact. The findings show that a liftover of developmental restrictions in the capital region causes different effects for each of the three macro-regions as per each industrial sector. In the case of the key industrial sector, the deregulation is shown to be beneficial to employment expansion in the capital region, whereas worsening off the remainder macro regions. In contrast, in the cases of both knowledge-based manufacturing and service sectors, no definite effects are distinguished from the deregulation in the capital region. These findings suggest hat it is not justified to argue that the deregulation in the capital region shall deepen regional disparity between the capital region and the remainder regions or it will unilaterally benefit the capital region. This is because the impacts of deregulation seem to be differentiated across the regions and industries.

근대성과 근대계획의 위기에 대응하는 대안적 계획사고의 가능성과 한계

조철주(Cho Cheol-Joo) 한국지역개발학회 2006 韓國地域開發學會誌 Vol.18 No.3

Modem society has been guided with the ability of human reason and scientific technologies derived from the enlightenment ideology. But, unlike the expectations that we have had, the history has proven that the outcomes are very disappointing, as demonstrated by wars, holocaust, poverty, housing, environmental degradation, traffic problems, racial discrimination, gender problem, mass culture and so on. Such antagonistic hash problems with which we have been confronted are in large part caused by modemist planning, in which instrumental rationality is embedded as a guiding principle. Then, instrumental rationality is responsible for the unfolding problems in modem societies. Both postmodemist planning and communicative planning have been suggested as altemative ways to overcome the hardships. However, both of the theoretical prescriptions do not appear to provide adequate planning thoughts. The former is captured in a relativistic trap, whereas the latter far leans toward the idealistic prerequisites, which are not compatible with reality. Then, it is rather concluded that we still wait for the emergence of a more promising theoretical prescription.