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탈부착 타입 굴삭기 원격조작 키트와 5G기반 저지연 영상전송 모듈을 이용한 장거리용 지뢰 제거 시스템에 관한 연구
길명수(Myeongsu Gil),장성훈(Sunghoon Jang),박진철(Jincheol Park),현덕수(Ducksoo Hyun),이종성(Jongsung Lee),유보현(Bo-Hyun Ryu),정상혁(Jeong Sang Hyeok),이원승(Won Seung Lee),한창수(Chang-Soo Han) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
As the idea of making the DMZ a peace zone has been implemented by the Panmunjeom Declaration of Apr. 27, the South-North Korea Military Talks of June 14, and each working meeting, discussions about the landmine removal work have been resumed. It is estimated that the mines on the Korean peninsula have about 1.27 million piles in the South DMZ and about 800,000 piles in the DMZ in the North MDL. Due to floods, typhoons and landslides, it is also distributed to civilian residential areas. These mines resulted in about 66 explosion from 2001 to 2016, and 89 casualties were caused by these accidents. Therefore, the mine removal system developed in Korea such as ROBHAZ, 4-legged Robot Mine Detector, and HUMIR, as well as imported equipment such as Rhiono, MK-4, Mine-Breaker, and bullet-proof excavator and dozer were put into mine removal work. However, it was judged to by unsuitable for carrying out forest and mountain terrestrial DMZ. In this paper, we propose a mid/long distance mine removal system using a detachable excavator remote control kit and a 5G-based low latency image transmission module. The proposed mine removal system can be applied to various types of excavators and it can be expected to improve the operation efficiency through real-time image transmission.
탈부착 타입 굴삭기 원격조작 키트와 5G 기반 저지연 영상전송 모듈을 이용한 장거리용 지뢰 제거 시스템에 관한 연구
길명수(Myeongsu Gil),장성훈(Sunghoon Jang),박진철(Jincheol Park),김형준(Hyung Jun Kim),현효원(Hyowon Hyun),유보현(Bo-Hyun Ryu),정상혁(Sang Hyeok Jeong),문현기(Hyungi Moon),선동익(Dong Ik Sun),이상근(Sang Keun Lee),노준규(Joon Kyu No) 대한기계학회 2019 大韓機械學會論文集A Vol.43 No.10
‘4.27 판문점 선언’, ‘6.14 남북장성급군사회담’ 및 각 실무회담까지 비무장지대(DMZ)의 평화지대화 구상이 실제화 됨에 따라 선행 작업으로 지뢰 제거 작업에 대한 논의가 재개되고 있다. 한반도에서 지뢰는 DMZ에 약 200만 발 정도가 매설된 것으로 추정하고 있으며 홍수, 태풍, 산사태 등에 의해 주변의 민간인 주거지역까지 분포되고 있다. 이러한 지뢰에 의해 2001년부터 2016년까지 약 66건의 지뢰사고와 이로 인해 89명의 인명 피해가 발생했다. 이에 국내의 ROBHAZ, 견마로봇, HUMIR 그리고 해외의 Rhino, MK-4, Mine-Breaker 등의 지뢰 제거 시스템이 투입되었으나 산림, 산악 지형 위주의 DMZ 지역전반을 수행하기에 부적합한 것으로 판단되었다. 이에 본 논문에서는 탈부착 타입의 굴삭기 원격조작 키트와 5G 기반 저지연 영상전송 모듈을 적용한 중/장거리용 지뢰 제거 시스템을 제안한다. The proposal to make the demilitarized zone (DMZ) a peace zone has been implemented by the Panmumjeom Declaration of April 27, 2018, during the South-North Korea Military Talks on June 14, 2018. Discussions on landmine removal work have also resumed. It is estimated that the mines have about 2 million piles in the DMZ. Due to floods, typhoons, and landslides, it is also distributed to civilian residential areas. These mines have caused 89 casualties from 2001 to 2016. Therefore, mine-clearing systems such as ROBHAZ, four-legged Robot Mine Detector, Rhiono, MK-4, and Mine-Breaker were put to work. However, these systems are not suitable for the forested and mountainous terrain of the DMZ. In this paper, we propose a mine-clearing system that uses an excavator remote control kit and a 5G-based low-latency image transmission module.
상용 굴삭기를 위한 탈부착 로봇 매니퓰레이터 기반의 무인 굴삭시스템 개발
강민성(Min-Sung Kang),길명수(Myeongsu Gil),이승훈(Seunghoon Lee),한창수(Chang-Soo Han) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
Recently, There is a growing interest in automation and remote control of construction machinery in order to reduce of labor costs and safety accident prevention. In particular, the excavators have been most used in earthmoving work and the research for remote control of excavators are being studied. This paper presents a method of unmanned excavation system based on robot manipulator which is easily mount on excavator levers and pedals. The unmanned excavation system is composed of lever control units, pedal control units and main controller which controls these units. The respective control units are designed to span the workspace of excavator’s levers and pedals. Experiments are implemented to verify the feasibility of the proposed methodology.
빌딩 외벽 청소로봇에 적용 가능한 청결도 판별 센서모듈에 관한 연구
지창욱(Changuk Ji),강민성(Min-Sung Kang),길명수(Myeongsu Gil),하지우(Jiwoo Ha),선동익(Dong-Ik Sun),한창수(Changsoo Han) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
This study proposes the cleanness estimation sensor module for built-in-guide type building façade cleaning robot. The built-in-guide type building façade cleaning robot is divided into a vertical moving module and an horizontal moving module. The cleanness estimation sensor module is attached to the horizontal moving module to estimate the cleanness of building façade. In this study, IR sensors are used for the cleanness estimation. The principle is that window reflects the emitted infrared light from IR transmitter, IR receiver receives the reflected infrared light and it is possible to estimate the cleanness of building facade by measuring the reflected infrared light. To verify this idea, a test bed was built. IR sensors were attached to 1 degrees of freedom motion system moving from side to side. Chalk powder was used to construct contamination environment. Then, the reflected infrared light was measured while IR sensors were moving from side to side. As a result, the more clean sample was used, the lower tendency of measurand was. To apply the cleanness estimation sensor module to the robot, field tests are expected. Also, quantitative index for the cleanness state of building facade should be founded.
이승열(SeungYeol Lee),유석종(SeokJong Yoo),최종호(JongHo Choe),길명수(MyeongSu Gil),이계영(KyeYoung Lee),이상헌(SangHeon Lee),한창수(ChangSoo Han) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11
The objective of the study is to propose a heavy ceiling glass installation robot in hazardous construction site. This system combines a basic system composed of a multi-DOF manipulator and an aerial lifts with an additional module for construction works. According to an additional module type combined with a basic system, it can be used in a various construction fields. In this study, we describe a construction robot which helps a human operator handle easily heavy ceiling glass in case of using the cooperation system on construction site. This study introduces a HRI (Human Robot Interface) as additional module for a HRC (Human-Robot Cooperation) in construction site.