엘리베이터 권상력 원격 측정 및 모니터링에 대한 연구

김윤겸,한관희 국제차세대융합기술학회 2021 차세대융합기술학회논문지 Vol.5 No.2

본 논문은 엘리베이터의 와이어로프와 도르래의 마찰에 의한 권상력을 무부하 상태에서 측정할 수 있는 방법 및 원격에서 모니터링이 가능한 측정 장비 개발에 대한 연구이다. 와이어로프와 도르래의 마찰에 의한 권상 력에 의하여 구동되는 현대의 고속 대용량 엘리베이터는 와이어로프와 도르래의 마모, 윤활 조건 등의 변화로 인 하여 마찰 계수가 감소할 수 있으며 마찰 계수의 감소는 권상력의 감소를 초래하여 카가 정지 층에서 착상 불량 을 일으키거나 승객 또는 화물이 탑승한 상태에서 추락할 수도 있다. 본 연구에서는 엘리베이터의 권상력에 대한 국내외 표준을 검토하고, 무부하 상태에서 마찰에 의한 권상력 측정 방법을 정립하고, 원격에서 모니터링 되는 측 정 장비를 개발하여 실제 엘리베이터에서 시험하고 시험한 측정값과 분동을 이용한 실부하 시험 값을 비교 분석 하였다. 마찰에 의한 권상력 부족에 따른 사고를 조기에 예방하기 위하여는 엘리베이터의 권상력은 실제 설치 장 소에 가지 않더라도 실시간 체크되고, 원격으로 모니터링 되어야 한다. 최근들어 IoT 기술의 발달로 인하여 사고 의 위험을 줄이고 엘리베이터를 보다 안전하게 사용하기 위하여 엘리베이터 상태를 원격에서 관찰하기 위한 여러 가지 모니터링 기술이 발전하여 왔으나 실시간 권상력 원격 점검 기술은 아직까지 시도되지 않았다. 본 연구에서 는 엘리베이터 권상력에 대한 실시간 원격 모니터링 방법을 제시하고자 하며, 이는 최근들어 활발해진 국내 승강 기 산업 분야의 4차 산업 기술 적용에 기여할 것으로 판단된다. This paper is a study of a method that can measure the traction force caused by friction between the wire rope and pulley of an elevator under no load, and monitor the real-time status of elevator traction force remotely. Modern high-speed, high-capacity elevators driven by the traction force by friction between the wire rope and the pulley may have reduced friction coefficients due to changes in the wear and lubrication conditions of the wire rope and pulley, and consequently decrease of the traction force due to the reduction of the friction coefficient incurs landing error or falling accidents with passengers or cargo on the stationary floor while boarding. In this study, domestic and international standards for elevator traction force were reviewed, measurement method of traction force by friction under no load was formulated, and remote monitoring of measuring instrument within elevator was developed, and tested in actual elevators, and actual load test values were compared. In order to prevent accidents caused by a lack of traction force due to fiction, traction force shall be checked in real-time and monitored remotely. Since the development of IoT technologies have been evolved, various monitoring technologies have been developed to use elevators more safely and prevent accidents, but real-time remote inspection technology for traction force has not been proposed yet. The aim of this study is to develop remote measurement and monitoring method for the traction force of elevator in real-time.

Remote Gating of Schottky Barrier for Transistors and Their Vertical Integration

최영진,김성찬,조정호 한국공업화학회 2019 한국공업화학회 연구논문 초록집 Vol.2019 No.1

The remote gating relies on the sensitive work function of graphene, whose local variation induced by locally applied field effect affects the change in the work function of the entire material. Using Kelvin probe force microscopy analysis, we directly visualize how this local variation in the work function propagates through graphene. These properties of graphene are exploited to assemble remote-gated vertical Schottky barrier transistors (v-SBTs) in an unconventional device architecture. Furthermore, a vertical complementary circuit is fabricated by simply stacking two remote-gated v-SBTs (pentacene layer as the p-channel and indium gallium zinc oxide layer as the n-channel) vertically. We consider that the remote gating of graphene and the associated device architecture presented herein facilitate the extendibility of graphene-based v-SBTs in the vertical assembly of logic circuits.

자율작업용 원격운용잠수정의 추진 특성에 관한 실험 연구

여태경,이윤건,채준보,윤석민,이영준 한국해양공학회 2019 韓國海洋工學會誌 Vol.33 No.5

In autonomous interventions using an underwater vehicle with a manipulator, grasping based on target detection and recognition is one of the core technologies. To complete an autonomous grasping task, the vehicle body approaches the target closely and then holds it through operating the end-effector of the manipulator, while the vehicle maintains its position and attitude without unstable motion. For vehicle motion control, it is very important to identify the hydrodynamic parameters of the underwater vehicle, including the propulsion force. This study examined the propulsion characteristics of the autonomous intervention ROV developed by KRISO, because there is a difference between the real exerted force and the expected force. First, the mapping between the input signal and thrusting force for each underwater thruster was obtained through a water tank experiment. Next, the real propulsion forces and moments of the ROV exerted by thrusting forces were directly measured using an F/T (force/torque) sensor attached to the ROV. Finally, the differences between the measured and expected values were confirmed.

무인차량 원격주행제어 신뢰성 향상을 위한 통합 시뮬레이터 구축에 관한 연구

강태완(Tae-Wan Kang),박기홍(Ki-Hong Park),김준원(Joon-Won Kim),김재관(Jae-Gwan Kim),박현철(Hyun-Chul Park),강창근(Chang-Keun Kang) 한국산학기술학회 2019 한국산학기술학회논문지 Vol.20 No.6

본 논문은 보다 높은 실재감과 안전성을 확보하기 위한 무인차량 원격주행제어 환경 개발에 대한 내용을 설명한다. 주로 무인차량 원격주행제어를 위한 환경은 조이스틱 형태의 장치를 활용하여 조향과 가/감속이 가능하도록 개발되어 사용되었다. 그 외 일반 차량처럼 간이 조향-휠(steering-wheel)을 기반으로 개발된 시뮬레이터 환경도 있으나, 현재 주행 상황을 피드백하는 기술이 적용되어 있지 않거나 가/감속부를 포함하지 않는 것이 대부분이다. 피드백 기술이란 일반 차량을 직접 운전할 때 조향-휠과 가/감속 페달을 통해 느껴지는 현재 주행 상황을 시뮬레이터 환경에 구현하는 것을 의미한다. 이렇듯 무인차량 원격주행제어에 이질감을 감소시키는 피드백 기술 개발과 더불어 실재감을 높일 수 있는 시뮬레이터 환경 구축이 필수적이다. 따라서 본 연구에서는 선행 연구를 통해 개발된 힘반향 햅틱제어 기술을 적용할 수 있는 시뮬레이터 환경을 구축하고 시뮬레이터 하드웨어의 최소 요구사양을 도출하는 연구를 수행하였다. 하드웨어 구성은 일반 차량과 유사한 조향-휠 모듈과 가/감속 페달 모듈로 구성하였으며, 조향부와 가/감속부 모두 피드백 기술을 적용할 수 있도록 별도의 액추에이터를 설치하였다. 또한 제어부 PC를 통해 두 가지 조작부에 피드백 명령을 전달할 수 있도록 CAN(controller area network) 통신 환경을 구성하였다. 이렇게 구성한 시뮬레이터 환경의 성능을 검증하기 위하여 기 개발된 힘반향 햅틱제어 알고리즘을 직접 적용하여 각 상황 별 알고리즘 동작을 평가하였다. This paper describes the development of unmanned vehicle remote control system which is configured with steering and accelerating/braking hardware to improve the sense of reality and safety of control. Generally, in these case of the remote control system, a joystick-type device is used for steering and accelerating/braking control of unmanned vehicle in most cases. Other systems have been developing using simple steering wheel, but there is no function of that feedback the feeling of driving situation to users and it mostly doesn’t include the accelerating/braking control hardware. The technology of feedback means that a reproducing the feeling of current driving situation through steering and accelerating/braking hardware when driving a vehicle in person. In addition to studying feedback technologies that reduce unfamiliarity in remote control of unmanned vehicles, it is necessary to develop the remote control system with hardware that can improve sense of reality. Therefore, in this study, the reliable remote control system is developed and required system specification is defined for applying force-feedback haptic control technology developed through previous research. The system consists of a steering-wheel module similar to a normal vehicle and an accelerating/braking pedal module with actuators to operate by feedback commands. In addition, the software environment configured by CAN communication to send feedback commands to each modules. To verify the reliability of the remote control system, the force-feedback haptic control algorithms developed through previous research were applied, to assess the behavior of the algorithms in each situation.

촉각 정보를 이용한 이동로봇의 원격제어

권용태(Yong- Tae Kweon),김미경(Mi-Kyung Kim),강희준(Hee-Jun Kang),노영식(Young-Sik Roh) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월

A mobile robot system is developed which is remotely controlled by a haptic master called ‘PHANTOM’. The mobile robot has 4 ultrasonic sensors and single CCD camera which detects the distance from a mobile robot to obstacles in the environment and sends this information to a haptic master. For more convenient remote control, haptic rendering process is performed like viscosity forces and obstacle avoidance forces. In order to show the effectiveness of the developed system, we experiment that the mobile robot runs through the maze and the time is checked to complete the path of the maze with/without the haptic information. Through this repeated experiments, haptic information proves to be useful for remote control of a mobile robot.

풍하중을 고려한 대형 레이더 구동부의 구조 안전성 평가

노현규,박영진,유준선,김휘재,라영은,장은정,이원철,박노철 한국소음진동공학회 2022 한국소음진동공학회 논문집 Vol.32 No.5

In this study, we confirmed the structural stability of bearings applied to large radar structures via finite element analysis and verified the margin of safety of bearings due to wind load. The analysis was performed using the weight of the antenna as a point mass, and various wind load conditions were input as a remote force. The structural safety was confirmed based on the amount of deformation of the bearing, and the margin of safety under wind load and rotational conditions was evaluated and confirmed.

Force Reflecting Remote Robotic Mopping System

Kiho Kim,Byungsuk Park,Hodong Kim 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10

In this paper, we describe the development of the force reflecting remote robotic mopping system for use in a radioactive zone of a hot-cell. This remote robotic mopping system was designed and developed to clean up the contaminated floor surface of the in-cell by mopping it with a wet cloth in a remote manner. It mainly has three subsystems ?a mopping slave to be located inside the hot-cell, a mopping master and a control console to be located outside the hot-cell. A human operator located outside the hot-cell can feel and control the mopping force via the mopping master which, during the operation, the mopping cloth of the mopping slave is pressed against the floor surface to be cleaned, thereby allowing the operator to have a sense of a real mopping. We also present the mechanical design considerations, bilateral controls of the developed force reflecting remote robotic mopping system. Finally, we describe its mopping test results conducted on the simulated contaminated floor.

Stability Evaluation of Highway Cut Slope Based on Remote Monitoring of Axial Force of Anchor and Displacement

( Weifeng Sun ),( Changgen Yan ),( Wei Xu ),( Jiangbo Xu ),( Han Bao ),( Yongli Xie ) 대한지질공학회 2019 대한지질공학회 학술발표회논문집 Vol.2019 No.2

During the construction and operation period of highway cut slope, to evaluate the stability of the slope, it is of great necessity to monitor the responses of the slope and its reinforced structures. Compared with the traditional manual monitoring methods of slope, remote monitoring has become the development trend to obtain a timely feedback of potential hazards. This paper presents a case of highway cut slope based on remote monitoring of axial force of anchor and displacement, and the stability of the slope was evaluated. Reinforcement meters and deep displacement sensors were respectively used to monitor the axial forces of anchors and relative displacements of the slope in the In-situ test, and a network cloud platform was used to remotely manage the monitoring data. The results indicate that the axial forces of anchors varies slowly with the increasing of monitoring time within a limited range under the seasonal temperature change, and the displacements tends to be stable except in the winter, indicating the slope is stable and the monitoring is effective. For a highway cut slope with a long length, to remote monitoring the slope with an economical and effective way, it is suggested to install a small number of sensors on the sensitive positions.

텔레프레전스 로봇의 원격 조작을 위한 포스 피드백 시스템

황정욱(Jung-Uk Hwang),박태형(Tae-Hyoung Park) 대한전기학회 2015 전기학회논문지 Vol.64 No.4

This paper proposes a force feedback system of telepresence robot for remote operation. The ultrasonic sensors attached at the robot detect the obstacles, and generate the force to the operation joystick. In order to consider the network delay, we developed the fuzzy control system using ultrasonic data and robot speed. The method to calculate the force vector from the ultrasonic data is also presented to operate the robot more accurately. The simulation and experimental results are presented to verify the safe and accurate operation of the proposed system.

로봇 컴플라이언스 운동의 그래픽 시뮬레이션

남헌성,이지홍,유준 제어로봇시스템학회 1995 제어로봇시스템학회 국내학술대회 논문집 Vol.1 No.2