• 한국정밀공학회지
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• 제30권4호
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• pp.375-382
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• 2013

Down through the years, human needs and desires have required a robot system to work at hazardous environments instead. Current painting task is costly and laborious, and it exposes workers to significant health and safety risks. Automation system offers potential improvement in this area and is especially well suited to the outer-wall painting tasks in concrete structures. This paper introduces the result of gondola-type building management robot(G-BMR) platform and mechanism for moving/tasking on building outer-wall for the outer-wall painting. Its technical and economic feasibility are conducted, and it is concluded that developing G-BMR is physically and economically feasible in this research. And we discuss about the future of G-BMR and automation in construction field.

• 드라이브 ㆍ 컨트롤
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• 제13권1호
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• pp.94-99
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• 2016

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.1073-1074
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• 2012

• 한국정밀공학회지
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• 제30권4호
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• pp.383-389
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• 2013

Demand for high-rising building has arisen. However, its maintenance is usually executed by labour. It could have a severe problem. We proposed a gondola robot to solve it. In this paper, we designed a height estimation sensor for this gondola. It is consist of pan-tilt unit, ARS sensor, and laser sensor. The pan-tilt unit keeps the laser sensor to indicate the gravity direction by referencing the ARS. The laser sensor's range is vertical distance from gondola to ground. However, if there is an obstacle under the gondola, the distance includes its height. To filter it out, we apply a Kalman filter for the height estimation. If the estimated height is changed extremely, the filter decides that there is an obstacle. Then, it remembers the height of obstacle. Other extreme changes of height estimations are reflected. The experimental results using the proposed sensor system show detail flow of the height estimation.

• 한국안전학회지
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• 제35권4호
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• pp.48-55
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• 2020

The use of temporary Gondola has been steadily increasing. The temporary Gondola is required to get a safety certification review during installation and to be inspected during use within every six months. Most of them, however, are dismantled before six months, and inappropriate activities are conducted frequently for shorter working hours and convenience of work. In this study, the characteristics of the temporary Gondola and the domestic accident cases that occurred over the past 10 years(2008-2017) are analyzed for the type of accident, the state of the accident by year, and the actions of the workers in the event of an accident. Also comprehensive accident reduction measures were proposed by identifying the fundamental causes of temporary Gondola accidents, problems of existing preventive measures, and system defects by utilizing Bow-Tie techniques.

• 항공우주기술
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• 제3권1호
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• pp.27-34
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• 2004

50m 무인 비행선 비아50의 주 구조물인 꼬리날개, 곤돌라, 추력모터마운트(EMS) 등은 탄소 및 유리 섬유 복합재를 이용하여 설계/제작되었다. 사용된 재료 시편 강도 시험을 수행하여 설계 물성치를 확정하였다. 각각의 구조물들에 대하여 정하중 시험을 수행하여 구조 건전성을 입증하였다. 각 단품별로 정하중 시험을 수행하였으며, 보다 정확한 시험을 위하여 조립상태를 고려한 경계조건을 모사하였다. 100% DLL에서 영구변형이 발생하지 않음을 보였고, 150% DLL에서 파손이 발생하지 않음을 입증하였다.

• 항공우주기술
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• 제1권2호
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• pp.11-18
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• 2002

50m급 비행선의 구조설계를 위한 하중해석을 수행하였다. 하중해석을 위한 비행선 기동 조건을 정의하였다. 비행선의 공기력 모델링, 중량 모델링, 부력 모델링을 수행하였으며, 기동조건을 만족하는 조종면 거동을 산출하였다. 각 기동에 대한 비행선의 하중계수를 산출하였다. 각 하중계수에 대한 하중분포를 산출하고, 전단력 및 굽힘 모멘트 분포를 산출하였다. 꼬리날개 및 곤돌라 설계하중을 산출하였다.

• 한국안전학회지
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• 제22권5호
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• pp.7-12
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• 2007

The safety standard for suspended access equipments(SAE) is developed. During the development of the safety standard, consideration was given to a close examination of the standards existing in other industrialized regions and nations such as the Eu.opean Union(EU), the United States, and Japan, as well as the existing domestic safety regulation. Also, a consideration was given to the appraising of the technical level and market conditions of the domestic industry. After careful examination of the current safety practices and issues, it was decided that the standard under development should closely follow those of the EU safety standard. The EU standard provides a detailed account of the calculation methods, safety and stability factors, testing apparatus and procedure, all under unified framework. A number of specific safety requirements have been modified in an effect to properly reflect the difficulties faced by the domestic industry. It is hoped that the safety standard developed here can serve as a valuable tool for policy decisions regarding worker safety.

• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2003년도 추계학술발표대회 논문집
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• pp.127-131
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• 2003

KARI developed 50m class unmanned airship. The airship employ the pressure envelope design principle. The envelope must be considered as a main structural element of the airship. The envelope ＆ three ballonets are fabricated by polyfiber composite laminates. Other structural components (gondola, tailwing, nosecone ＆ engine mounts) are manufactured by carbon fiber ＆ glass fiber laminates. In order to develop a big unmanned airship, a large amount of structural design, analysis and tests had to be made. The paper describes the structural configuration of the 50m class uumanned airship which are basic starting point of the structural development of an airship. The paper includes the various designing processes, components development tests and analysis results. Envelope ＆ ballonets development processes which are very different to conventional airplane design are given in details with actual analysis & test results. The paper also describes the structural design and analysis results for other composite made structures. Each components were tested by static design limit loads and structural safety were confirmed. The paper shows the manufactured structural components and assembled airship.

• 한국정밀공학회지
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• 제29권1호
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• pp.56-63
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• 2012

Due to the development of construction technology, there is a considerable increase in the number of skyscrapers in the world. Accordingly, there are rapid growing requests about maintenance systems such as cleaning, painting, and monitoring the processes of facade in highrise buildings. However, it is extremely dangerous working the walls of high-rise buildings, and crashes from buildings have accounted for large proportion of constructional accidents. An alternative solution must be developed with the commercialization of automatic robot systems. For the last decade, interest in developing robots for cleaning and maintenance in facade of highrise buildings has continuously increased. The use of automatic robot systems can be expected to reduce accidents and decrease labor costs. In this paper, we propose a new kind of cleaning mechanism. We have designed and manufactured various cleaning tools for different types of facades with economic commercialization. The cleaning cycle, size, and intensity will be determined by economic constraints as well. The final goals are to design and manufacture tools and robots that can clean facades efficiently and rapidly even in dangerous places. The cleaning tool systems consist of nozzles, brush rollers, and squeezing devices. Furthermore, these tools and robots perform each process utilizing the systems of built-in guide types and gondola types for building maintenance. The performance of the proposed cleaning tools is evaluated experimentally; however additional study should be necessary for safer and more stable commercialization.