• Composites Research
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• v.37 no.2
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• pp.76-85
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• 2024

In this paper, a composite maintenance robot using carbon fiber spray method was developed that automatically sprays mixture was created for repair to damaged areas to repair them. To develop a robot, a repair process was developed in which a mixture of milled carbon fiber, epoxy resin, and hardener is sprayed and consolidated on the damaged area. To automate the repair process, an EOAT based on a collaborative robot was developed that can automatically suction and spray the mixture onto the damaged area. To evaluate the repair performance of the robot, 0° and 90° unidirectional specimens were manufactured and tested in accordance with ASTM D3039. Tests were performed on undamaged specimen, damaged specimen, and repaired specimen by a robot after damaged. As a result of the specimen test, the tensile strength of the 0° and 90° specimens was recovered by 10% and 90% after repair. Based on the test results, the repair performance of the developed composite maintenance robot was verified.

• Korean Journal of Construction Engineering and Management
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• v.1 no.1 s.1
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• pp.87-94
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• 2000

Crack sealing, a routine and necessary part of pavement maintenance, is a dangerous, costly, and labor-intensive operation. Within the North America, about ${\$}200$ million is spent annually on crack sealing, with the Texas Department of Transportation (TxDOT) spending about ${\$}7$ million annually (labor alone accounts for over 50 percent of these costs). Prompted by concerns of safety and cost, the University of Texas at Austin, in cooperation with TxDOT and the Federal Highway Administration (FHWA) has developed a unique computer-guided Automated Road Maintenance Machine (ARMM) for pavement crack sealing. In 1999, successful field tests have been undertaken in 8 States around the U.S. This paper first describes significance of the automated crack sealing and technical advances in automated crack sealers including the ARMM, developed in the U.S. It then discusses the ARMM's field implementation and performance evaluation results, and improvements and modifications suggested through the technology evaluation during the field trials. Current research efforts and future work plans in its further development are also presented in this paper.

• Journal of the KSME
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• v.48 no.9
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• pp.39-43
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• 2008

대형 구조물들을 검사 및 유지보수 하는 과정에서 작업자는 위험한 환경에 노출되기 십상이다. 따라서 이와 같은 위험한 작업환경에서 사람을 대신할 로봇이 개발되는데, 이것이 벽면 이동 로봇이다. 이 글에서는 이러한 종류의 로봇에서 사용되는 여러 메커니즘과 그것을 이용한 로봇들에 대해 알아보고, 각각의 장단점을 분석해 보도록 한다.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.17-27
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• 2001

• Proceedings of the Korea Information Processing Society Conference
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• 2021.11a
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• pp.1136-1139
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• 2021

쇼핑카트 부착 모듈형 로봇 'Cart-Rider'는 어드미턴스 제어를 통한 사용자의 힘 보조 기능, 딥러닝을 활용한 네비게이션 기능, GPS 를 활용한 도난 방지 기능을 제공하는 로봇으로 대형 마트에서 발생하는 안전사고 및 쇼핑카트 도난을 예방하는 동시에 사용자에게 편의성을 제공하는 로봇이다. 또한 여러 대를 겹쳐서 보관하는 기존의 카트 시스템을 유지하고 탈부착이 용이하도록 하드웨어를 제작하여 환경에 영향을 주지 않고 유지 및 보수가 용이하도록 제작했다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.6
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• pp.815-820
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• 2013

With the development of technology, there has been a considerable increase in the number of skyscrapers in the world. Accordingly, there are increasing requirements with regard to maintenance, such as cleaning, painting, and inspection. However, it is extremely dangerous to work on the walls of buildings, and falls from buildings have accounted for a large proportion of construction accidents. In particular, as the number of buildings with irregular shapes increases, the accident rate during maintenance work has increased each year, with most accidents leading to deaths. An alternative solution must be developed with the commercialization of automatic systems. In this study, fundamental research has been conducted for drafting and commercializing an automation tool with a built-in guide system that can perform cleaning.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2011.05b
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• pp.77-79
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• 2011

As residents and building owners demand maintenance that is required to achieve sustainable building performance, efficient building management methods are required. Even though the demand for maintenance systems is increasing, current maintenance work for high-rise buildings mostly uses conventional ropes and gondolas that pose a high risk of accidents and exhibit poor performance and efficiency. Thus, there is an urgent need to develop an automation robot system that can reduce accidents and improve the maintenance efficiency of the conventional high-rise building façade maintenance system. As a preceding work for the development of an automation robot system, this study classified and analyzed the work processes of actual construction sites and proposed basic techniques for the work mechanisms of the robot system by investigating the motions of cleaning workers.

• Journal of Digital Convergence
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• v.15 no.9
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• pp.211-221
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• 2017

The semiconductor industry develops and maintains software embedded in computer-controlled tools and facilities, to process and manufacture high-tech products. Upgrading embedded softwares for semiconductor processing robots and machinery is one of the basic activities that must be performed in order to maintain product quality and integrity. Maintenance and enhancement of embedded software consume a major portion of the total life cycle cost of a system. However, the area has been given little attention in the literature. 502 maintenance and enhancement cases, related to embedded softwares in wafer processing machines, were selected at random for analysis. Practical implications are also discussed.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2726-2728
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• 2000

본 논문은 필드버스를 이용한 실시간 로봇제어 시스템의 설계와 체계적인 설계 방법을 제안한다. 설계의 주요 잇점은 케이블링 비용의 절감과 유지 보수의 용이함을 들 수 있다. 최악 시간 분석에 의하여 필드버스를 이용하는 로봇 제어 시스템이 주어진 시간 제한요구를 만족할 수 있는지를 검증하기 위하여 실시간 제어 시스템의 패러미터들을 어떻게 결정할 수 있는지 보여주며, 태스크와 메시지의 실시간 스케쥴링 방법을 제안한다.

• Korean Journal of Construction Engineering and Management
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• v.5 no.2 s.18
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• pp.162-171
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• 2004

Crack sealing is a maintenance procedure that is commonly used to reduce pavement degradation. If cracks in pavements are not sealed, surface water penetration can reduce the strength of the sub-base layers, which can result in increased deflections of the pavement. Reduced strength of the sub-base also accelerates the deterioration of the surface, due to development of greater cracking and potholes. Crack sealing is performed to reduce water and debris penetration, thereby helping to maintain pavement structural capacity and limiting future degradation. The process of sealing cracks in pavements is however dangerous, costly, and labor-intensive operation. Labor turnover and training are increasing problems related to crack sealing crews, and as traffic volumes increase. Automating crack sealing can reduce labor and road user costs, improve work quality, and decrease worker exposure to roadway hazards. The main objective of this research is to develop an automated system for sealing cracks in pavement. Extension of the algorithms and tools presented in this research is also recommended for future study.