• International Journal of Naval Architecture and Ocean Engineering
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• 제4권4호
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• pp.335-352
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• 2012

An underwater hull cleaning robot can be a desirable choice for the cleaning of large ships. It can make the cleaning process safe and economical. This paper presents a hydrodynamic design of an underwater cleaning robot and its evaluation for an underwater ship hull cleaning robot. The hydrodynamic design process of the robot body is described in detail. Optimal body design process with compromises among conflicting design requirements is given. Experimental results on the hydrodynamic performance of the robot are given.

• 한국산학기술학회논문지
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• 제15권10호
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• pp.5950-5954
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• 2014

본 논문의 목적은 설계 변경된 세척기의 유한요소해석에 있으며 세척 성능을 향상시킨 세척기 개발을 위하여 기존 세척기의 구조를 변경하여 설계하였다. 설계 시 프로그램은 CATIA V5를 사용하였으며 유한요소해석에 필요한 모델링 또한 CATIA V5를 사용하였다. 모델링된 세척기에 대하여 3차원 유한요소해석 프로그램인 ANSYS를 사용하여 해석을 수행하였으며 안정성을 검증하기 위하여 내부압력의 변화에 따른 유체의 흐름을 구하였다. 이러한 해석결과는 새로운 모델의 세척기를 개발하는데 활용되었다.

• 한국컴퓨터정보학회논문지
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• 제14권11호
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• pp.31-40
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• 2009

가장 많이 활용하는 청소로봇의 청소기법은 크게 랜덤기법과 바둑판식기법으로 나눌 수 있다. 랜덤기법을 이용한 청소로봇은 장애물을 만날 때까지 직진 방향으로 청소를 수행하며, 장애물을 만나면 일정한 각도로 회전한 후 다시 직진 방향으로 청소를 수행한다. 랜덤기법은 중복적인 청소를 수행하는 문제가 빈번히 발생하며, 청소를 완료하는 데 오래 시간이 소요되는 단점이 있다. 바둑판식기법을 이용한 청소로봇은 장애물을 만날 때까지 직진 방향으로 청소를 수행하며, 장애물을 만나면 직진과 회전을 이용하여 청소가 수행되지 않은 위치로 이동하고, 이전에 청소를 수행한 방향의 반대로 청소를 수행한다. 바둑판식기법은 청소공간을 조밀하게 청소하며 진행하기 때문에 장애물이 없거나 작은 공간에서 작업 성능이 뛰어나다. 그러나 바둑판식기법으로 장애물이 있거나 복잡한 공간을 청소할 때는 청소시간이 증가한다. 그러므로 청소의 효율성을 증가시키기 위해서는 작업공간을 정확히 파악하여 청소를 계획적으로 진행해야 한다. 본 논문에서 제안한 가상지도 기반 청소로봇은 작업공간을 효율적으로 청소하는 특성을 갖는다. 시뮬레이션을 통해 제안한 기법의 효율성을 측정하였다.

• 로봇학회논문지
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• 제12권1호
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• pp.65-77
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• 2017

In this paper, we introduce the pipe cleaning robot developed to clean the gas impurities of the iron manufacturing equipments. The pipe cleaning robot is composed of two driving modules and one cleaning module. 2-DOF joint units were developed for connections among the modules. To maximize the traction power of the driving parts, it became caterpillar type. The extension links have been developed to maintain the traction force in case the pipe inner diameters change. Three cleaning modules were developed for the effective cleaning in the pipe. The driving and cleaning performance tests of the pipe cleaning robot were proceeded in the field of the iron manufacturing equipments.

• 제어로봇시스템학회논문지
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• 제12권5호
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• pp.489-496
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• 2006

The random-based cleaning algorithm is a simple algorithm widely used in commercial vacuum cleaning robots. This algorithm has two limitations, that is, cleaning takes a long time and there is no guarantee that the cleaning will cover the whole cleaning area. This has lead to customer dissatisfaction. Thus, in recent years, many intelligent cleaning algorithms that takes into consideration information gathered from the cleaning area environment have been proposed. The plowing-based algorithm, which is the most efficient algorithm known to date when there are no obstacles in the cleaning area, has a deficiency that when obstacle prevail, its performance is not guaranteed. In this paper, we propose the Group-k algorithm that is efficient for that situation, that is, when obstacle prevail. The goal is not to complete the cleaning as soon as possible, but to clean the majority of the cleaning area as fast as possible. The motivation behind this is that areas close to obstacles are usually difficult for robots to handle, and hence, many require human assistance anyway In our approach, obstacles are grouped by the complexity of the obstacles, which we refer to as 'complex rank', and then decide the cleaning route based on this complex rank. Results from our simulation-based experiments show that although the cleaning completion time takes longer than the plowing-based algorithm, the Group-k algorithm cleans the majority of the cleaning area faster than the plowing algorithm.

• 청정기술
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• 제10권2호
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• pp.61-72
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• 2004

본 연구에서는 물성, 세정성, 헹굼액의 유수분리성을 고려하여 유기용매의 종류 및 함량, 계면활성제의 종류 및 함량, 부조계면활성제/계면활성제 (cosurfactant/surfactant, A/S) 비율 등의 변수로 하여 수계/준수계 세정제를 개발하였다. 개발된 세정제들은 대부분 평균 액적크기가 10 ~ 20 nm의 미세 나노입자를 형성 하였으며, 30.2~32.5 dyne/cm의 낮은 표면장력과 낮은 점도 값을 보여 주었다. 플럭스에 대한 용해력은 계면활성제의 소수성이 증가할수록 높게 나타났으며 terpene을 함유한 세정제들이 hydrocarbon 함유 세정제와 대응 시판세정제에 비해 우수한 용해력을 보여 terpene계 세정제가 대체세정제로의 적합성을 보여주었다. 또한, 개발된 세정제들을 함유한 헹굼액은 시판세정제에 비하여 우수한 유수분리성을 보여 헹굼액의 재활용이 가능하여 경제적인 부담과 수질오염을 줄일 수 있음을 보여주었다. 그리고 이렇게 개발된 세정제를 L 전자 회사의 전자부품 생산라인 SMT(surface mount technology) 세정공정에 적용시켜 보았다. 그 결과 solder cream 제거에 있어서 에탄올, 이소프로필알콜(IPA), glycol ether과 같은 물질이 함유된 기존의 세정제에 비하여 세정성능이 2 배이상 향상되었고 생산현장에서 악취와 VOC의 문제를 해결시킬 수 있었다.

• 한국재료학회지
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• 제27권11호
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• pp.577-582
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• 2017

Self-cleaning and photocatalytic $TiO_2$ thin films were prepared by a facile sol-gel method followed by spin coating using peroxo titanic acid as a precursor. The as-prepared thin films were heated at low temperature($110^{\circ}C$) and high temperature ($400^{\circ}C$). Thin films were characterized by X-ray diffraction(XRD), Field-emission scanning electron microscopy(FESEM), UV-Visible spectroscopy and water contact angle measurement. XRD analysis confirms the low crystallinity of thin films prepared at low temperature, while crystalline anatase phase was found the for high temperature thin film. The photocatalytic activity of thin films was studied by the photocatalytic degradation of methylene blue dye solution. Self-cleaning and photocatalytic performance of both low and high temperature thin films were compared.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1054-1059
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• 2005

To support the expansion of the autonomous robot market, the establishment of evaluation standards of the robot performance are essential. In this paper, to venture the standardization of the performance evaluation of the autonomous robot, the authors take the autonomous cleaning robot(ACR) as the initial stepping stone. Recently, the ACR has been being developed and marketed actively in many countries including Korea and it believes to be the fore-runner among various types of autonomous robot products. Standards of the performance evaluation for the ACR could be easily modified and applied to other autonomous robots. This paper formulates and suggests a group of standards for the performance evaluation based on a evaluation platform for the ACR. The newly developed performance evaluation platform has been designed to include all the important aspects of living environments in reality. In the platform the performance of the ACR is measured in terms of mobility, cleaning performance, avoidance of obstruction(safety), and operation noise. A few commercially available ACR products are collected and tested in the evaluation platform and compared against the performance evaluation standards formulated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.849-854
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• 2003

The Korea Atomic Energy Research Institute has developed a teleoperated cleaning robot for use in the radioactive zone of the isolation room of the Irradiated Material Examination Facility where direct human access to the interior is strictly limited. The teleoperated cleaning robot that was designed to completely eliminate human interaction with the hazardous radioactive contaminants has five remotely replaceable submodules - a mobile module for navigation, a cleaning module for dislodging and sucking contaminated waste, a sensing module for obstacle avoidance, a collection module for storing the acquired waste, and a cover module for protecting the collection module. This cleaning robot is capable of cleaning the contaminated floor surface of the isolation room and collecting loose dry spent nuclear fuel debris and other radioactive waste fixed or scattered on the floor surface. The developed cleaning robot is operated either by a manual control or by autonomous control in conjunction with a graphical simulator, by which the human operator can monitor and intervene the robot performing cleanup tasks in the isolation room. In this paper, we present the mechanical and environmental design considerations and development of the teleoperated cleaning robot for radioactive isolation room use. We also demonstrate its mock-up performance test results from the viewpoint of a remote cleanup operation and remote maintenance.

• Membrane and Water Treatment
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• 제12권1호
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• pp.1-9
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• 2021

This study optimized the chemical cleaning process of discarded RO membranes for reuse in less demanding separation processes. The effect of physicochemical parameters, including the temperature, cleaning time, pH of the cleaning solution, and addition of additives, on the cleaning process was investigated. The membrane performance was evaluated by testing the flux recovery rate and salt rejection before and after the cleaning process. High temperatures (45-50 ℃) resulted in a better flux recovery rate of 71% with more than 80% salt rejection. Equal time for acid and base cleaning 3-3 h presented a 72.43% flux recovery rate with salt rejection above 85%. During acid and base cleaning, the best results were achieved at pH values of 3.0 and 12.0, respectively. Moreover, 0.05% concentration of ethylenediaminetetraacetic acid presented 72.3% flux recovery, while 69.2% flux was achieved using sodium dodecyl sulfate with a concentration of 0.5%; both showed >80% salt rejection, indicating no damage to the active layer of the membrane. Conversely, 0.5% concentration of sodium percarbonate showed 83.1% flux recovery and 0.005% concentration of sodium hypochlorite presented 85.2% flux recovery, while a high concentration of these chemicals resulted in oxidation of the membrane that caused a reduction in salt rejection.