• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2016년도 춘계 학술논문 발표대회
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• pp.255-256
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• 2016

In order to overcome the limitation of conventional cleaning method by workers, variety attempts to develop a window cleaning apparatus has been tried. However, the existing cleaning devices were lack of consideration for avoiding projection parts of the window such as frames or profiles. In this study, operating mechanism of cleaning tool for avoiding the projections parts using a two-axis robot is proposed. Proposed mechanism is that a wiper are reposed in a relatively stationary in the vicinity of the projection and avoided the projection in this state. It is expected that the mechanism is the base of driving cleaning tool part in the new window cleaning apparatus.

• 로봇학회논문지
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• 제5권1호
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• pp.14-22
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• 2010

Recently researches on the window cleaning robot are being conducted actively. Moving mechanismsof these window cleaning robots are divided into two categories, which are towed type and walking type. Towed type is focused on fast cleaning on the flat surface of building and walking type has priority on cleaning task on relatively complex surface with overcoming obstacles. Currently commercialized towed type window cleaning robot has weakness that it is hard to adhere closely with the wall and easy to be affected by wind. In case of walking type it has the problem that the position errors are continuously accumulated during motion. In this paper, we propose new towed and walking type mechanism which can compensate previous weaknesses. After that we estimate the performance of each proposed mechanism by simulation.

• 한국레이저가공학회지
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• 제4권2호
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• pp.39-45
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• 2001

This paper introduces a cleaning process for removing submicron-sized particles from NiP hard disk substrates by the liquid-assisted laser cleaning technique. Measurements of cleaning Performance and time-resolved optical diagnostics are Performed to analyze the physical mechanism of contaminant removal. The results reveal that nanosecond laser pulses are effective for removing the contaminants regardless of the wavelength and that a thermal mechanism involving explosive vaporization of liquid dominates the cleaning process.

• 로봇학회논문지
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• 제7권4호
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• pp.243-251
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• 2012

In this paper, developing of a pool cleaning robot is addressed. First, we analyze commercial pool cleaning robot mechanisms, and the merits and demerits of wireless version of a pool cleaning robot is introduced. And then the water-jet moving mechanism for a pool cleaning robot is proposed to improve energy efficiency and mechanical design advantage, which is one of the strong candidates for wireless pool cleaning robots. Next, the method of cleaning performance evaluation of pool cleaning robots is firstly defined with five key factors, and it was verified by experimental results. If the cleaning performance can be quantitatively defined, we can design optimally a pool cleaning robot, which results in the cost down.

• 한국레이저가공학회:학술대회논문집
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• 한국레이저가공학회 2000년도 추계학술발표대회 논문개요집
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• pp.23-26
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• 2000

This paper introduces a cleaning process for removing submicron-sized particles from NiP hard disk substrates by the liquid-assisted laser cleaning technique. Measurements of cleaning performance and time-resolved optical diagnostics are performed to analyze the physical mechanism of contaminant removal. The results reveal that nanosecond laser pulses are effective for removing the contaminants regardless of the wavelength and that a thermal mechanism involving explosive vaporization of liquid dominates the cleaning process.

• 한국분무공학회지
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• 제12권4호
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• pp.185-190
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• 2007

There is a growing interest to develop a new cleaning technology to overcome the disadvantages of wet cleaning technologies such as environmental pollution and the cleaning difficulty of contaminants on integrated circuits. Laser cleaning is a potential technology to remove various pollutants on a wafer surface. However, there is no fundamental data about cleaning efficiencies and cleaning mechanisms of contaminants on a wafer surface using a laser cleaning technology. Therefore, the cleaning characteristics of a wafer surface using an excimer laser were investigated in this study. Fingerprint consisting of inorganic and organic materials was chosen as a representative of pollutants and the effectiveness of a laser irradiation on a wafer cleaning has been investigated qualitatively and quantitatively. The results have shown that cleaning degree is proportional to the laser irradiation time and repetition rate, and quantitative analysis conducted by an image processing method also have shown the same trend. Furthermore, the cleaning efficiency of a wafer contaminated by fingerprint strongly depended on a photothermal cleaning mechanism and the species were removed in order of hydrophilic and hydrophobic contaminants by laser irradiation.

• Journal of Advanced Marine Engineering and Technology
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• 제33권4호
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• pp.553-561
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• 2009

This paper presents development of ROV-type underwater robot capable of cleaning ship hull in automatic mode. The purpose of developing this robot is for underwater cleaning to secure the safety of divers who inspect and clean the ship hull. The robot consists of the cleaning system with rotating brush mechanism, a car-like driving mechanism, inspection system using video, and overall control system for underwater communication and operation. In this paper, we present overall design process of the cleaning system and operating system and technical contents of the overall control system for the underwater cleaning robot.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.415-419
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• 2002

In this study, we suggest a environmentally-conscious and dry cleaning process mechanism for the recycling of end-of-life CRT, and also develope a protype cleaning system to verify the faulty of the designed mechanism. This system accommodates the specifications of 14 ~ 32" end-of-life CRT. In experimental result, it is expected that the developed system improve the productivity up to 10% and decrease the loss rate of cleaning glass 3~4 times rather than the existing methods.hods.

• 한국생산제조학회지
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• 제21권1호
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• pp.123-129
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• 2012

Recently, interests on cleaning robots workable in pipes (termed as in-pipe cleaning robot) are increasing because Garbage Automatic Collection Facilities (i.e, GACF) are widely being installed in Seoul metropolitan area of Korea. So far research on in-pipe robot has been focused on inspection rather than cleaning. In GACF, when garbage is moving, the impurities which are stuck to the inner face of the pipe are removed (diameter: 300 mm or 400 mm). Thus, in this paper, by using TRIZ (Inventive Theory of Problem Solving in Russian abbreviation), an in-pipe cleaning robot of GACF with the 6-link sliding mechanism will be proposed, which can be adjusted to fit into the inner face of pipe using pneumatic pressure(not spring). The proposed in-pipe cleaning robot for GACF can have forward/backward movement itself as well as rotation of brush in cleaning. The robot body should have the limited size suitable for the smaller pipe with diameter of 300 mm. In addition, for the pipe with diameter of 400 mm, the links of robot should stretch to fit into the diameter of the pipe by using the sliding mechanism. Based on the conceptual design using TRIZ, we will set up the initial design of the robot in collaboration with a field engineer of Robot Valley, Inc. in Korea. For the optimal design of in-pipe cleaning robot, the maximum impulsive force of collision between the robot and the inner face of pipe is simulated by using RecurDyn(R) when the link of sliding mechanism is stretched to fit into the 400 mm diameter of the pipe. The stresses exerted on the 6 links of sliding mechanism by the maximum impulsive force will be simulated by using ANSYS$^{(R)}$ Workbench based on the Design Of Experiment(in short DOE). Finally the optimal dimensions including thicknesses of 4 links will be decided in order to have the best safety factor as 2 in this paper as well as having the minimum mass of 4 links. It will be verified that the optimal design of 4 links has the best safety factor close to 2 as well as having the minimum mass of 4 links, compared with the initial design performed by the expert of Robot Valley, Inc. In addition, the prototype of in-pipe cleaning robot will be stated with further research.

• Current Optics and Photonics
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• 제7권6호
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• pp.714-720
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• 2023

Laser cleaning has the advantages of environmental protection, precision, and high efficiency, and has good prospects for application in removing oxide films on the surface of aluminum alloy. This paper discusses the cleaning threshold and cleaning mechanism of aluminum alloy surface oxide film. A nanosecond pulsed laser was used to remove a 5-㎛-thick oxide film from the surface of 7A04 aluminum alloy, and the target surface temperature and cleaning depth were simulated. The effects of different laser energy densities on the surface morphology of the aluminum alloy were analyzed, and the plasma motion process was recorded using a high-speed camera. The temperature measurement results of the experiment are close to the simulation results. The results show that the laser cleaning of aluminum alloy oxide film is mainly based on the vaporization mechanism and the shock wave generated by the explosion.