• Journal of Advanced Marine Engineering and Technology
• /
• v.41 no.1
• /
• pp.62-69
• /
• 2017

This paper presents a methodology for evaluating the performance of wall-climbing robots. In the literature on wall-climbing robots, there is little information on indices and evaluation methods for consistent and exact performance. Because various types of wall-climbing robots can be developed with regard to adherence and locomotion, a general method of measuring their performance regardless of type is needed. Therefore, we propose two major performance indices-the vertical adhering weight and vertical climbing speed-and their stepwise evaluation procedures. To verify the effectiveness of the proposed method, we applied it to a hull-climbing robot that we previously developed. The target robot was evaluated to have a vertical adhering weight of 18.5 kg through a slip measurement procedure and a vertical climbing speed of 41 cm/s with a position control system.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.16 no.2
• /
• pp.114-123
• /
• 2017

This paper introduces a novel obstacle-climbing robot that moves on the facade of buildings and its climbing mechanism. A winch system set on the top of the building makes the vertical motion of the robot while it climbs obstacles that protrude from the wall surface. The obstacle-climbing robot suggested in this research is composed of a main platform and three modular climbing units. Various sensors installed on each climbing unit detect the obstacles, and the robot controller coordinates the three units and the winch to climb the obstacles using the obstacle-climbing mechanism. To evaluate the performance of the developed robot prototype, a test bed, which consists of an artificial wall and an obstacle, was manufactured. The obstacle size and the time required to climb the obstacle were selected as the performance indices, and extensive experiments were carried out. As a result, it was confirmed that the obstacle-climbing robot can climb various-sized obstacles with a reasonable speed while it moves on the wall surface.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.9 no.1
• /
• pp.20-27
• /
• 2001

A variable configuration tracked vehicle(VCTV) is developed to reduce turning energy and improve climbing ability for stairs. This mechanism has four track T-type frames. By changing the driving direction, each track T-type frame rotates to minimize the contact area with ground. It also has better performance than other VCTV in energy consumption of turning. Futhermore this mechanism is more stable than other VCTV on the rough terrain. When climbing stairs, each track T-type frame rotates to obtain a front attack angle and keep stability on steep stairs. The design parameters of components of track T-type frames are optimized to enhance the performance of climbing stairs. Performance indices include a stable angle, a climbing ability, a height of the vertical obstacle. In case that the overall length of the mechanism is 0.2m, it is required that the radius of the wheels should be 5mm and the length track contacted with he ground should be 0.09m to climb higher and steeper stairs.

• Proceedings of the Korean Institute of Building Construction Conference
• /
• 2010.05a
• /
• pp.33-36
• /
• 2010

The attention in construction Automation is getting higher since it could be the answer to the lack of skilled labor by decrease in construction population and aging which adversely affects productivity and quality in the construction site. We are on the way to develop a construction automation system adequate for domestic circumstances in Korea; it is called RCA(Robotic-crane based Construction Automation)system. Climbing hydraulic robots system is a part of RCA system and makes Construction factory(CF) climb through the guide rail on the core wall. The safety of climbing hydraulic robots system is at issue due to the overloaded weight of CF. Preventing this issue, present study did the design verification through the structural analysis and the simulation. Mock-up test also was done to analyze the drive performance of climbing hydraulic robots system.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.17 no.6
• /
• pp.35-42
• /
• 2008

Most of tasks for vertical surface work in shipyard have been accomplished by human workers. However, such manual work often causes injury to workers, also the production cost becomes high due to increasing individual wage. To cope with the circumstance, shipbuilding companies try to introduce wall-climbing robots for carrying out such kind of tasks. In designing a wall-climbing robot, it is essential to minimize its own weight to improve the performance such as moving speed and power saving. For such purpose. this study proposes a method of optimal design for a wall-climbing robot using a genetic algorithm with multi-objective function. Specifically, the thickness of the robot base is minimized to reduce the weight while maintaining the allowable strength and avoiding the resonance frequencies. The proposed method is applied to the design of a wall-climbing robot, and the result shows that the method is useful at an early design stage.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
• /
• v.9 no.3
• /
• pp.257-265
• /
• 2016

In this study, an optimal design for motor-driven track type traveling system applied into high clearance working machineries in orchard is proposed. Tractive performance and hill climbing ability were predicted and evaluated for the optimal motor traveling system by taking into account of soil characteristics in orchard utilizing the high clearance working machineries. Design criteria for tractive performance were based on the traction force calculated from tractive effort subtracted by motion resistance, while hill climbing ability had its design criteria that fulfill the climbing 20% slope ground at a speed of 3km/h. Based on the evaluation results of traction and climbing ability, two DC48V, 4500rpm, 1.6kW AC motors were independently applied to both left and right side of orbits; each motor is designed to transmit power on driving sprocket of track type traveling system via 50:1 reduction gear ratio. The motor-driven track type traveling system developed in the study found to have 396 kgf of tractive force, which is 12.5% higher than climbing resistance at orchard soil having 20% slope ground (352 kgf), demonstrating sufficient tractive performance and hill climbing ability.

• Journal of Astronomy and Space Sciences
• /
• v.31 no.4
• /
• pp.347-351
• /
• 2014

Planetary exploration rovers are likely to make a trip on a winding and sloping road of irregular surfaces to the destination in order to accomplish scientific missions. One of the key technologies for rovers is a suspension for traveling and performing exploration missions; the suspension is an essential area of technology for a stable movement of a rover. In this study, an 8-wheel suspension is designed to enable efficient climbing of slopes on a passage to the destination. For the two front wheels among the eight wheels, the moment at the pivot connecting two wheels is derived when the distance between the wheels and the torque of wheels are same. A test experiment was performed to compare the magnitude of moment according to the change in tilt angle and the position of the pivot. Finally, a suspension design considering the position of the pivot was proposed to enhance the hill-climbing performance.

• Journal of the Korea Society of Computer and Information
• /
• v.11 no.1 s.39
• /
• pp.129-138
• /
• 2006

Various techniques have been applied to solve the maximal covering problem. Tabu search is also one of them. But, existing researches were lacking of the synthetic analysis and the effort for performance improvement about neighborhood search techniques such as hill-climbing search and simulated annealing including tabu search. In this paper, I introduce the way to improve performance of neighborhood search techniques through various experiments and analyses. Basically, all neighborhood search algorithms use the k-exchange neighborhood generation method. And I analyzed how the performance of each algorithm changes according to various parameter settings. Experimental results have shown that simple hill-climbing search and simulated annealing can produce better results than any other techniques. And I confirmed that simple hill-climbing search can produce similar results as simulated annealing unlike general case.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.26 no.1
• /
• pp.89-99
• /
• 2017

This paper describes the development of a thigh wearable robot for power assistance during stair climbing. In the wearable robot developed in this study, high-power BLDC motors and high-capacity harmonic reduction gears are used to effectively assist the thigh muscle during stair climbing. In particular, normal ground and stair are distinguished accurately by using wireless smart shoes, and the stair climbing assistance is performed by activating the actuators at an appropriate time. Impedance of the hip joint was effectively reduced by performing friction compensation of the gears, and a wearing adjustment mechanism was designed to fit the robot to the thigh by conveniently modifying the width and tilting angle of the robot using set collars. Consequently, the performance of the developed thigh wearable robot was verified through stair climbing experiments with EMG measurement.

• Fashion & Textile Research Journal
• /
• v.15 no.4
• /
• pp.523-532
• /
• 2013

This study investigates risk reduction behavior with risk perception in outdoor wear purchase situations. Data were collected via a questionnaire from 400 consumers between the ages of 20 to 50 residing in Seoul and Kyonggi-do. Data analysis were conducted with SPSS 20 program on the reliability test, factor analysis, cluster analysis, t-test, ANOVA, and Duncan's multiple range test. Factor analyses were employed for the participation motivation of mountain climbing activities, risk reduction behavior and risk perception. Five factors were for the participation motivation of mountain climbing activities (health and fitness, external ostentation, achievement and excitement, improvement of climbing skills, and society). Five factors were for risk perception (fashionability loss and social risk, time and convenience loss, economic risk, performance risk, and psychological risk). Five factors were for the risk reduction behavior (interpersonal information sources use, marketer-dominated information sources use, professional information sources use, pre-purchase deliberation/observation/experience, and brand dependence). Three clusters were identified based on the motivation of outdoor activities (the affiliation/display, the health/internal informativeness and low motivation). The participation motivation for mountain climbing activities were varied. Manufacturers should increase efforts to develop products with good qualities at a reasonable cost as well as establish new marketing strategies since the risk of product performance and economic efficiency in the purchase of outdoor wear was a significant consumer perception.