• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.06a
• /
• pp.1676-1681
• /
• 2003

The attachment of mobile vehicle is necessary for the automated operation on the inclined or vertical walls of steel structures. Since the vehicle requires attaching devices additionally, its overall efficiency can be reduced by the devices. Therefore, external shapes of mobile vehicles have to be researched to give the effective movement on the vertical face. For the design of mobile vehicle, the guideline has been derived from the modeling of wall-climbing, so that the vehicle should have a specific external shape for vertical movement due to the gravitational force. Hence, some adequate arrangement of attaching device to the mobile vehicle has been presented for the effective movement. In the experiments with four permanent magnetic wheels, a plausible result was achieved as a vertical attaching force of 185.2(N), a friction force of 153.8(N) and a curvature radius of 1.4m. The mobile vehicle should be modified according to the proposed design guideline. and then it could be applied to a specific operation as an appropriate external shape. Also, Further research is recommended on an optimal posture and a moving method in a specific application. as the attaching force ortho vehicle can be affected by its posture.

• Journal of the Korean Society for Precision Engineering
• /
• v.21 no.9
• /
• pp.77-84
• /
• 2004

The attachment of mobile vehicle is necessary for the automated operation on the inclined or vertical walls of steel structures. Since the vehicle requires attaching devices additionally, its overall efficiency can be reduced by the devices. Therefore, external shapes of mobile vehicles have to be researched to give the effective movement on the vertical face. For the design of mobile vehicle, the guideline has been derived from the modeling of wall-climbing, so that the vehicle should have a specific external shape for vertical movement due to the gravitational force. Hence, some adequate arrangement of attaching device to the mobile vehicle has been presented for the effective movement. In the experiments with four permanent magnetic wheels, a plausible result was achieved as a vertical attaching force of 185.2(N), a friction force of 153.8(N) and a curvature radius of 1.4m. The mobile vehicle should be modified according to the proposed design guideline, and then it could be applied to a specific operation as an appropriate external shape. Also, Further research is recommended on an optimal posture and a moving method in a specific application, as the attaching force of the vehicle can be affected by its posture.

• The Journal of Korea Robotics Society
• /
• v.14 no.3
• /
• pp.191-195
• /
• 2019

This paper presents a rope modeling and verification for the robotic platform of the wall cleaning robot (ROPE RIDE). ROPE RIDE has the characteristics of climbing up and down using a rope fixed on the roof like traditional workers. In order to perform a stable operation with a wall cleaning robot, it is necessary to estimate the position of the robot in a vertical direction. However, due to the high coefficient of extension and nonlinearity of the climbing rope, it is difficult to predict the behavior of the rope. Thus, in this paper, the mathematical modeling of the rope was carried out through the preliminary experiment. Extensive experiments using different types of rope were used to determine the parameters of the constitutive equation of climbing ropes. The validity of the determined parameters of various ropes was verified through the experiment results.

• Journal of International Academy of Physical Therapy Research
• /
• v.11 no.3
• /
• pp.2126-2134
• /
• 2020

Background: Therapeutic climbing training, which originated in Germany, is a wall-hanging rock climbing-based therapy to increase the body's coordination through movement of the upper and lower limbs against gravity. However, there are no studies examining the effectiveness of therapeutic climbing training to treat balance and gait ability in patients with chronic stroke. Objectives: To investigate therapeutic climbing training program on balance and gait in patients with chronic stroke. Design: Pretest-posttest control group design. Methods: Fourteen patients with chronic hemiplegic stroke participated. Participants were randomized into the therapeutic climbing training group (TCTG, n=7) and the standard rehabilitation program group (SRPG, n=7) group. All subjects participated in the same standard rehabilitation program consisting of 60 minutes 5 times a week for 6 weeks. TCTG participated additionally in the therapeutic climbing program consisting of 30 minutes sessions 3 times a week for the same 6 weeks. Berg balance scale (BBS), Gaitview Measure, Timed up and go test (TUG) were measured. Results: In the TCTG, revealed a statistical difference in BBS between the groups; in the difference of plantar pressure ratio in the static standing position revealed a statistical difference between the groups after training; the balance ability in the one-leg standing tests increased significantly; the time in TUG decreased significantly after training in both groups; The changes in the difference of dynamic plantar pressure ratio were reduced significantly in the TCTG. Conclusion: Therapeutic climbing training contribute to improve balance and walking function in patients with chronic stroke.

• KIPS Transactions on Software and Data Engineering
• /
• v.8 no.11
• /
• pp.449-456
• /
• 2019

This paper is a study on the construction of a wall-climbing mobile robot using vacuum suction and wheel-type movement, and a comparison of the performance of an automatic wall crack detection algorithm based on machine learning that is suitable for such an embedded environment. In the embedded system environment, we compared performance by applying recently developed learning methods such as YOLO for object learning, and compared performance with existing edge detection algorithms. Finally, in this study, we selected the optimal machine learning method suitable for the embedded environment and good for extracting the crack features, and compared performance with the existing methods and presented its superiority. In addition, intelligent problem - solving function that transmits the image and location information of the detected crack to the manager device is constructed.

• Journal of Institute of Control, Robotics and Systems
• /
• v.4 no.6
• /
• pp.772-779
• /
• 1998

본 논문에서는 강인한 비선형 예측제어기를 개발하여 연구용 원자로 벽면검사를 위한 수중로봇에 적용하여 보았다. 비선형 예측제어기는 먼저 적절한 함수 확장을 이용하여 시스템의 미래 출력 값을 예측하고, 예측값과 설정치와의 차이를 최소화시키는 제어입력을 구하여 시스템에 인가한다. 이러한 제어기에 의한 폐회로 동특성은 목적함수가 상태변수로 이루어진 경우는 항상 안정한 특성을 보이고 목적함수가 출력변수으로 이루어진 경우는 상대 계수가 4이하인 경우에 안정한 특성을 보인다. 이 제어기는 기존의 비선형 제어기가 적용 불가능한 시스템에도 적용 가능한 장점을 가지고 있다. 시스템의 불확실성이 큰 경우, 제어 안정도 및 제어 성능을 향상시키기 위하여 감독제어를 비선형 예측제어기에 포함시켰다. 이러한 제어기를 수중 벽면 주행로봇에 대한 모사실험에 적용한 결과 제어기의 강인함과 제어 성능 향상을 볼 수 있었다.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.1
• /
• pp.143-149
• /
• 2002

Robot are necessary to automate the work on a vertical plane of work piece to produce a large structure like a ship, so that a permanent magnet wheel has been attempted to be used for a mobile robot. Its adhesive power was enhanced by restricting the occurrence direction of magnetic flow. Furthermore a method which weakened the adhesive force was developed for easy detachement of the wheel by changing magnetic flow with metal pin. To measure the characteristics of the adhesive and detaching farces, a load call and a gaussmeter were used. The result showed that the adhesive power was reduced to 1/3 of normal state by using 4 inducing pins.

• Journal of the Korean Society of Environmental Restoration Technology
• /
• v.11 no.1
• /
• pp.23-32
• /
• 2008

In order to discern the development of technology in creating, properly managing, and characterizing the types used in facade greening, this article examines the instances of facade greening of Bulgaria, Greece and Turkey which is not only located in the latitude similar to South Korea's but also influenced by the both continental and oceanic climate. The study was carried out for 11 months from October 2002 to September 2003. The total 242 places were researched and they were 83 sites in Athens, 77 sites in Istanbul, and 82 sites in Sofia. Varieties, usage, configuration, foundation and characteristics of plants were studied. The goals of greening, and building's surface roughness and thickness, direction of the wall were also researched. The result of survey are as follows; 17 families and 33 species of climbing plants were found in Athens, Istanbul, and Sofia. Thickness of facade greening in the three cities is 46cm in Athens, 39cm in Istanbul, and 53cm in Sofia. The possible facade greening size per a climbing plant, Parthenocissus tricupidata takes up the largest portion of the wall in the three cities similarly followed by Vitis vinifera and Wistaria spp. By its diversity it can be assumed that these plants are most practical for large scale of facade greening and full covering. Evergreen climbing plants such as Hedera helix and Ficus niponica are useful plants for relatively large scale of facade greening area. In the facade greening types, the climbing type is the most dominant in the three cities and most of the climbing type was planted on the natural foundation but the hanging and combination types were planted on an artificial foundation located on the balcony or on the roof of the building. In the directions of the walls for facade greening, the west direction are most popular which is for the improvement of sun shading in summer season. In Sofia the apartments were most applied with facade greening but In Istanbul and Athens the residential buildings and the public buildings were adapted with facade greening actively as well as residential building. The purpose of lowering summer heat took up the highest portion followed by the purpose of ornamentation and maintaining privacy in all surveyed cities.

• Proceedings of the Korean Radioactive Waste Society Conference
• /
• 2018.05a
• /
• pp.397-398
• /
• 2018

• Journal of the Architectural Institute of Korea Structure & Construction
• /
• v.35 no.7
• /
• pp.171-178
• /
• 2019

Auto Climbing Formwork System (ACS) for construction of high-rise building is a construction method for automatically lifting the formwork system supported by the anchor on the pre-constructed concrete wall. It has excellent construction speed and quality, but it has the possibility of structural failure depending on the quality of concrete and also has low economical efficiency due to the use of foreign technology. In order to overcome these problems, this study conducted an optimum design for the development of a new concept of Corner Supported Auto Climbing System (CS-ACS) in conjunction with the development of corner steel-reinforced concrete core wall system. For the design the formwork system, the basic module and structural member compositions were planned, and the structural analysis program was used to analyze the optimum member's cross section and spacing. As a result, the horizontal displacement and the stress of the horizontal members were influenced by the spacing more than the cross-section of the member. On the other hand, vertical members did not affect the displacement and stress of the formwork system. The form tie was very effective in controlling the displacement when adjusting the spacing of the horizontal members, but when the spacing of the form tie is more than 1,500mm, it is analyzed that form tie is yielding in basic module. When the span of the formwork system is more than 30m, it is analyzed that the basic module needs to be changed because of the increase of overall displacement.