• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2019년도 추계 학술논문 발표대회
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• pp.114-115
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• 2019

Gangform is used as exterior wall forms in the most of apartments. Existing system forms developed for high-rise building, RCS and ACS, are too heavy and over-designed to be applied to general apartments, leading to higher costs. A more simplified rail Gangform(R/GF) is also used, but it depends entirely on T/C for the lift like Gangform. The T/C's legal inactivity time for moving Gangform and materials has increased, and the higher allowances have to be paid for overtime work, thus causing to the cost increase and time delay. Therefore, this study aims to develop an automated Gangform climbing system that can be used universally and economically in apartment houses. The use of the development system is expected to improve the safety of Gangform operations and reduce the workload on T/C.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.55-56
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• 2006

This paper describes a new concept of the robot that can climb on the vertical plane. The engineering design problem of the main structure is presented and the experimental results regarding a new mechanism of climbing on the vertical wall are discussed. The locomotive motion of the robot is realized by using a series chain of two caterpillar wheels on which 24-suction pads are installed. White each caterpillar wheel rotates on the vertical plane surface, the vacuum pads are activated in sequence based on the sequential opening by specially designed mechanical valves. The detail design feature of the valve is also described in this paper. The overall size of the robot is around 460 mm in width and length, respectively, and 200 mm in height. Its mass is slightly over 14 kg. The main mechanical structure of the robot consists of driving motors, vacuum caterpillar system, steering part, vacuum pump and battery. The performance of the robot is verified on the vertical wall.

• 대한조선학회 특별논문집
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• 대한조선학회 2006년도 특별논문집
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• pp.112-121
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• 2006

The vertical displacement of a ship on the basis of the sea level is an important parameter for its stability and control. To indicate the displacement on operating conditions, "draft marks" are carved on the hull of the ship in various ways. One of the methods is welding. The position, shape and size of the marks are specified on the shipbuilding rules by classification societies to be checked by shipbuilders. In most cases, high-skilled workers do the welding along the drawing for the marks and welding bead becomes the marks. But the inaccuracies due to human errors and high labor cost increase the needs for automating the work process of the draft marks. In the preceding work, an indoor robot was developed for automatic marking system on flat surfaces and the work proved that the robot welding was more effective and accurate than manual welding. However, many parts of the hull structure constructed at the outdoor are cowed shapes, which is beyond the capability of the robot developed for the indoor works on the flat surface. The marking on the curved steel surface requiring the 25m elevations is one of the main challenges to the conventional robots. In the present paper, the robot capable of climbing vertical curved steel surfaces and performing the welding at the marked position by effectively solving the problems mentioned earlier is presented.

• 한국산학기술학회논문지
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• 제19권8호
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• pp.254-259
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• 2018

본 연구는 클라이밍 훈련이 정상 성인의 자세정렬과 균형에 미치는 효과를 알아보고, 임상적으로 중재될 수 있는지에 대한 가능성을 제시하는데 그 목적이 있다. 본 연구는 정상 성인 30명을 대상으로 하였으며, 훈련군 15명, 대조군 15명을 무작위 배치하였다. 훈련군은 클라이밍 벽에서 클라이밍 훈련을 6주 동안 주 3회, 총 40분씩 훈련을 진행하였고, 대조군은 아무런 훈련도 하지 않았다. 자세정렬은 포메트릭으로 측정하였고, 균형은 바이오레스큐로 측정하였다. 측정결과, 자세정렬에서 몸통 기울기는 그룹 간 유의한 차이가 있는 것으로 나타났다(p<.05). 균형은 그룹 간 유의한 차이가 있는 것으로 나타났고(p<.05), 시기와 그룹 간 상호작용에서도 유의한 차이가 있는 것으로 나타났다(p<.05). 본 연구를 통해 클라이밍 훈련이 정상성인의 자세정렬에 영향을 미쳐 몸통기울기와 균형에 긍정적인 효과를 가져왔다. 따라서 향후 클라이밍을 이용한 훈련을 통해 일반인과 환자의 재활이나 임상 적용 중재에 있어서 가치가 있음을 확인할 수 있었다.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2016년도 춘계학술발표대회
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• pp.201-203
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• 2016

도시민들의 다양한 여가활동의 요구로 날씨와 계절에 상관없이 즐길 수 있는 운동으로 실내 스포츠 수요가 급증 하고 있다. 이에 스포츠 클라이밍의 인기 또한 증가하고 있는 추세이다. 또한, ICT기술의 발전으로 스포츠 산업에서도 ICT융합이 활발히 진행 중이다. 이에 실내 스포츠 클라이밍은 ICT기술 융합이 용이한 환경으로 컴퓨팅 환경을 구성하기 적합하다. 따라서 ICT융합 스포츠 클라이밍에 대한 새로운 신조어 스크린 클라이밍이라는 말이 나오고 이에 대한 인터랙티브 인공 암벽이라는 연구가 진행 되었다. 하지만 스포츠 클라이밍에서 사용되는 모바일 애플리케이션의 연구는 현저히 부족한 상황이다. 현재 상용화되어 있는 클라이밍 애플리케이션은 일방적인 정보제공에 그쳐 정보의 확장 및 재생산이 어렵고, 자신의 기록 측정 및 정리 과정이 번거롭다는 한계가 있다. 이에 본 논문에서는 인터랙티브 인공 암벽 활용을 위한 모바일 애플리케이션을 제안하고 구현한다. 즉, 사용자가 실제로 쉽고 편리하게 등반 루트와 등반 기술에 대한 정보를 제공받고 자신의 등반 기록을 관리할 수 있는 사용자 친화적 클라이밍 모바일 애플리케이션을 구현한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.237-240
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• 1997

The design of underwater inspection robot system is presented. This robot system is designed for wall inspection in the nuclear plant facility. This paper describes the major components of the robot and its structures. This robot system is consisted of three parts : mechanical electrical and sensing pail. The main problem of designing mechanical part is to select the mechanism of driving. In this system the propeller driving mechanism is selected which can be move the robot continuously. For reducing the size of robot, we designed the CPU and motor controller board. The sensor system is consisted of two parts. One is environment monitoring part and the other is robot localization system.

• 한국조경학회지
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• 제22권1호
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• pp.121-134
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• 1994

This study was surveyed the vegetation on the 2∼3 walls at 22 districts in Seoul to get basic data for wall planting in urban environment. The results were as follows: 1. 45 families, 90 genera and 113 species were grown on the walls in Seoul and woody wall plants were 30 species(26.5%) and herbaceous plants were 83 species(73.5%). 2. Of 30 woody species, evergreen species were 7(23.3%) and deciduous species were 23(76.7%). 3. Of 83 herbaceous species, annuals were 43(51.8%), biennials 12(14.5%), and perennials 28(33.7%). 4. Climbing wall plants were 28 species(24.8%). 5. 35 species(31.0%) were planted artificially and 78 species(69.0%) were self-grown plants. 6. Of 138 planted walls, 46 walls were covered with Parthenocissus tricuspidata(33.3%), 11 walls Forsythia koreana(8.0%), 9 walls Pharbitis nil(6.5%), 9 walls Wisteria floribunda(6.5%), and 8 walls Rosa multiflora var. platyphlla(5.8%). 7. In the comparison of native and exotic plants on the walls in Seoul, native species were 84(74.3%) and exotic were 29(25.7%).

• 로봇학회논문지
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• 제2권2호
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• pp.161-167
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• 2007

It is dangerous that an inspector overhauls defects and condition of the inner parts of an oil tanker because of many harmful gases, complex structures, and etc. However, these inspections are necessary to many oil tankers over old years. In this study, we proposed the design of mobile robot for inspection of CAS in oil tanker. The developed CAS inspection mobile robot has four modules, a measurement module of oil tanker's thickness, a corrosion inspection module, a climbing module of the surface on a wall, and a monitoring module. In order to get over at a check position, the driving control algorithm was developed. Magnetic wheels are used to move on the surface of a wall. This study constructed a communication network and the monitoring program to operate the developed mobile robot from remote sites. In order to evaluate the inspection ability, the experiments about performance of CAS inspection using the developed mobile robot have been carried out.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2019년도 춘계학술발표대회
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• pp.423-426
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• 2019

본 논문은 진공을 이용한 흡착방식과 바퀴형 이동방식을 사용하는 벽면이동로봇의 구성 및 벽면 균열 검출 알고리즘에 관한 연구로써, 카메라와 함께 임베디드 시스템을 구성하였으며 Convolutional Neural Network를 이용한 머신러닝 알고리즘을 통해 균열을 감지하고 검출된 균열의 영상과 위치정보를 서버(관리자 장치)로 전송하는 통신 환경을 구축하였다. 균열 검출 성능을 검증하기 위해 균열 데이터를 이용하여 실험하고 결과를 제시하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.314-319
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• 2005

When a robot navigates in the real environment, it frequently meets various environments that can be expressed by simple geometrical shapes such as fiat floor, uneven floor, floor with obstacles, slopes, concave or convex corners, etc. Among them, the convex corner composed of two plain surfaces is the most difficult one for the robot to negotiate. In this paper, we propose a gait planning algorithm to help the robot overcome the convex environment. The trajectory of the body is derived from the maximum distance between the edge boundary of the corner and the bottom of the robot when it travels in the convex environment. Additionally, we find the relation between kinematical structure of the robot and its ability of avoiding collision. The relation is realized by considering the workspace and the best posture of the robot in the convex structure. To provide necessary information for the algorithm, we use an IR sensor attached in the leg of the robot to perceive the convex environment. The validity of the gait planning algorithm is verified through simulations and the performance is demonstrated using a quadruped walking robot, called "MRWALLSPECT III"( Multifunctional Robot for WALL inSPECTion version 3).