통합 검색 | Korea Science

김균태;한재구;김창한
- 한국건축시공학회:학술대회논문집
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- 한국건축시공학회 2012년도 춘계 학술논문 발표대회
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- pp.157-159
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- 2012
In recent years, the number of high-rise buildings has been on the rise. As buildings have become larger in scale, significantly different issues related to their construction and maintenance have emerged. In addition, the automation and mechanization of the cleaning work for the curtain wall, one of the most frequently-performed tasks in building maintenance, is required as a fundamental measure. For this reason, a guide-rail type cleaning robot system is emerging as one of the measures in response to external factors, including gust. The major objective of this study is to propose an economic feasibility forecasting model and to apply the a building facade cleaning robot which is now under development.
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이승훈;김동형;강민성;길명수;김영수;백성훈;한창수
- 제어로봇시스템학회논문지
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- 제18권5호
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- pp.445-452
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- 2012
With the increasing number of high-rise and large-scale buildings, modern buildings are becoming intelligent, and are incurring high construction costs and requiring careful maintenance. Maintenance works for high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. The resulting accidents may produce very high social and economic losses. To address this problem, herein, this paper proposes robotic building maintenance system using multi-robot concept, in specific, cleaning a building facade which is directly subjected to minimize human labor; that improves the process efficiency and economic feasibility. The sensor for detecting contamination of building's outer-wall glass is proposed; Kalman filter was used for estimating robots' status with the contamination of the window glass. Task allocation of the sensor based multi-robots for an effective way of task execution is introduced and the feasibility was verified through the simulations.
https://doi.org/10.5302/J.ICROS.2012.18.5.445 인용 PDF KSCI