In Korea, water spraying to suppress the dust during building dismantling operations has been done manually by human laborers, considered extremely dangerous since it often causes fatal accidents. Abroad, however, water spraying machines have been developed and used in construction sites instead of workers to prevent such serious industrial accidents. In this study, the first domestic water spraying machine is suggested. Since the spraying machine should have a novel dust tracking function, an optimal structure and mechanism should be designed to guarantee its motion performance. The motion for target tracking is achieved by the 2 DOF (Degrees of Freedom) structure comprising a linear and a rotary actuator. Then, the geometric analysis was performed to provide a sufficient kinematic workspace. Through the dynamic performance simulation, the optimal actuator capacities could be selected to generate an appropriate acceleration. The geometric and dynamic performance was evaluated by the extensive motion experiments. With this study, it is expected that an advanced water spraying machine can be developed only with domestic technologies to protect construction laborers from potentially dangerous accidents.
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Excavator Posture Estimation and Position Tracking System Based on Kinematics and Sensor Network to Control Mist-Spraying Robot Sangwoong Lee, Hyunbin Park, Baeksuk Chu IEEE Access.2022; 10: 107949. CrossRef
In this study, slip phenomenon that occurs during trajectory tracking motion of an omni-directional mobile robot based on Mecanum wheels was analyzed. Mecanum wheels which generate the omni-directionality to the mobile robot comprise a centered rim wheel and passive sub-rollers. In forward and backward motion, they function like usual wheels to enable rolling along the ground. However, in sideways motion, they create lateral motion of the mobile robot from the rotational actuation using their peculiar structural configuration, during which slip of the sub-rollers occurs. Unnecessary over-slip of the sub-rollers causes tracking errors of the mobile robot motion. To analyze the properties and reasons for the slip phenomenon, squared and circular trajectory tacking experiments were performed. From the experiments, it was observed that sideways motion generated respectively larger tracking errors than forward and backward motion. The geometric analysis regarding the tracking error generation was discussed using the Mecanum wheel structure. Finally, it was confirmed that suspension mechanism to provide four Mecanum wheels of the mobile robot with even reaction forces on the ground is necessary.
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Recently, improvement of productivity of the paper cup forming machine has being conducted by increasing manufacturing speed. However, rapid manufacturing speed imposes high load on cams and cam followers. It accelerates wear and cracking, and increases paper cup failure. In this study, a failure diagnosis algorithm was suggested using vibration data measured from cam driving parts. Among various paper cup forming processes, a test bed imitating the bottom paper attaching process was manufactured. Accelerometers were installed on the test bed to collect data. To diagnose failure from measured data, the K-NN (K-Nearest Neighbor) classifier was used. To find a decision boundary between normal and abnormal state, learning data were collected from normal and abnormal state, and normal and abnormal cams. A few representative features such as mean and variance were selected and transformed to the relevant form for the classifier. Classification experiments were performed with the developed classifier and data gathered from the test bed. According to assigned K values, a successful classification result was obtained which means appropriate failure recognition.
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A Study on 3D Printing Conditions Prediction Model of Bone Plates Using Machine Learning Song Yeon Lee, Yong Jeong Huh Journal of the Korean Society for Precision Engineering.2022; 39(4): 291. CrossRef
Water spraying work to prevent the dust from scattering during building dismantling operation has usually been done manually. Since it is very risky and often causes fatal accidents due to unexpected collapse, a few countries have adopted mechanical water spaying machines. However, these machines are still operated by human laborer, specifically in orienting the spraying direction, which induces low dust suppression efficiency. In this research, an automated fine dust tracking system was suggested to identify and track the dust generating position accurately. A GPS is installed on the secured body of the excavator which contains a crusher as an end-effector for building dismantlement. Assuming the position of the crusher is the dust generating spot, a forward kinematics analysis is performed to identify the crusher position from the body origin on which the GPS sensor is placed. With another GPS on the water-spraying robot, its relative position to the dust generating spot and its heading angle for tracking can be calculated consequently. Tracking experiments were conducted with a miniature excavator and a reduced size water spraying robot. The results showed a sufficient tracking performance enough to be applied to the water spaying machines.
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Autonomous Fine Dust Source Tracking System of the Water Spray Robot for High-rise Building Demolition Hyeongyeong Jeong, Hyunbin Park, Jaemin Shin, Hyeonjae Jeong, Baeksuk Chu Journal of the Korean Society for Precision Engineering.2023; 40(9): 695. CrossRef
Motion Trajectory Planning and Design of Material Spraying Service Robot Gang Wang, Hongyuan Wen, Jun Feng, Jun Zhou, Haichang Zhang Advances in Materials Science and Engineering.2022; 2022: 1. CrossRef
Excavator Posture Estimation and Position Tracking System Based on Kinematics and Sensor Network to Control Mist-Spraying Robot Sangwoong Lee, Hyunbin Park, Baeksuk Chu IEEE Access.2022; 10: 107949. CrossRef
Optimal Design and Verification of a Water Spraying Robot for Dust Suppression Seolha Kim, Baeksuk Chu Journal of the Korean Society for Precision Engineering.2020; 37(10): 729. CrossRef
A paper cup forming machine performs the entire process to produce paper cups. Recently, as the demand for paper cups in various fields increases, the need for rapid and timely paper cup forming also increases. However, the more rapid the manufacturing speed is, the higher the possibility of forming failure. Frequent fault occurrences cause a time-consuming and costly repair process and reduces manufacturing efficiency. Among various fault factors in this research, position deviation of the paper from the original position, which induces a jamming and process stop, was selected and a novel deviation detecting system using multiple photo sensors was suggested. Before operating the position detecting system, the performance of the photo sensors was evaluated with respect to response speed and photo beam precision. A deviation detecting mechanism was designed. The developed deviation detecting system was integrated with the paper cup forming machine and experimented with using base papers. It was conformed that the suggested system could be used to diagnose paper deviation failure.
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The Development of a Failure Diagnosis System for High-Speed Manufacturing of a Paper Cup-Forming Machine Seolha Kim, Jaeho Jang, Baeksuk Chu Journal of the Korean Society of Manufacturing Process Engineers.2019; 18(5): 37. CrossRef
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