The Experts below are selected from a list of 37116 Experts worldwide ranked by ideXlab platform
Changsoo Han - One of the best experts on this subject based on the ideXlab platform.
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vertical motion control of Building Facade maintenance robot with built in guide rail
Robotics and Computer-integrated Manufacturing, 2015Co-Authors: Sung Min Moon, Jaemyung Huh, Seung Hoon Lee, Daehie Hong, Changsoo HanAbstract:Recently, the number of high-rise Building has increased along with the development of technology to cope with the increase in population. Because of this, many researches on an automatic Building Facade maintenance system have been conducted to satisfy the increasing demands of Facade maintenance. However, most researches have focused on the mechanism and system composition, while working safety issues have not been sufficiently dealt with. This paper deals with the motion control issues of the Building Facade maintenance robot system which is composed of a vertical robot and a horizontal robot moving along the rail of the Facade. With consideration for the vertical robot, these issues include the safety of docking process and the stability of vertical motion. During the docking process for the inter-floor circulation of the horizontal robot, shocks and positioning errors are generated due to increasing load. To solve this, the rail brake system is operated to suppress the shock during the docking process, and a re-leveling process is conducted to compensate the gap which is equal to the positioning error between the built-in transom rail of the robot and the transom rail of the Building. In addition, many noises are generated from the surroundings that significantly affect the motion of the vertical robot due to vibration. To enhance the motion stability of the vertical robot, vibration suppression control is developed in this paper, using the state estimation which considers the dynamic properties of the wire rope. For the feasibility of this algorithm, the field experiment of the Building Facade maintenance robot is conducted. Display Omitted Composed of the vertical and horizontal robot moving along the rail of the Facade.Include the stability of vertical motion during the docking process and inter-floor circulation.A rail brake system is applied to reduce the shock and vibration caused when docking the robots.The re-leveling control is performed to align in the vertical robot on the transom rail of the Building.The vibration suppression control is applied to enhance vertical motion stability of the robot system.
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sensor based motion planning and estimation of highrise Building Facade maintenance robot
International Journal of Precision Engineering and Manufacturing, 2012Co-Authors: Seung Hoon Lee, Minsung Kang, Changsoo HanAbstract: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.
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proposal of built in guide rail type Building Facade cleaning robot and its motion planning algorithm
Conference on Automation Science and Engineering, 2012Co-Authors: Donghyung Kim, Boill Chun, Minsung Kang, Seung Hoon Lee, Changsoo HanAbstract:Owing to the increasing number of high-rise Buildings and large glass Facades and the resulting problem of safe and effective maintenance, many trials have taken place in the last few years to develop automated cleaning systems. So as to guide the robot's movement on the Facade, this study proposes the built-in-guide type Building maintenance robot system using additional module such as guidance mullion to the Facade. In specific, this paper proposes robotic Building Facade cleaning system 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. Through the simulations, an effective way of task execution is introduced and the feasibility was verified with the proposed sensor based motion control algorithm.
Fei Tang - One of the best experts on this subject based on the ideXlab platform.
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Experimental study of the downward flame spreading characteristics of Building Facade flexible polyurethane with a lateral environment wind effect
'Elsevier BV', 2021Co-Authors: Qinghua Zhou, Wang Yang Gui, Xudong Cheng, Fei TangAbstract:This work looks into the relationship between the downward burning behavior of flexible polyurethane (FPU) and horizontal wind speed. The flame geometry, burning rate, flame radiation, and temperature field under different wind speeds were studied experimentally. The results showed that the flame front on the windward side inclined obviously, and the flame front on the leeward side shrank gradually with the increase of wind speed and disappeared when the wind speed increased to a critical value. The burning rate and fuel melting/dripping increased first and then decreased because of the reduced flame radiation angle coefficient and the cooling and flame stripping effects induced by increased wind speed. Froude number and flame angle are positively correlated with the wind speed. The relationship between the flame angle and dimensionless velocity index is significantly lower than that of pool fire due to the inference of backplane on airflow field. The temperature at leeward side is higher than that on windward side. The peak of radiant heat flux decreases with the increase of wind speed because the inclination of the flame surface reduces the radiation area. The results of this study will permit assessments of high-rise Building fire safety issues in actual windy environments
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heat flux profile upon Building Facade due to ejected thermal plume from window in a subatmospheric pressure at high altitude
Energy and Buildings, 2015Co-Authors: Fei Tang, Xiaochun Zhang, Qin ShiAbstract:Abstract This paper compares the heat flux profile upon Building external Facade due to ejected thermal plume from window in a subatmospheric pressure (64 kPa, Lhasa, Tibet, altitude: 3650 m) with that in normal pressure (100 kPa, Hefei, altitude: 50 m) and proposes a global correlation for these two pressures. A set of experiments is carried out in a 0.4 m cubic scale room model with a Facade wall attached and a window of various geometries in these two altitudes to study the influence of the ambient pressure on the heat flux profile upon external Facade due to ejected thermal plume from the room. Water-cooled heat flux gage arrays are employed to measure the vertical heat flux profile upon the Facade wall. It is found that the heat flux profile upon the Facade wall in the vicinity of window is much higher in the subatmospheric pressure than that in the normal pressure. A new global correlation is proposed to characterize the vertical profile of the heat flux upon external Facade in the thermal plume region by accounting for relative entrainment change in these two pressures.
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window ejected flame height and heat flux along Facade with air entrainment constraint by a sloping facing wall
Fire Safety Journal, 2015Co-Authors: Fei Tang, Xiaochun Zhang, Longhua Hu, Kaihua LuAbstract:Abstract External Building Facade fires from window of under-ventilated enclosure fire poses a serious fire hazard to upper floors. This paper investigates specially the constraint effects of a sloping facing wall (similar to hillside Building with a hillside slope nearby) on the external Facade flame behavior, which is quite different from that with no such constraint boundaries. Experiments are carried out in a 0.4 m cubic scale enclosure fire model with various window geometries and a sloping facing wall at different sloping angles from horizontal level. It is found that, the gas temperature inside the enclosure is nearly uniform both with and without sloping facing wall. The Facade flame height increases with the increase in sloping wall angle, especially as it is over 60°. Non-dimensional models are proposed to correlate the flame heights with the sloping facing wall angles. The change of heat flux upon the Facade with sloping facing wall angle shows similar behavior as flame height. The variation of heat flux is then found to be well accounted for by change of flame height accordingly for different sloping facing wall angles with a proposed correlation.
Andreas K Athienitis - One of the best experts on this subject based on the ideXlab platform.
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thermal performance of a hybrid bipv pcm modeling design and experimental investigation
Energy Procedia, 2014Co-Authors: Laura Aelenei, R Pereira, Helder Goncalves, Andreas K AthienitisAbstract:Abstract In this paper, a BIPV-PCM installed in an office Building Facade is investigated to approach the practical application of PV-PCM. Based on an updated mathematical model, theoretical simulation has been conducted for BIPV-PCM in this case. Furthermore, field testing for this case has also been performed to validate the model, and then the simulated and experimental results are compared and found in considerably good agreement. The experiments have been conducted during the winter time, as the prototype has been installed in January 2013. The experimental and numerical results show a good agreement, the maximum electrical efficiency of this BIPV-PCM can reach 10% and the thermal one 12%.
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airflow assessment in cross ventilated Buildings with operable Facade elements
Building and Environment, 2011Co-Authors: Panagiota Karava, T Stathopoulos, Andreas K AthienitisAbstract:This paper presents an experimental study of basic cross-ventilation flow characteristics that are essential inputs for accurate natural ventilation modelling and design. The study focuses on a generic single-zone Building model tested in a wind tunnel under isothermal flow conditions (wind-driven ventilation). An advanced experimental method based on particle image velocimetry (PIV) was developed to investigate the air velocity field in Buildings with cross-ventilation. It was found that airflow patterns in rooms with cross-ventilation are complex and cannot be predicted by simplified macroscopic models such as the orifice equation. Inlet-to-outlet ratio and relative location of openings on a Building Facade are important parameters to be considered, in addition to the wall porosity. This study provides new insights that enable improved design and control of operable Facade elements to enhance space cooling using natural ventilation.
Qin Shi - One of the best experts on this subject based on the ideXlab platform.
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heat flux profile upon Building Facade due to ejected thermal plume from window in a subatmospheric pressure at high altitude
Energy and Buildings, 2015Co-Authors: Fei Tang, Xiaochun Zhang, Qin ShiAbstract:Abstract This paper compares the heat flux profile upon Building external Facade due to ejected thermal plume from window in a subatmospheric pressure (64 kPa, Lhasa, Tibet, altitude: 3650 m) with that in normal pressure (100 kPa, Hefei, altitude: 50 m) and proposes a global correlation for these two pressures. A set of experiments is carried out in a 0.4 m cubic scale room model with a Facade wall attached and a window of various geometries in these two altitudes to study the influence of the ambient pressure on the heat flux profile upon external Facade due to ejected thermal plume from the room. Water-cooled heat flux gage arrays are employed to measure the vertical heat flux profile upon the Facade wall. It is found that the heat flux profile upon the Facade wall in the vicinity of window is much higher in the subatmospheric pressure than that in the normal pressure. A new global correlation is proposed to characterize the vertical profile of the heat flux upon external Facade in the thermal plume region by accounting for relative entrainment change in these two pressures.
Seung Hoon Lee - One of the best experts on this subject based on the ideXlab platform.
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vertical motion control of Building Facade maintenance robot with built in guide rail
Robotics and Computer-integrated Manufacturing, 2015Co-Authors: Sung Min Moon, Jaemyung Huh, Seung Hoon Lee, Daehie Hong, Changsoo HanAbstract:Recently, the number of high-rise Building has increased along with the development of technology to cope with the increase in population. Because of this, many researches on an automatic Building Facade maintenance system have been conducted to satisfy the increasing demands of Facade maintenance. However, most researches have focused on the mechanism and system composition, while working safety issues have not been sufficiently dealt with. This paper deals with the motion control issues of the Building Facade maintenance robot system which is composed of a vertical robot and a horizontal robot moving along the rail of the Facade. With consideration for the vertical robot, these issues include the safety of docking process and the stability of vertical motion. During the docking process for the inter-floor circulation of the horizontal robot, shocks and positioning errors are generated due to increasing load. To solve this, the rail brake system is operated to suppress the shock during the docking process, and a re-leveling process is conducted to compensate the gap which is equal to the positioning error between the built-in transom rail of the robot and the transom rail of the Building. In addition, many noises are generated from the surroundings that significantly affect the motion of the vertical robot due to vibration. To enhance the motion stability of the vertical robot, vibration suppression control is developed in this paper, using the state estimation which considers the dynamic properties of the wire rope. For the feasibility of this algorithm, the field experiment of the Building Facade maintenance robot is conducted. Display Omitted Composed of the vertical and horizontal robot moving along the rail of the Facade.Include the stability of vertical motion during the docking process and inter-floor circulation.A rail brake system is applied to reduce the shock and vibration caused when docking the robots.The re-leveling control is performed to align in the vertical robot on the transom rail of the Building.The vibration suppression control is applied to enhance vertical motion stability of the robot system.
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sensor based motion planning and estimation of highrise Building Facade maintenance robot
International Journal of Precision Engineering and Manufacturing, 2012Co-Authors: Seung Hoon Lee, Minsung Kang, Changsoo HanAbstract: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.
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proposal of built in guide rail type Building Facade cleaning robot and its motion planning algorithm
Conference on Automation Science and Engineering, 2012Co-Authors: Donghyung Kim, Boill Chun, Minsung Kang, Seung Hoon Lee, Changsoo HanAbstract:Owing to the increasing number of high-rise Buildings and large glass Facades and the resulting problem of safe and effective maintenance, many trials have taken place in the last few years to develop automated cleaning systems. So as to guide the robot's movement on the Facade, this study proposes the built-in-guide type Building maintenance robot system using additional module such as guidance mullion to the Facade. In specific, this paper proposes robotic Building Facade cleaning system 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. Through the simulations, an effective way of task execution is introduced and the feasibility was verified with the proposed sensor based motion control algorithm.
