• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.43 no.5 s.311
• /
• pp.19-27
• /
• 2006

Improvement in gait stability of fault-tolerant gaits for quadruped robots is addressed in this paper. The previously developed fault-tolerant gait gives a quadruped robot the ability to continue its walk against the occurrence of a leg failure. But it has a drawback of having marginal gait stability, which may lead to tumbling when the robot body's center of gravity is perturbed. To overcome such a drawback, a novel fault-tolerant gait is presented in this paper that generates positive stability margin against a locked joint failure, in which a joint of a leg is locked in a known place. Positive stability margin is obtained by adjusting foot positions of supporting legs between leg swing sequences. The advantages of the proposed fault-tolerant gait are discussed by comparing with the previous gait in terms of gait stability, stride length and gait velocity.

• Journal of Energy Engineering
• /
• v.22 no.3
• /
• pp.312-325
• /
• 2013

This article analyzes the lock-in factors and their advancement direction of Korean energy innovation system(EIS), using case-study methodology. As the lock-in factors, which have been structural and complicated ones in the developing process of Korean EIS, are postulated government policies, market, industrial network, and demand condition. The lock-in phenomena result from connecting and conflicting incompletely among government policies, competing and controlling oligopolistically in market, constructing insufficiently in intra-industrial value-chain, and lowering in demand efficiency. To cope with these lock-in structure, connection among government policies, activation in market competition, coordination of industrial structure for added values, and uprading in energy efficiency are needed.

• Journal of Energy Engineering
• /
• v.23 no.2
• /
• pp.125-148
• /
• 2014

This paper performs a historical analysis on the various factors contributing to the current carbon lock-in of Korean electricity industry by using techo-institutional complex. The possibilities of the industry's carbon lock-out toward more sustainable development are also investigated. It turns out that market, firm, consumer, and government factors are all responsible for the development of the carbon lock-in of Korean power industry; the Korean government consistently favoring large power plants based on the economy of scale; below-cost electricity tariff; inflation policy to suppress increases in power price; rapid demand growth in summer and winter seasons; rigidities of electricity tariff; and expansion of gas-fired and imported coal-fired large power plants. On the other hand, except for nuclear power generation and smart grid, environment laws and new and renewable energy laws are the other remaining factors contributing to the carbon lock-out. Considering three key points that Korea is an export-oriented economy, the generation mix is the most critical factor to decide the amounts of carbon emission in the power industry, and the share of industry and commercial power consumption is over 85%, it is unlikely that Korea will achieve the carbon lock-out of power industry in the near future. Therefore, there are needs for more integrated approaches from market, firm, consumer, and government all together in order to achieve the carbon lock-out in the electricity industry. Firstly, from the market perspective, it is necessary to persue more active new and renewable energy penetration and to guarantee consumer choices by mitigating the incumbent's monopoly power as in the OECD countries. Secondly, from the firm perspective, the promotion of distributed energy system is urgent, which includes new and renewable resources and demand resources. Thirdly, from the consumer perspective, more green choices in the power tariff and customer awareness on the carbon lock-out are needed. Lastly, the government shall urgently improve power planning frameworks to include the various externalities that were not properly reflected in the past such as environmental and social conflict costs.

• The KSFM Journal of Fluid Machinery
• /
• v.10 no.5
• /
• pp.20-26
• /
• 2007

Some gate valves are susceptible to pressure locking and thermal binding which prevent the safety function. The safety related gate valves susceptible to pressure locking and thermal binding shall be identified and taken preventive actions to ensure the safety function. The identification of the gate valves susceptible to pressure locking and thermal binding needs the evaluation of system design, valve and piping arrangement, test requirements, and operating conditions. Application of preventive methods should consider the system safety function, applicability, effectiveness, interface with system design, and cost. The selection procedure of valves susceptible to pressure locking and thermal binding can be effectively used in industry including nuclear power plants. In order to prevent the pressure locking, the hole can be drilled through the one disc of upstream side or down stream and the external equalizing line can be installed from bonnet to downstream or upstream. The double disc parallel seat valve type can be used instead of flexible wedge gate valve to prevent the thermal binding. The identification of gate valves susceptible to pressure locking and thermal binding, and preventive actions will meet the regulatory requirements and enhance the availability and safety of plants.

• Journal of Aquaculture
• /
• v.18 no.3
• /
• pp.142-146
• /
• 2005

In this study, the reattachment processes of small and medium size of spot of Mytilus coruscus and M. edulis were observed. The small spats (Shell length, SH, $3{\sim}7mm$) of hard shelled mussel, M. coruscus showed 100% reattachment rate within 7 minutes after the detachment of byssus thread and 100% survival rate. While large spats (SH 25 mm) showed 85% reattachment rate within 5 hours and 100% survival rate for 24 hours. The reattachment rate of M. edulis (SH 30 mm) was higher than that of M. coruscus (SH, 28 mm). The thread consisted of three identifiable structures; adhesive disc, adhesive thread and adhesive root. The adhesive disk and adhesive thread of M. coruscus were larger and thicker than those of M. edulis, whereas the thickness of adhesive root was the other way round. Further studies are required to identify the relationship between the structure of byssus thread and attachment ability. This study suggests that the sizes of spats could be an important factor in determining the timing of removing and reattaching mussel seedling for aquaculture or releasing to the sea.

• Journal of Information Management
• /
• v.18 no.1
• /
• pp.1-55
• /
• 1985

• Proceedings of the Korean Fiber Society Conference
• /
• 1995.10a
• /
• pp.7-7
• /
• 1995

• Proceedings of the Korean Society of Dyers and Finishers Conference
• /
• 2002.04a
• /
• pp.44-48
• /
• 2002

• Proceedings of the KSME Conference
• /
• 2001.06d
• /
• pp.630-635
• /
• 2001

The stem thrust required to unwedging a gate valve is influenced by the pressure and temperature when the valve is closed and by the changes in these conditions between closure and opening. "Pressure Locking" and "Thennal Binding" refer to situations where pressure and temperature effects cause the unwedging load to be much higher than normal. A model of these phenomena has been developed. The effects of pressure and temperature are analyzed to determine the change in this disk-to-seat "interference". Flexibilities or Stiffness of the disk and body strongly influence the unwedging thrust. Calculation and limited comparison to data have been performed for the RHR motor operated valve designs and scenario. Pressure changes can increase the unwedging thrust when bonnet pressure exceeds the pressure in the adjacent piping and temperature changes can increase the unwedging thrust when a temperature change after closure produces an increase in the disk-to-seat interference.

• Textile Coloration and Finishing
• /
• v.6 no.4
• /
• pp.77-91
• /
• 1994

1956년 반응염료가 시판된 이래 장족의 발전을 하였으며, 구형의 cellulose용 염색을 추월하여 거의 대부분의 cellulose의 염색에 반응염료, 일변도로 사용되고 있는 것이 현실이다. 그러나 많은 반응 염료의 장점에도 불구하고 세월이 가면서 문제점도 만만치 않다. 장점으로는 색상이 선명하고 견뢰도가 우수하고 응용범위가 넓고 조작이 용이하다는 점이며, 문제점으로 나타난 것은 흡착염색공정에서 다량의 전해질과 알칼리제를 첨가함에도 불구하고 흡착율, 고착율이 낮고 염색후의 세정공정과 많은 물과 energy 및 시간을 필요로 한다는 사실이다. 또한 최근 더욱 관심을 끈 것은 반응염료의 가수분해 현상으로 인하여 다량의 가수분해된 염료가 폐수화하여 버려짐으써 심각한 공해가 야기할 뿐만 아니라 염색물에 부착하여 견뢰도에도 영향이 많다. 이런 문제를 염료제조업계에서는 해결하지 않으면 안될 시점에 와 있다. 이와 같은 문제점을 염료의 구조적인 면, 염색적인 면 그리고 소비자의 취급적인 면에서 검토하여 과거의 영광을 존속하기 위하여 개량형의 염료를 합성하여 고고착률, wash-off성의 양호 및 일광, 염소, 땀, 세탁 등에 견뢰한 염료를 얻고자 반응염료의 현황과 문제점을 정리해 보고자 한다.