• International Journal of Air-Conditioning and Refrigeration
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• v.11 no.2
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• pp.61-66
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• 2003

In order to prevent roll-over and a rapid boil-off of LNG in tanks, the phase equilibria of carbon dioxide in liquefied natural gas components as binary mixtures at cryogenic temperatures have been experimentally measured using Fourier transform infrared spectroscopy in conjunction with a specially designed variable pressure/temperature cryostat cell (pathlength 2 mm; pressures up to 30 bar). Solid carbon dioxide has been found to be comparatively soluble in liquid nitrogen (3.25$\times$${10}^{-6}$ mole fraction), liquid methane (1.04$\times$${10}^{-4}$ mole fraction), liquid ethane (3.1$\times$${10}^{-2}$ mole fraction) and liquid propane (6.11$\times$${10}^{-2}$ mole fraction) at their normal boiling temperatures. The solubilities of carbon dioxide in various cryogens, which increased with increasing temperature, are much lower than those obtained by others using gas chromatography. The differences are attributed to infrared spectroscopy selectively measuring dissolved solute in situ whereas gas chromatography measures microscopic particulate solid in addition to dissolved solute.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.331-337
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• 2008

The field of robots is being widely accepted as a new technology today. Many robots are produced continuously to impart amusement to people. Especially the robot which operates with a wheelbarrow was enough of a work of art to arouse excitement in the audiences. All the wheelbarrow robots share the same technology in that the direction of roll and pitch are acting as balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However one disadvantage of this technology is that they cannot avoid obstacles in their way. Therefore movement in sideways is a necessity. For the control of rotation of yawing direction, the angle and direction of rotation are adjusted according to the velocity and torque of rotation of a motor. Therefore this study aimed to inquire into controlling yawing direction, which is responsible for rotation of a robot. This was followed by creating a simulation of a wheelbarrow robot and equipping the robot with a yawing direction controlling device in the center of the body so as to allow sideway movements.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.05a
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• pp.539-540
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• 2012

최근까지 무인 항공기는 군사적인 목적으로 활용하기 위해 활발하게 연구 되어 왔다. 근래에 들어 레저용, 또는 상업용으로 활용도가 급격히 증대되고 있다. 이에 국내외의 대학 및 연구기간에서 무인항공기의 자동비행 제어시스템을 위한 연구를 활발히 진행되고 있다. 최근 들어 무인항공기로 제어하기가 쉽고 활용도가 높은 쿼드로터 비행체가 각광을 받고 있는데 이미 많은 연구가 진행되어 왔다. 이러한 쿼드로터는 4개의 로터의 속도 제어로 비행체의 위치제어가 가능하다. 쿼드로터의 구조적인 이점으로 제어가 쉬운 반면 바람과 같은 외란에 매우 취약하다는 단점이 있어 실제 위치 제어가 쉽지가 않다. 본 논문에서는 외란(disturbance)에 취약한 쿼드로터의 위치제어를 안정하게 제어하기 위해 비행체의 자세 측정 센서인 관성측정장치(Inertial Measurement Unit)를 만들어 비행체의 자세를 측정 할 수 있도록 하였다. IMU는 자이로(Gyro)와 가속도(Accelerometer) 센서를 융합하여 비행체의 Roll, Pitch, Yaw 자세를 계측할 수 있도록 하였다. 본 논문에서는 일반적인 PID 제어기법을 적용하여 기존의 쿼드로터의 비행체에 대한 제어 성능을 실험을 제시하고자 한다.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.336-341
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• 2015

This paper proposes a balancing and driving control system for a Mecanum wheel ball robot which has a two axis structure and four motors. The inverted pendulum control method is adopted to maintain the balance of the ball robot while it is driving. For the balancing control, an anon-model-based controller has been designed to control the device simply without the need of a complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. For the driving control, the PID control algorithm has been adopted with angles of the wheels and the encoder data. The performance of the designed control system has been verified through the real experiments with the suggested ball robot.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.19 no.10
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• pp.966-970
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• 2006

We reported on characteristics of the piezoelectric ceramic-polymer composite for the application of the thick-film speaker. The PVDF-PZT composites were fabricated to incorporate the advantages of both ceramic and polymer with various mixing ratios by 3-roll mill mixer. The composite solutions were coated by the conventional screen-printing method on ITO electrode coated PET (Polyethylene terephthalate) polymer film. After depositing the top-electrode of silver-paste, 4 kV/mm of DC field was applied at $120^{\circ}C$ for 30 min to poling the composite films. The value of $d_{33}$ (piezoelectric charge constant) was increased when the PZT weight percent was increased. The maximum value of the $d_{33}$ was 24 pC/N at 70 wt% PZT. But the $g{33}$ (piezoelectric voltage constant) showed the maximum value of $32mV{\cdot}m/N$ at 65 wt% of PZT powder. The SPL (sound pressure level) of the speaker fabricated with the 65:35 composite film was about 68 dB at 1 kHz.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.4
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• pp.169-176
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• 2000

Longitudinal and lateral forces acting on tires are known to be closely related to the tract-ability braking characteristics handling stability and maneuverability of ground vehicles. In thie paper in order to develop tire force monitoring systems a monitoring model is proposed utilizing not only the vehicle dynamics but also the roll motion. Based on the monitoring model three monitoring systems are developed to estimate the tire force acting on each tire. Two monitoring systems are designed utilizing the conventional estimation techniques such as SMO(Sliding Mode Observer) and EKF(Extended Kalman Filter). An additional monitoring system is designed based on a new SKFMEC(Scaled Kalman Filter with Model Error Compensator) technique which is developed to improve the performance of EKF method. Tire force estimation performance of the three monitoring systems is compared in the Matlab simulations where true tire force data is generated from a 14 DOF vehicle model with the combined-slip Magic Formula tire model. The built in our Lab. simulation results show that the SKFMEC method gives the best performance when the driving and road conditions are perturbed.

• Journal of computational fluids engineering
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• v.9 no.1
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• pp.1-9
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• 2004

Large eddy simulation is used to investigate the compressible flow over a cavity with high aspect ratio. The sub-grid scale stresses are modeled using the dynamic model. The compressible Navier-Stokes equations are solved with the sixth order accurate compact finite difference scheme in the space and the 4th order Runge-Kutta scheme in the time. The buffer Bone techniques are used for non-reflecting boundary conditions. The results show the shear layer oscillation over the cavity. The votical disturbances, the roll-up of vorticity, and impingement and scattering of vorticity at the downstream cavity edge can be seen in the shear layer. Several peaks for the resonant frequencies are found in the spectra of the vertical velocity at the center-line. The most energetic Peak near the downstream edge is different from that at the center part of the cavity The pressure has its minimum value in the vortex core inside the cavity, and becomes very high at the downstream face of the cavity. The variation of the model coefficient predicted by the dynamic model is quite large between 0 and 0.3. The model coefficient increases in the stream-wise evolution of the shear layer and sharply decreases near the wall due to the wall effect.

• The Plant Pathology Journal
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• v.30 no.4
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• pp.407-415
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• 2014

Viral diseases have been a major limiting factor threating sustainable potato (Solanum tuberosum L.) production in Pakistan. Surveys were conducted to serologically quantify the incidence of RNA viruses infecting potato; Potato virus X (PVX), Potato virus Y (PVY), Potato virus S (PVS), Potato virus A (PVA), Potato virus M (PVM) and Potato leaf roll virus (PLRV) in two major potato cultivars (Desiree and Cardinal). The results suggest the prevalence of multiple viruses in all surveyed areas with PVY, PVS and PVX dominantly widespread with infection levels of up to 50% in some regions. Co-infections were detected with the highest incidence (15.5%) for PVX and PVS. Additionally the data showed a positive correlation between co-infecting viruses with significant increase in absorbance value (virus titre) for at least one of the virus in an infected plant and suggested a synergistic interaction. To test this hypothesis, glasshouse grown potato plants were challenged with multiple viruses and analyzed for systemic infections and symptomology studies. The results obtained conclude that multiple viral infections dramatically increase disease epidemics as compared to single infection and an effective resistance strategy in targeting multiple RNA viruses is required to save potato crop.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.1017-1020
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• 2002

The pure Ti is taken annealing process for one hour at 90$0^{\circ}C$. The pure Ti is sufficient for ASTM B348 Grade2. The rolling mill roll the Ti-8Ta-3Nb(wt%) which became vacuum melting in arc furnace until the length is about 45mm and the thickness is about 6.05mm. Then it is made 6mm$\times$6mm$\times$44mm by wire cutting with EDM and it is made ∮ 6mm by rough cutting with the general purpose lathe. The machining accuracy of implant parts in the dental and medical science are decided by dimension, shpe, straightness, surface roughness. It is difficult to cut for the Ti alloy. It is caused problems of straight degree and surface roughness to the Ti alloy have many cases which length is smaller than diameter in cutting. Total 24 specimens different kind of 4 alloies are used in experiment to gain a cutting property. According to the cutting velocity, cutting depth, cutting temperature, feed and clearance angle experiments are performed. Conclusively it is expected that cutting depth of 0.5mm, feed velocity of 0.07mm/rev and cutting velocity of 80m/min could make a suitable result.

• Journal of Welding and Joining
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• v.21 no.7
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• pp.34-41
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• 2003

Weld quality monitoring and seam tracking along the butt-joint lengthwise to the tube axis are studied. The material of tube is 60kg/$\textrm{mm}^2$ grade steel sheet, and the longitudinal butt-joint is shaped by 2 roll bending machine. The tube with a thickness of 1.5mm, diameter of 105.4mm and length of 2000mm is successfully obtained by the $CO_2$ laser welding system equipped with a seam tracker and plasma sensor. Experimental results show that the developed welding system can be used for the precision seam tracking and the real-time monitoring of weld quality, and the laser welded tube can be used for car body md component after tubular hydroforming.