• Ocean Systems Engineering
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• 제7권2호
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• pp.157-177
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• 2017

This research is based on the concept of safety airbag to design a self-rescue system for the autonomous underwater vehicle (AUV) using micro inertial sensing module. To reduce the possibility of losing the underwater vehicle and the difficulty of searching and rescuing, when the AUV self-rescue system (ASRS) detects that the AUV is crashing or encountering a serious collision, it can pump carbon dioxide into the airbag immediately to make the vehicle surface. ASRS consists of 10-DOF sensing module, sensing attitude algorithm and air-pumping mechanism. The attitude sensing modules are a nine-axis micro-inertial sensor and a barometer. The sensing attitude algorithm is designed to estimate failure attitude of AUV properly using sensor calibration and extended Kalman filter (SCEKF), feature extraction and backpropagation network (BPN) classify. SCEKF is proposed to be used subsequently to calibrate and fuse the data from the micro-inertial sensors. Feature extraction and BPN training algorithms for classification are used to determine the activity malfunction of AUV. When the accident of AUV occurred, the ASRS will immediately be initiated; the airbag is soon filled, and the AUV will surface due to the buoyancy. In the future, ASRS will be developed successfully to solve the problems such as the high losing rate and the high difficulty of the rescuing mission of AUV.

• Mass Spectrometry Letters
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• 제4권3호
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• pp.41-46
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• 2013

The goal of this study is to find an experimental condition which enables us to perform enzymatic studies on the cellular behavior of PTEN (phosphatase and tensine homolog) through identification of molecular species of phosphatidylinositol 3,4,5-trisphosphates and their quantitative analysis in a mammalian cell line using mass spectrometry. We initially exployed a two-step extraction process using HCl for extraction of phosphatidylinositol 3,4,5-trisphosphates from two mammalian cell lines and further analyzed the extracted phosphatidylinositol 3,4,5-trisphosphates using tandem mass spectrometry for the identification of them. We finally quantified the concentration of phosphatidylinositol 3,4,5-trisphosphates using internal standard calibration. From these observation, we found that HEK 293-T cells is a good model to examine the enzymatic behavior of PTEN in a cell, and the minimum amount of phosphatidylinositol 3,4,5-trisphosphates is more than 50 pmol for quantification in a mass spectrometer. These results suggest that the well-optimized experimental conditions are required for the investigation of the cellular PTEN in terms of the catalytic mechanism and further for the detailed identification of cellular substrates.

• 드라이브 ㆍ 컨트롤
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• 제11권3호
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• pp.47-54
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• 2014

Clutches are an integral part of the automatic transmission for changing gears. Modern automatic transmissions make extensive use of wet multiple-disc clutches employing hydraulic actuation mechanism with electronic control. Although nowadays, highly advanced shifting algorithm implements the superior shift quality and transmission efficiency, its performance should be based on smooth, reliable engagement with a reasonably durable friction material as well as stable clutch piston dynamics. Particularly, clutch filling control is the crucial part of shifting process because only the open-loop control is available due to the lack of measurement. In this paper, the effect of clutch-fill control parameters on clutch piston dynamics is experimentally investigated by using clutch piston test equipment which enables the clutch piston to actuate similar to real shifting conditions. The experimental analysis results can be expected to be utilized for the calibration of proportional solenoid valve as reference current profile data in vehicle test.

• 대한원격탐사학회지
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• 제24권5호
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• pp.397-408
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• 2008

A wide variety of applications of imaging spectrometer have been proved using data from airborne systems. The Compact Airborne Imaging Spectrometer System (CAISS) was jointly designed and developed as the airborne hyperspectral imaging system by Korea Aerospace Research Institute (KARI) and ELOP inc., Israel. The primary mission of the CAISS is to acquire and provide full contiguous spectral information with high spatial resolution for advanced applications in the field of remote sensing. The CAISS consists of six physical units; the camera system, the gyro-stabilized mount, the jig, the GPS/INS, the power inverter and distributor, and the operating system. These subsystems are to be tested and verified in the laboratory before the flight. Especially the camera system of the CAISS has to be calibrated and validated with the calibration equipments such as the integrating sphere and spectral lamps. To improve data quality and its availability, it is the most important to understand the mechanism of imaging spectrometer system and the radiometric and spectral characteristics. The several performance tests of the CAISS were conducted in the camera system level. This paper presents the major characteristics of the CAISS, and summarizes the results of performance tests in the camera system level.

• Advances in concrete construction
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• 제7권4호
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• pp.241-247
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• 2019

In this paper the effect of bedding layer on the failure mechanism of rock in direct shear test has been investigated using particle flow code, PFC. For this purpose, firstly calibration of pfc2d was performed using Brazilian tensile strength. Secondly direct shear test consisting bedding layer was simulated numerically. Thickness of layers was 10 mm and rock bridge length was 10 mm, 40 mm and 60 mm. In each rock bridge length, bedding layer angles changes from $0^{\circ}$ to $90^{\circ}$ with increment of $15^{\circ}$. Totally 21 models were simulated and tested. The results show that two types of cracks develop within the model. Shear cracks and tensile cracks. Also failure pattern is affected by bridge length while shear strength is controlled by failure pattern. It's to be noted that bedding layer has not any effect on the failure pattern because the layer interface strength is too high.

• 드라이브 ㆍ 컨트롤
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• 제18권1호
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• pp.31-38
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• 2021

This study presents a new principle for driving the robot aimed at reducing the position error for the boresonic examination of turbine rotor. The conventional method of inspection is performed by installing manipulator onto the flange of the turbine rotor and connecting a pipe, which is then being pushed into the bore. The longer the pipe gets, the greater sagging and distortion appear, making it difficult for the ultrasonic sensor to contact with the internal surface of the bore. A pneumatic pressure will ensure the front or rear feet of the robot in close contact with the inner wall to prevent slipping, while the ball screw on the body of the robot will rotate to drive it in the axial direction. The compression force required for tight contact was calculated in the form of a three-point support, and a static structural simulation analysis was performed by designing and modeling the robot mechanism. The driving performance and ultrasonic detection ability have been tested by fabricating the robot, the test piece for ultrasonic calibration and the transparent mock-up for robot demonstration. The tests have confirmed that no slipping occurs at a certain pneumatic pressure or over.

• 로봇학회논문지
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• 제17권3호
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• pp.322-333
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• 2022

The Avatar robot, which is one of the teleoperation robots, aims to enable users to feel the robot as a part of the body to intuitively and naturally perform various tasks. Considering the purpose of the avatar robot, an end-effector identical to a human hand is advantageous, but a robotic hand with human hand level performance has not yet been developed. In this paper we propose a new 3-finger robotic hand with human-avatar hand posture mapping algorithm which were integrated with TOCABI-AVATAR, one of the teleoperation system. Due to the flexible rolling contact joints and tendon driven mechanism applied to the finger, the finger could implement adaptive grasping and absorb the impact force caused by unexpected contacts. In addition, human-avatar hand mapping algorithm using five calibration hand postures propose to compensate physical differences between operators. Using the TOCABI-AVATAR system with the robotic hands and mapping algorithm, the operator can perform 13 out of 16 hand postures of grasping taxonomy and 4 gestures. In addition, using the system, we participated in the ANA AVATAR XPRIZE Semi-final and successfully performed three scenarios which including various social interactions as well as object manipulation.

• 분석과학
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• 제20권3호
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• pp.213-218
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• 2007

Perfluorinated sulfonated polymer-ethylenediamine(nafion-en)이 수식된 유리탄소전극을 이용하여 Cu(II) 이온을 정량하였다. 이 수식전극의 en은 Cu(II) 이온과 $[Cu(en)_2]^{+2}$의 착물을 형성한다. Nafion-en이 수식된 유리탄소전극에서 시차펄스전압전류법에 의한 Cu(II) 이온의 환원봉우리전위는 -0.4402V(${\pm}0.0050V$) (vs. Ag/AgCl)에서 측정되었고, 측정범위는 $1.0{\times}10^{-6}{\sim}1.0{\times}10^{-4}M$, 검출한계(3s)는 $1.96{\times}10^{-6}M$이었다.

• 생태와환경
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• 제36권3호통권104호
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• pp.344-355
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• 2003

논은 우리나라 총 면적의 12%를 차지하며, 인간활동이 이루어지는 토지이용 중 가장 많은 면적으로 비점오염분야에서 중요한 의미를 가진다. 논은 시비가 이루어지기 때문에 논표면수의 수질변화 폭이 매우 커 지표배수가 이루어지는 시점에 따라 논에서의 부하량에 큰 영향을 미치기 때문에 논에서의 오염부하량산정과 최적관리기법개발에 있어 획일적인 원단위 적용에는 한계가 있다. 뿐만 아니라 기존에 개발된 유역모형의 대부분은 논을 포함하고 있지 않거나 포함하더라도 논에서의 충분한 기작을 모의할 수 없어 우리나라의 적용에 있어서 제한점을 가지므로 앞으로의 합리적인 오염총량제 적용을 위해서는 논모형의 개발이 절실하다. 그러나 논은 담수라는 기능을 가지므로 유역모형과 같은 물리적인 반응보다는 수질모형과 같은 생화학적 반응이 우세하리라 판단된다. 논을 하나의 얕은 호소로 간주하여 호소모형의 적용이 가능하나 이를 위한 수많은 인자 결정에 많은 어려움이 있을 것으로 판단된다. 그러나 논에서의 영농활동은 거의 유사한 시기에 해마다 반복적으로 일어나며, 동일한 양과 형태의 시비가 이루어지며 완전낙수에 의해 다음해의 수질에 영향을 거의 미치지 않으므로. 오히려 간단한 반응공식으로도 충분한 해석이 가능하리라 판단된다. 본 연구에서는 이러한 형태의 영농활동이 이루어지는 논에서의 시비와 바닥에서의 용출에 의한 영향을 dirac deltal function과 continuous source function을 이용하여 모형을 개발하여 지하수관개지역과 지표수관개지역을 대상으로 보정 및 검증결과 높은 적용가능성을 나타내었다. 앞으로의 연구방향은 논에서의 장기적인 모니터링과 여러 지역의 적응을 통한 논 모형의충분한 검증을 실시함으로써, 논에서의 오염부하량 산정과 BMPs개발 뿐 아니라, 기존의 유역모형에 연결함으로써 우리나라 오염총량제의 합리적인 적용이 이루어져야 할 것으로 판단된다.

• Tribology and Lubricants
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• 제1권1호
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• pp.38-45
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• 1985

Ferrography 방법은 유체중 마모입자를 Substrate glass 위에 Van der Waals 힘에 의하여 분산교착 시키므로써 윤활 Systems에서의 기계요소들의 동특성적 마모진행과정및 mechanism의 정성적및 정량적인 분석을 가능케 한다. 정성적 방법으로는 광학현미경으로부터 SEM, X-Ray Emissiom, EDAX등의 분석방법이 적용되고 있으나, 정량적으로는 마모입자의 크기별 분포함수에 따른 Variance, Kurtosis, Skewness와 같은 인자함수의 변이가 마모진행 과정과 진행될 마모형태기구의 예측인자로서 연구되고 있다. 수치적 Model로 마모진행기구를 예측할 경우 third moment의 Skewness 가 Size 및 number분포에 따라 예민하게 반응을 나타내는 결과를 보이고 있다. 이러한 정량분석을 위하여는 실험 Sample에 따라서, 즉 오염도에 따른 Sample희석이 따르는데, 이러한 Sample 희석이 정량적 분포에 미치는 영향에 관한 연구결과는 아직 없다. 따라서 본연구에는 용제희석이 정량적 마모입자 분포에 미치는 영향을 image analyser인 Quantimat 720을 이용하여 검토하였으며 전영역의 희석률에 적용될 수 있는 Standard Calibration function에 따른 수학적 model을 유도하였다.