• Journal of computational fluids engineering
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• v.16 no.2
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• pp.66-74
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• 2011

The SCR catalyst in coal-fired power plant is eroded by the collision of fly ash on the catalyst surface. However the erosion of SCR catalyst by the collision of fly ash has not been fully studied, especially in terms of fluid dynamics. Hence, in the present study, we focus on the gas and solid flows inside the SCR catalyst duct and their consequent effect on the erosion characteristics. For this purpose, computational fluid dynamics is applied to investigate the two-phase flows and to evaluate the erosion rate for different flow and particle injection conditions. Also, the erosion rate and pressure drop of commonly used square shape are compared with equilateral triangle and hexagon shapes. The pressure drop of SCR catalyst is increased when SCR catalyst surface area per unit volume increases. The erosion rate of SCR catalyst is enhanced when the particle velocity, mass flow rate of particle, particle diameter and cell density of SCR catalyst are increased. From the results, the pressure drop and erosion rate at the catalyst surface can be minimized by reducing cell density of SCR catalyst to decrease particle velocity and number of particle impacts.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.12
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• pp.1321-1330
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• 2012

This paper describes an advanced formation algorithm of clustered multiple robots for their navigation using flexible formation method for collision avoidance under static environment like narrow corridors. A group of clustered multiple robots finds the lowest path cost for navigation by changing its formation. The suggested flexible method of formation transforms the basic group of mobile robots into specific form when it is confronted by particular geographic feature. In addition, the proposed method suggests to choose a leader robot of the group for the obstacle avoidance and path planning. Firstly, the group of robots forms basic shapes such as triangle, square, pentagon and etc. depending on number of robots. Secondly, the closest to the target location robot is chosen as a leader robot. The chosen leader robot uses $A^*$ for reaching the goal location. The proposed approach improves autonomous formation characteristics and performance of all system.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.05a
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• pp.499-501
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• 2016

In this paper, we suggest an advance method for maintaining a perceived behavior as triangle formation and preventing collision between each other in case of a flying drone. In the existing studies, the collision of the drone is only controlled by using light entered in the camera or the image processing. However, when there is no light, it is difficult to confirm the position of each other and they can collide because this system can not confirm the each other's position. Therefore, in this paper, we propose the system to solve the problems by using the distance and the relative coordinates of the three drones that were determined using the ALPS(Ad hoc network Localized Positioning System) algorithm. This system can be a new algorithm that will prevent collisions between each other during flying the drone object. The proposed algorithm is that we make drones maintaining a determined constant value of the distance between coordinates of each drone and the measured center of the drone of triangle formation. Therefore, if the form of fixed formation is disturbed, they reset the position of the drone so as to keep the distance between each drone and the center coordinates constant. As a result of the simulation, if we use the system where the supposed algorithm is applied, we can expect that it is possible to prevent malfunction or an accident due to collisions by preventing collisions of drones in advanced behavior system.