• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2337-2340
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• 2002

This paper presents the method of AGV(Automatic guided vehicle)'s moving environment(plane, corner, edge) recognition using SONAR sensor configuration. As for the SONAR sensor, the Crosstalk effect has been generally considered as an inevitable noisy phenomenon in the indoor environment. However, this effect can be used as a clue for classifying and localizing targets in the indoor environment if those can be controlled and used well. EERUF(error eliminate rapid ultrasonic firing) is a method for firing multiple ultrasonic sensors in mobile robot application and multi-echo mode of POLARIOD Device can reduce the Crosstalk effect. Here, Crosstalk effect was reduced using EERUF and applied to the AGV with a simple wall-following algorithm in the indoor environment. This method was tesed by a typical AGV with multi SONAR sensors in the laboratory environment.

• Journal of Korean Society of Environmental Engineers
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• v.31 no.4
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• pp.272-277
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• 2009

Three dimensional numerical analysis for the coal fired boiler has been performed to investigate the effect of yaw angle variation of the secondary air nozzles on the combustion characteristics and NOx emission. It was found that the prediction gives a good agreement with plant data. The increase in yaw angle up to $20^{\circ}$ have results in the decrease in NOx emission at furnace exit and recirculation flow intensity, together with the increase of unburned carbon in ash. It also has been recognized the remarkably change in configuration of fire ball with increase in yaw angle. The results from this study would be valuable in the case of the combustion modification of the corner firing coal-fired utility boiler.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2519-2523
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• 2003

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a corner, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding ultrasonic signals, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, the current presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• Proceedings of the KWS Conference
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• 2002.10a
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• pp.235-243
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• 2002

Ni-base superalloys are used extensively in industry, both in aeroengines and land based turbines. About 60% by weight of most modern gas turbine engine structural components are made of Ni-base superalloys. To satisfy practical demands, the efficiency of gas turbine engines has been steadily and systematically increased by design modifications to handle higher turbine inlet or firing temperatures. However, the increase in operating temperatures has lead to a decrease in the life of components and increase in costs of replacement. Moreover, around 80% of the large frame size industrial/utility gas turbines operating in the world today were installed in the mid-sixties to early seventies and are now 25 to 30 years old. Consequently, there are greater opportunities now to repair and refurbish the older models. Basically, there are two major factors influencing the weldability of the cast alloys: strain-age cracking and liquation cracking. Susceptibility to strain-age cracking is due to the total Ti plus AI content of the alloy; Liquation cracking is due either to the presence of low melting constituents or constitutional liquation of constituents. Though Rene 41 superalloy has 4.5wt.% total Ti and Al content and falls just below the safe limit proposed by Prager et al., controlled grain size and special heat treatments are needed to obtain crack-free welds. Varying heat treatments and filler materials were used in a laboratory study, then the actual welding of service parts was carried out to verity the possibility of crack-tree weld of components fabricated from Rene 41 superalloy. The microstructural observations indicated that there were two kinds of carbides in the FCC matrix. MC carbides were located along the grain boundaries, while M$_{23}$C$_{6}$ carbide was located both inter and intra granularly. Two kinds of filler materials, Rene 41 and Hastelloy X were used to gas tungsten arc weld a patch into the sheet metal, along with varying pre-weld heat treatments. The microstructure, hardness and tensile tests were determined. The service distressed parts were categorized into three classes: with large cracks, with medium cracks and with small or no visible cracks. No significant difference in microstructure among the specimens was observed. Specimens were cut from the corner and the straight edge of the patch repair, away from the corner. The only cracks present were found to be associated with inadequate surface preparation to remove oxidation. Guidelines for oxide removal and the welding procedures developed in the research enabled crack-free welds to be produced.d.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.38 no.4
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• pp.365-371
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• 2014

A numerical simulation was conducted for the combustion chamber of a 4-step grate-firing boiler for wood pellet fuel. The flame is extended to the exit of combustion chamber, which is reproduced by present numerical method based on a homogeneous reaction model. Flow field from the simulation shows a strong recirculation flow at the upstream corner of the chamber, along which the flame is extended to the exit. These combustion and flow characteristics remain unchanged for partial load operations, which suggest modification of the combustion chamber structure rather than resizing should be effective to improve combustion characteristics. Possible modifications for combustion chamber are suggested such as relocating its exit, increasing the number of grate steps or installing internals such as guide baffles.

• Korean Journal of Materials Research
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• v.19 no.3
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• pp.163-168
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• 2009

$Eu^{3+}$-doped $Y_2O_3$ red phosphor was synthesized in a flux method using the chemicals $Y_2O_3,\;Eu_2O_3,\;H_3BO_3$ and $BaCl_2{\cdot}2H_2O$. The effect of a flux addition on the preparation of $Y_2O_3:Eu_{3+}$ red phosphor used as a cold cathode fluorescence lamp was investigated. $H_3BO_3$ and $BaCl_2{\cdot}2H_2O$ fluxes were used due to their different melting points. The crystallinity, thermal properties, morphology, and emission characteristics were measured using XRD, TG-DTA, SEM, and a photo-excited spectrometer. Under UV excitation of 254 nm, $Eu_2O_3$ 3.7 mol% doped $Y_2O_3$ exhibited a strong narrow-band red emission, peaking at 612 nm. From this result, the phosphor synthesized by firing $Y_2O_3$ with 3.7 mol% of $Eu_2O_3$, 0.25 mol% of $H_3BO_3$ and 0.5 mol% of $BaCl_2{\cdot}2H_2O$ fluxes at $1400^{\circ}C$ for 2 hours had a larger particle size of $4{\mu}m$ on average compared to the phosphor of the $H_3BO_3$ flux alone. In addition, a phosphor synthesized by the two fluxes together had a rounder corner shape, which led to the maximum emission intensity.