• 한국초전도ㆍ저온공학회논문지
• /
• 제23권4호
• /
• pp.35-38
• /
• 2021

Conventional direct current (DC) rotating machines are usually used for crane and press machine using high torque in metal and steel industries, because of a constant output power along variable rotating speed. A general DC motor with permanent field magnets could not increase a magnetic flux density at a gap between armature coils and field magnets. However, a superconducting DC motor has field magnets composed with high temperature superconducting (HTS) coils and it could increase the magnetic flux density at the gap to over 10 times than those of a general DC motor by control the excitation current into HTS coils. The superconducting DC motor could be operated with extremely high torque and constant output power at a low rotational speed. In this paper, a 500 W superconducting DC rotating machine was conceptually designed with a LN₂ (Liquid Nitrogen) cooling method and the operation characteristics results of HTS field magnets were presented. The two no-insulation HTS magnets for a 500 W superconducting DC rotating machine were fabricated. The excitation current for the HTS magnets could be controlled from 0 to 40 A. This test results will be available to design large-sized HTS magnets for a number of hundred kW class superconducting DC rotating machine under LN₂ cooling system.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1116-1120
• /
• 2004

In the nuclear power plant, there are several cylindrical vessels such as reactor vessel, pressuriser and so on. The vessels are usually constructed by welding large rolled plates, forged sections or nozzle pipes together. In order to assure the integrity of the vessel, these welds should be periodically inspected using sensors such as ultrasonic transducer or visual cameras. This inspection is usually conducted under water to minimize exposure to the radioactively contaminated vessel walls. The inspections have been performed by using a conventional inspection machine with a big structural sturdy column, however, it is so huge and heavy that maintenance and handling of the machine are extremely difficult. It requires much effort to transport the system to the site and also requires continuous use of the utility's polar crane to move the manipulator into the building and then onto the vessel. Setup beside the vessel requires a large volume of work preparation area and several shifts to complete. In order to resolve these problems, we have developed an underwater mobile robot guided by the laser pointer, and performed a series of experiments both in the mockup and in the real reactor vessel. This paper introduces our robotic inspection system and the laser guidance of the mobile robot as well as the results of the functional test.

• 로봇학회논문지
• /
• 제13권3호
• /
• pp.190-197
• /
• 2018

Geomagnetic field signals have potential for use in underwater navigation and geophysical surveys. To map underwater geomagnetic fields, we propose a method that exploits an autonomous surface vehicle. In our system, a magnetometer is rigidly attached to the vehicle and not towed by a cable, minimizing the system's size and complexity but requiring a dedicated calibration procedure due to magnetic distortion caused by the vehicle. Conventional 2D methods can be employed for the calibration by assuming the horizontal movement of the magnetometer, whereas the proposed 3D approach can correct for horizontal misalignment of the sensor. Our method does not require a supporting crane system to rotate the vehicle, and calibrates and maps simultaneously by exploiting data obtained from field operation. The proposed method has been verified experimentally in inland waters, generating a magnetic field map of the test area that is of much higher resolution than the public magnetic field data.

• 제어로봇시스템학회논문지
• /
• 제16권6호
• /
• pp.566-571
• /
• 2010

EPS (Electric Power Steering) is important device for improving vehicle's dynamics and static performances. This paper deals with simulator design for C-EPS (Colum type-EPS), development assist and returnability control algorithm. First, C-EPS system model was simply designed because EPS system is complex control system that has many unknown variables. These parameters were simplified through assumptions. Second, C-EPS simulator was designed for development of control algorithm. This simulator has SAS (Steering Angle Sensor), dual torque sensor, dual load cell for measuring rack force, dual linear actuator for generating tire force and Data Acquisition System. Using this simulator, control methods ware tested. Third, control algorithm was designed for torque assist and returnability. Assist torque map and returnability torque map were found by lots of simulation test. These torque maps were tuned for EPS actuator control. The simulation result was compared with non-EPS system result. In this research, the C-EPS simulator was designed for development of control algorithm about torque assistant and returnability. Using this simulator, control algorithm was improved.

• 화약ㆍ발파
• /
• 제33권2호
• /
• pp.25-39
• /
• 2015

수중 암반 제거 방법은 화약을 사용한 수중발파와 크레인에 장착된 쇄암봉 낙하 충격을 이용하는 방법 등이 널리 이용된다. 이와 같은 암반 제거 방법은 환경적인 요인에서 지반 진동과 수중 소음을 유발하게 된다. 본 연구 대상 현장은 하역 부두의 접안능력을 향상시키기 위해 기 설치된 잔교식 돌핀 구조물에 근접한 지역의 수중 기반암을 쇄암봉 낙하에 의해 제거하도록 설계되어 있다. 시험시공을 통하여 쇄암봉 낙하 충격으로 유발되는 진동에 대한 계측, 평가를 거쳐 진동 추정식을 획득하였고, 이를 본 공사에 반영하여 구조물에 대한 안전성을 확보하였다.

• 한국전산구조공학회:학술대회논문집
• /
• 한국전산구조공학회 2002년도 가을 학술발표회 논문집
• /
• pp.330-337
• /
• 2002

The HANARO seismic monitoring system is classified as non-nuclear safety(NNS), seismic category I, and quality class T The seismic monitoring system installed at the instrument room consists of five field sensors and one monitoring cabinet. The field sensors are composed of three triaxial accelerometers which installed at base slab, free field and overhead crane support respectively, a seismic trigger and a seismic switch at base slab. The most parts of analog system except field sensors are not produced any more, the improvement of the system is to be needed. The analog system with magnetic tape recorder is not only out-of-date model but dependent upon foreign technology. So it is difficult to get the spare parts and the cost to buy them is increased. Therefore we have improved the analog seismic monitoring system into a new digital seismic monitoring analysis system(SMAS) except five field sensors. After the installation of the new SMAS, we have carried out the site acceptance test(SAT) to confirm the field functions. The results of SAT satisfy the requirements of the fabrication technical specification. This new SMAS is operating at HANARO instrument room to acquire and analyse the signal of earthquake.

• Steel and Composite Structures
• /
• 제33권3호
• /
• pp.433-444
• /
• 2019

Fatigue failure of a grid structure using bolt-sphere joints is liable to occur in a high-strength bolt due to the alternating and reciprocal actions of a suspension crane. In this study, variable amplitude fatigue tests were carried out on 20 40 Cr steel alloy M30 high-strength bolts using an MTS fatigue testing machine, and four cyclic stress amplitude loading patterns, Low-High, High-Low, Low-High-Low, and High-Low-High, were tested. The scanning electron microscope images of bolt fatigue failure due to variable amplitude stress were obtained, and the fractographic analysis of fatigue fractures was performed to investigate the fatigue failure mechanisms. Based on the available data from the constant amplitude fatigue tests, the variable amplitude fatigue life of an M30 high-strength bolt in a bolt-sphere joint was estimated using both Miner's rule and the Corten-Dolan model. Since both cumulative damage models gave similar predictions, Miner's rule is suggested for estimating the variable-amplitude fatigue life of M30 high-strength bolts in a grid structure with bolt-sphere joints; the S-N fatigue curve of the M30 high-strength bolts under variable amplitude loading was derived using equivalent stress amplitude as a design parameter.

• Journal of Acupuncture Research
• /
• 제29권5호
• /
• pp.61-74
• /
• 2012

Objectives : This study is perfomed for preparation of oriental medicine clinical guidelines for drawing up the standards of oriental medicine demonstration and diagnosis classification about the knee pain. Methods : Statistical analysis about Crane's-knee wind(鶴膝風), arthralgia syndrome(痺症), knee injury(膝傷), gout arthritis(痛風), Youk jeol poung(歷節風) classified experts' opinions about knee pain patients by Delphi method is conducted by using oriental medicine diagnosis questionnaire. The result was classified by using linear discriminant analysis(LDA), diagonal linear discriminant analysis(DLDA), diagonal quadratic discriminant analysis(DQDA), K-nearest neighbor classification(KNN), classification and regression trees(CART), support vector machines(SVM). Results : The results are summarized as follows. 1. The result analyzed by using LDA has a hit rate of 81.65% in comparison with the original diagnosis. 2. The result analyzed by using DLDA has a hit rate of 63.3% in comparison with the original diagnosis. 3. The result analyzed by using DQDA has a hit rate of 65.14% in comparison with the original diagnosis. 4. The result analyzed by using KNN has a hit rate of 74.31% in comparison with the original diagnosis. 5. The result analyzed by using CART has a hit rate of 75.23% in comparison with the original diagnosis when the test of selected 13 significant questions based on analysis of variance was performed. 6. The result analyzed by using SVM has a hit rate of 87.16% in comparison with the original diagnosis. Conclusions : Statistical analysis using oriental medicine diagnosis questionnaire on knee pain generally turned out to have a significant result.

• 조명전기설비학회논문지
• /
• 제24권2호
• /
• pp.77-85
• /
• 2010

최근, LCD(Liquid Crystal Display) 산업에서 클린룸의 규모가 커짐에 따라 Stocker 시스템의 사이즈가 커지고 길이가 장거리화 되고 있다. 이에 제조업체는 생산수율을 높이기 위해 Stocker 시스템의 전체 택타임을 줄이기 위한 방안으로 Stocker 시스템의 속도 증가와 고유가 시대에 여러 장비들에 대한 에너지 절약을 통한 공장 운영비용이 최소화되도록 요구하고 있다. 따라서 본 논문은 차세대 Stocker 시스템의 에너지 절감과 이송 속도증가에 따른 고효율 비접촉 전원시스템(CPS, Contactless Power Supply)의 최적설계를 제안하고, 에너지 절감을 위한 비접촉 전원시스템의 시제품을 제작하여 부하인 크레인의 여러 운전 패턴에 따른 비접촉 전원시스템의 실증시험과 입/출력 특성, 효율 개선에 따른 최적화로 개발된 비접촉 전원 시스템의 에너지 절감 효과에 대하여 서술하였다.

• International Journal of Automotive Technology
• /
• 제7권1호
• /
• pp.83-90
• /
• 2006

The purpose of this paper is to describe the design and implementation of an unmanned ground vehicle, called the TailGator at CIMAR (Center for Intelligent Machines and Robotics) of the University of Florida. The TailGator is a gas powered, four-wheeled vehicle that was designed for the AUVSI Intelligent Ground Vehicle Competition and has been tested in the contest for 2 years. The vehicle control model and design of the sensory systems are described. The competition is comprised of two events called the Autonomous Challenge and the Navigation Challenge: For the autonomous challenge, line following, obstacle avoidance, and detection are required. Line following is accomplished with a camera system. Obstacle avoidance and detection are accomplished with a laser scanner. For the navigation challenge, waypoint following and obstacle detection are required. The waypoint navigation is implemented with a global positioning system. The TailGator has provided an educational test bed for not only the contest requirements but also other studies in developing artificial intelligence algorithms such as adaptive control, creative control, automatic calibration, and internet-base control. The significance of this effort is in helping engineering and technology students understand the transition from theory to practice.