• Journal of Drive and Control
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• v.21 no.1
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• pp.46-52
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• 2024

The advancement of autonomous driving technology has heightened the importance of Autonomous Mobile Robotics (AMR) within smart factories. Notably, in tasks involving the transportation of heavy objects, the consideration of weight in route optimization and path planning has become crucial. There is ongoing research on local path planning, such as Dijkstra, A^*, and RRT^*, focusing on minimizing travel time and distance within smart factory warehouses. Additionally, there are ongoing simultaneous studies on route optimization, including TSP algorithms for various path explorations and on minimizing energy consumption in mobile robotics operations. However, previous studies have often overlooked the weight of the objects being transported, emphasizing only minimal travel time or distance. Therefore, this research proposes route planning that accounts for the maximum payload capacity of mobile robotics and offers load-optimized path planning for multi-destination transportation. Considering the load, a genetic algorithm with the objectives of minimizing both travel time and distance, as well as energy consumption is employed. This approach is expected to enhance the efficiency of mobility within smart factories.

• The Journal of the Acoustical Society of Korea
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• v.37 no.6
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• pp.396-403
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• 2018

In this paper, a high-performance and low-noise centrifugal fan is developed for cooling automotive seats which provide a driver with pleasant driving environment. First, the flow characteristics of the existing fan unit was analyzed using a fan performance tester and CFD (Computational Fluid Dynamics) simulations. The analysis of the predicted flow field indicated vortex flow near the tip of fan hub and stagnation flow on the top of fan hub. Two design points are devised to reduce the vortex flow and the stagnation flow observed in the existing fan unit. First, the cut-off clearance which is the minimum distance between the fan blade and the fan housing is increased to reduce the vortex strength and, as a result, to reduce the overall sound pressure level. Second, the hub shape is more modified to eliminate the stagnation flow. The validity of proposed design is confirmed through the numerical analysis. Finally, a prototype is manufactured with a basis on the numerical analysis result and its improved flow and noise performances are confirmed through the P-Q curves measured by using the Fan Tester and the SPL (Sound Pressure Level) levels measured in the anechoic chamber.

• Journal of Christian Education in Korea
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• v.68
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• pp.279-306
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• 2021

This paper intends to say that children's worship as a liturgy for children living in modern society is an important place to support children's personal development and experience of coziness necessary for their personal development. To this end, this thesis first regards modern society as an unstable society, analyzes fluid society and individualism as the causes, and deals with changes in educational style accordingly. In a fluid society, children are not provided with a solid form and lasting environment that supports personality development, and the education style changed under the influence of individualism and pluralism requires a heavy task of determining the direction of one's life and constantly making choices and decisions. Therefore, children need rules and forms that help them live together, and they need a space that can give them comfort that helps them develop their personality. As an argument for this, second, this paper deals with the concept and function of the liturgy in order to understand the worship of children as the liturgy. The third deals with the elements necessary for the development of children's personality that can be experienced in children's worship. First, it deals with the meaning of religious, aesthetic, and communal driving forces that children can experience in children's worship, focusing on Eberhard's research. In addition, it deals with the meaning of language and expression methods provided in children's worship, and finally, it says that children's worship can be a space where you can experience stability and coziness. Through this, it is emphasized that children's worship can play an important role in supporting the personal development of children living in modern times.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.40 no.3
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• pp.127-138
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• 2016

Diesel vehicles should be equipped with urea-selective catalytic reduction(SCR) system as a high-performance catalyst, in order to reduce harmful nitrogen oxide emissions. In this study, a three-dimensional Eulerian-Lagrangian CFD analysis was used to numerically predict the multiphase flow characteristics of the urea-SCR system, coupled with the chemical reactions of the system's transport phenomena. Then, the numerical spray structure was modified by comparing the results with the measured values from spray visualization, such as the injection velocity, penentration length, spray radius, and sauter mean diameter. In addition, the analysis results were verified by comparison with the removal efficiency of the nitrogen oxide emissions during engine and chassis tests, resulting in accuracy of the relative error of less than 5%. Finally, a verified CFD analysis was used to calculate the interanl flow of the urea-SCR system, thereby analyzing the characteristics of pressure drop and velocity increase, and predicting the uniformity index and overdistribution positions of ammonia.

• Journal of the Korean Society of Safety
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• v.11 no.4
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• pp.143-150
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• 1996

This is an explicit-Implicit, finite element analysis for linear as well as nonlinear hygrothermal stress problems. Additional features, such as moisture diffusion equation, crack element and virtual crack extension(VCE ) method for evaluating J-integral are implemented in this program. The Linear Elastic Fracture Mechanics(LEFM) Theory is employed to estimate the crack driving force under the transient condition for and existing crack. Pores in materials are assumed to be saturated with moisture in the liquid form at the room temperature, which may vaporize as the temperature increases. The vaporization effects on the crack driving force are also studied. The Ideal gas equation is employed to estimate the thermodynamic pressure due to vaporization at each time step after solving basic nodal values. A set of field equations governing the time dependent response of porous media are derived from balance laws based on the mixture theory Darcy's law Is assumed for the fluid flow through the porous media. Perzyna's viscoplastic model incorporating the Von-Mises yield criterion are implemented. The Green-Naghdi stress rate is used for the invariant of stress tensor under superposed rigid body motion. Isotropic elements are used for the spatial discretization and an iterative scheme based on the full newton-Raphson method is used for solving the nonlinear governing equations.

• Journal of Drive and Control
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• v.17 no.1
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• pp.27-36
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• 2020

The aim of this study is to design a simulation model for an electric All-Wheel-Drive (AWD) tractor to evaluate the performance of the selected component and agricultural work ability. The electric AWD tractor consists of four motors independently for each drive wheel, and each motor is combined with an engine generator, a battery pack, and reducers. The torque data of a 78 kW-class tractor was measured during plow tillage and driving operation to develop a workload cycle. A simulation model was developed by using commercial software, Simulation X, and it used the workload as the simulation condition. As a result of simulation analysis, the drive system, including an electric motor and reducers, was able to cope with high load during plow tillage. The SOC (State of Charge) level was influenced by the output power of the motor, and it was maintained in the range of 50~80%. The fuel consumed by the engine was about 18.23 L during working on a total of 8 fields. The electric AWD tractor was able to perform agricultural work for about 7 hours. In the future study, the electric AWD tractor will be developed reflecting the simulation condition. Research on the comparison between the simulation model and the electric AWD tractor should be performed.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.1
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• pp.95-105
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• 2012

The selective catalytic reduction (SCR) system is a highly-effective aftertreatment device for NOx reduction of diesel engines. Generally, the ammonia ($NH_3$) was generated from reaction mechanism of SCR in the SCR system using the liquid urea as the reluctant. Therefore, the precise urea dosing control is a very important key for NOx and $NH_3$ slip reduction in the SCR system. This paper investigated NOx and $NH_3$ emission characteristics of urea-SCR dosing system based on model-based control algorithm in order to reduce NOx. In the map-based control algorithm, target amount of urea solution was determined by mass flow rate of exhaust gas obtained from engine rpm, torque and $O_2$ for feed-back control NOx concentration should be measured by NOx sensor. Moreover, this algorithm can not estimate $NH_3$ absorbed on the catalyst. Hence, the urea injection can be too rich or too lean. In this study, the model-based control algorithm was developed and evaluated on the numerical model describing physical and chemical phenomena in SCR system. One channel thermo-fluid model coupled with finely tuned chemical reaction model was applied to this control algorithm. The vehicle test was carried out by using map-based and model-based control algorithms in the NEDC mode in order to evaluate the performance of the model based control algorithm.

• International Journal of Aeronautical and Space Sciences
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• v.17 no.4
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• pp.518-525
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• 2016

This paper presents the characteristics of non-fundamental multi-mode combustion instability and the effects of high-harmonic components on the Rayleigh criterion. Phenomenological observations of multi-harmonic-mode dynamic pressure waves regarding the intensity of harmonic components and the source of wave distortion have been explained by introducing examples of second- and third-order harmonics at various amplitudes. The amplitude and order of the harmonic components distorted the wave shapes, including the peak and the amplitude, of the dynamic pressure and heat release, and consequently the temporal Rayleigh index and its integrals. A cause-and-effect analysis was used to identify the root causes of the phase delay and the amplification of the Rayleigh index. From this analysis, the skewness of the dynamic pressure turned out to be a major source in determining whether multi-mode instability is driving or damping, as well as in optimizing the combustor design, such as the mixing length and the combustor length, to avoid unstable regions. The results can be used to minimize errors in predicting combustion instability in cases of high multi-mode combustion instability. In the future, the amount of research and the number of applications will increase because new fuels, such as fast-burning syngases, are prone to generating multi-mode instabilities.

• Journal of The Korean Society of Agricultural Engineers
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• v.51 no.6
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• pp.53-62
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• 2009

The EFDC (Environmental Fluid Dynamics Code), a numerical model for simulating three-dimensional (3D) flow, transport, and biogeochemical processes in surface water systems including rivers, reservoirs, and estuaries, was applied to assess the effect of sea water and fresh water exchange rates ($Q_e$) on the mixing characteristics of a conservative pollutant (tracer) induced from upstreams and salinity in Saemangeum Lake, Korea. The lake has been closed by a 33 km estuary embankment since last April of 2006, and now seawater enters the lake partially through two sluice gates (Sinsi and Garyuk), which is driving the changes of hydrodynamic and water quality properties of the lake. The EFDC was constructed and calibrated with surveyed bathymetry data and field data including water level, temperature, and salinity in 2008. The model showed good agreement with the field data and adequately replicated the spatial and temporal variations of the variables. The validated model was applied to simulated the tracer and salinity with two different gate operation scenarios: RUN-1 and RUN-2. RUN-1 is the case of real operation condition ($Q_e=25,000,000\;m^3$) of 2008, while RUN-2 assumed full open of Sinsi gate to increase $Q_e$ by $120,000,000\;m^3$. Statistical analysis of the simulation results indicate that mixing characteristics of pollutants from upstream can be significantly affected by the amount of $Q_e$.

• The Korean Journal of Physiology and Pharmacology
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• v.7 no.2
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• pp.97-101
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• 2003

The salivary glands produce 1.5L of fluid per day. As in other exocrine organs, the general mechanism in the salivary glands is that water movement occurs secondary to osmotic driving forces created by active salt transport. Therefore, high water permeability in the salivary glands is expected to have a variety of aquaporin (AQP), a water channel. Although some AQPs have been known to be present in the salivary glands, roles of parasympathetic nerve in AQP expression have not yet been examined. This study was designed to examine the changes of AQPs and extracellular signal-regulated kinase (ERK) in the submandibular glands after parasympathetic denervation. Right chorda-lingual nerve was cut, and each right (experiment) and left (control) submandibular gland was excised at 1, 3, 7, 14, 30 days after denervation. The denervated right submandibular glands were resulted in weight loss and morphologic changes, including cell loss and atrophy, as the time elapsed after parasympathetic denervation increased, whereas there were no histologic alteration in control side. AQP5 which is known to reside in apical membrane and secretory caraliculi of the submandibular acini were gradually underexpressed according, as the time after denervation increased. Expression of AQP4 in submandibular ductal epithelium was down-regulated after denervation. Besides, AQP3 and 8, which is known to be present in basolateral membrane of the glandular acini, were gradually underexpressed after denervation, similar to the pattern of other types. Expression of ERK, a mitogen-activated protein kinase, was downregulated after parasympathetic denervation in the submandibular gland. These results suggest that parasympathetic nervous system regulates the expression of AQPs in salivary glands, and is in part mediated by ERK pathway.