• The Journal of Korea Robotics Society
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• v.14 no.2
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• pp.104-113
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• 2019

Object manipulation in cluttered environments remains an open hard problem. In cluttered environments, grasping objects often fails for various reasons. This paper proposes a novel task and motion planning scheme to grasp objects obstructed by other objects in cluttered environments. Task and motion planning (TAMP) aims to generate a sequence of task-level actions where its feasibility is verified in the motion space. The proposed scheme contains an open-loop consisting of three distinct phases: 1) Generation of a task-level skeleton plan with pose references, 2) Instantiation of pose references by motion-level search, and 3) Re-planning task based on the updated state description. By conducting experiments with simulated robots, we show the high efficiency of our scheme.

• Nuclear Engineering and Technology
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• v.53 no.3
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• pp.920-926
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• 2021

Capsules containing NaCl-MgCl₂ salt with 316L stainless steel or alloy N samples were irradiated in the Ohio State University Research Reactor for 21 nonconsecutive hours. A custom irradiation vessel was designed for this purpose, and details on its design and construction are given. Stainless steel samples that were irradiated during exposure had less corrosive attack than samples exposed to the same conditions without irradiation. Alloy N samples showed no significant effect of irradiation. This work shows a method for conducting in-reactor irradiation-corrosion experiments in static molten salts and presents preliminary data showing that neutron irradiation may decelerate corrosion of alloys in molten chloride salts.

• Advances in Computational Design
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• v.8 no.1
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• pp.61-76
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• 2023

Fiber reinforced polymer (FRP) columns are increasingly being used in various engineering fields due to its high strength to weight ratio and corrosion resistance. Being a thin-walled structure, their designs are often governed by buckling.Buckling strength depends on state of stress of elements which is greatly influence by stacking sequence and various inaccuracies such as geometric imperfections and imperfections due to eccentricity of compressive load and non-uniform boundary conditions. In the present work, influence of load eccentricity on buckling strength of FRP column has been investigated by conducting parametric study. Numerical analyses were carried out by using finite element software ABAQUS. The finite element (FE) model was validated using experimental results from the literature, which demonstrated good agreement in terms of failure loads and deformed shapes.The influence of load eccentricity on buckling behavior is discussed with the help of developed graphs.

• Journal of Korea Foundry Society
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• v.40 no.3
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• pp.85-96
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• 2020

The effect of an aluminum scrap addition ratio on the tensile and solidification cracking properties of the AC4A aluminum alloy in the as-cast state and heat-treated state were investigated in this study. Generally, the expected problem of using scrap in aluminum casting is an increase of hydrogen and Fe element inside the aluminum melt. Another issue is an oxide film which has a weak interface with the molten aluminum and acts as potent nucleation sites for internal porosity and crack initiation. Solidification cracking is one of the critical defects that must be resolved to produce high quality castings. A conventional evaluation method for solidification cracking is a relative and qualitative analysis method which does not provide quantitative data on the thermal stress in the solidification process. Therefore, a newly designed solidification cracking test apparatus was used in this study, and the device can provide quantitative data. As a result, after conducting experiments with different scrap addition ratios (0%, 20%, 35%, 50%), the tensile strengths and elongations in the as-cast state were 214, 187.7, 182.1 and 170.4MPa and 4.6%, 3.4%, 3.1% and 2.3%, respectively. In the case of the T6 heat-treated state, the tensile strengths and elongations were 314.9, 294.6, 293.1 and 271.1MPa and 5.4%, 4.6%, 3.8% and 3.1%, respectively. The strength of the solidification cracking was 3.1, 2.4, 2.2and 1.6MPa as the scrap addition ratio increases.

• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.781-789
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• 2016

Busbar has been used as electric conductor within extra high voltage (EHV) gas insulated switchgear (GIS), which makes EHV GIS higher security, smaller size and lower cost. However, the main fault of GIS is overheating of busbar connection parts, circuit breaker and isolating switch contact parts, which has been already restricting development of GIS to a large extent. In this study, a coupled magneto-flow-thermal analysis is used to investigate the thermal properties of GIS busbar in steady-state. A three-dimensional (3-D) finite element model (FEM) is built to calculate multiphysics fields including electromagnetic field, flow field and thermal field in steady-state. The influences of current on the magnetic flux density, flow velocity and heat distribution has been investigated. Temperature differences of inner wall and outer wall are investigated for busbar tank and conducting rod. Considering the end effect in the busbar, temperature rise difference is compared between end sections and the middle section. In order to obtain better heat dissipation effect, diameters of conductor and tank are optimized based on temperature rise simulation results. Temperature rise tests have been done to validate the 3-D simulation model, which is observed a good correlation with the simulation results. This study provides technical support for optimized structure of the EHV GIS busbar.

• Geomechanics and Engineering
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• v.28 no.6
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• pp.613-624
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• 2022

A study of the evolution of overburden fractures under the solid-fluid coupling state was conducted based on the geological and mining characteristics of the coal seam depth, weak strata cementation, and high-intensity mining in the mining areas of West China. These mining characteristics are key to achieving water conservation during mining or establishing groundwater reservoirs in coal mines. Based on the engineering background of the Daliuta Coal Mine, a non-hydrophilic simulation material suitable for simulating the weakly cemented rock masses in this area was developed, and a physical simulation test was carried out using a water-sand gushing test system. The study explored the spatial distribution and dynamic evolution of the fractured zone in the mining overburden under the coupling of stress and seepage. The experimental results show that the mining overburden can be vertically divided into the overall migration zone, the fracture extension zone and the collapse zone; additionally, in the horizontal direction, the mining overburden can be divided into the primary fracture zone, periodic fracture zone, and stop-fracture zone. The scope of groundwater flow in the overburden gradually expands with the mining of coal seams. When a stable water inrush channel is formed, other areas no longer generate new channels, and the unstable water inrush channels gradually close. Finally, the primary fracture area becomes the main water inrush channel for coal mines. The numerical simulation results indicate that the overlying rock breaking above the middle of the mined-out area allows the formation of the water-conducting channel. The water body will flow into the fracture extension zone with the shortest path, resulting in the occurrence of water bursting accidents in the mining face. The experimental research results provide a theoretical basis for the implementation of water conservation mining or the establishment of groundwater reservoirs in western mining areas, and this theoretical basis has considerable application and promotion value.

• Proceedings of the Korean Vacuum Society Conference
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• 2014.02a
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• pp.463-463
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• 2014

Dye-sensitized solar cells (DSSCs) have generated a strong interest in the development of solid-state devices owing to their low cost and simple preparation procedures. Effort has been devoted to the study of electrolytes that allow light-to-electrical power conversion for DSSC applications. Several attempts have been made to substitute the liquid electrolyte in the original solar cells by using (2,2',7,7'-tetrakis (N,N-di-p-methoxyphenylamine)-9-9'-spirobi-fluorene (spiro-OMeTAD) that act as hole conductor [1]. Although efficiencies above 3% have been reached by several groups, here the major challenging is limited photoelectrode thickness ($2{\mu}m$), which is very low due to electron diffusion length (Ln) for spiro-OMeTAD ($4.4{\mu}m$) [2]. In principle, the $TiO_2$ layer can be thicker than had been thought previously. This has important implications for the design of high-efficiency solid-state DSSCs. In the present study, we have fabricated 3-D Transparent Conducting Oxide (TCO) by growing tin-doped indium oxide (ITO) nanowire (NWs) arrays via a vapor transport method [3] and mesoporous $TiO_2$ nanoparticle (NP)-based photoelectrodes were prepared using doctor blade method. Finally optimized light-harvesting solid-state DSSCs is made using 3-D TCO where electron life time is controlled the recombination rate through fast charge collection and also ITO NWs length can be controlled in the range of over $2{\mu}m$ and has been characterized using field emission scanning electron microscopy (FE-SEM). Structural analyses by high-resolution transmission electron microscopy (HRTEM) and X-Ray diffraction (XRD) results reveal that the ITO NWs formed single crystal oriented [100] direction. Also to compare the charge collection properties of conventional NPs based solid-state DSSCs with ITO NWs based solid-state DSSCs, we have studied intensity modulated photovoltage spectroscopy (IMVS), intensity modulated photocurrent spectroscopy (IMPS) and transient open circuit voltages. As a result, above $4{\mu}m$ thick ITO NWs based photoelectrodes with Z907 dye shown the best performing device, exhibiting a short-circuit current density of 7.21 mA cm-2 under simulated solar emission of 100 mW cm-2 associated with an overall power conversion efficiency of 2.80 %. Finally, we achieved the efficiency of 7.5% by applying a CH3NH3PbI3 perovskite sensitizer.

• Proceedings of the Korean Vacuum Society Conference
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• 2013.02a
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• pp.497-497
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• 2013

Semiconducting amorphous InGaZnO (a-IGZO) has attracted significant research attention as improved deposition techniques have made it possible to make high-quality a-IGZO thin films. IGZO thin films have several advantages over thin film transistors (TFTs) based on other semiconducting channel layers.The electron mobility in IGZO devices is relatively high, exceeding amorphous Si (a-Si) by a factor of 10 and most organic devices by a factor of $10^2$. Moreover, in contrast to other amorphous semiconductors, highly conducting degenerate states can be obtained with IGZO through doping, yet such a state cannot be produced with a-Si. IGZO thin films are capable of mobilities greaterthan 10 $cm^2$/Vs (higher than a-Si:H), and are transparent at visible wavelengths. For oxide semiconductors, carrier concentrations can be controlled through oxygen vacancy concentration. Hence, adjusting the oxygen partial pressure during deposition and post-deposition processing provides an effective method of controlling oxygen concentration. In this study, we deposited IGZO thinfilms at optimized conditions and then analyzed the film's electrical properties, surface morphology, and crystal structure. Then, we explored how to generate IGZO thin films using DC magnetron sputtering. We also describe the construction and characteristics of a bottom-gate-type TFT, including the output and transfer curves and bias stress instability mechanism.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.1
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• pp.132-136
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• 2009

Recently, for improvement of the magnetic field of high temperature superconductor (HTS) apparatus, many studies investigating on operating in the range of $20{\sim}65\;K$ with liquid helium or the conducting method using cryocooler are actively reviewed. Also, the cooling method using solid nitrogen as cryogen is being suggested. Since the nitrogen has very large specific heat in solid state, it is expected that it can be operated for a long time without a continuous supply of cooling energy. However, there are still insufficient data on the characteristics of solid nitrogen such as thermodynamic properties and liquid-solid phase change. Especially, there was almost no study done on the electrical insulation properties of solid nitrogen so far. In this study, solid nitrogen to find the electrical characteristics was made by using cryocooler and cryostat, and investigated the flashover discharge and breakdown. The results of this study will be useful as a basic data for electrical insulation design of the HTS system using solid nitrogen as cryogen.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.10
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• pp.3608-3626
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• 2021

The detection of bolts is an important task in high-speed train inspection systems, and it is frequently performed to ensure the safety of trains. The difficulty of the vision-based bolt inspection system lies in small sample defect detection, which makes the end-to-end network ineffective. In this paper, the problem is resolved in two stages, which includes the detection network and cascaded classification networks. For small bolt detection, all bolts including defective bolts and normal bolts are put together for conducting annotation training, a new loss function and a new boundingbox selection based on the smallest axis-aligned convex set are proposed. These allow YOLOv3 network to obtain the accurate position and bounding box of the various bolts. The average precision has been greatly improved on PASCAL VOC, MS COCO and actual data set. After that, the Siamese network is employed for estimating the status of the bolts. Using the convolutional Siamese network, we are able to get strong results on few-shot classification. Extensive experiments and comparisons on actual data set show that the system outperforms state-of-the-art algorithms in bolt inspection.