• Journal of the Korean Solar Energy Society
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• v.32 no.spc3
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• pp.282-288
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• 2012

Proton exchange membrane fuel cell (PEMFC) is the most promising energy source for the robot applications because it has unique advantages such as high energy density, no power drop during operating, and easy to make compact size. However, PEMFC has intrinsic disadvantages which are delay to start up and difficulty to correspond drastic load changes. These disadvantages can be compensated by hybrid operating with a Li-poly battery. This study is focus to build and understand the hybrid system for the robot system. In this study, we build the PEMFC hybrid system using EOS-320 PEMFC stack, Li-poly battery and G-Philos FDX1-250BU dc-dc converter. The hybrid system is accurately monitored by CAN and RS485. The system was studied under two conditions such as non-loaded and loaded operating conditions. The results show that the system has delay to start up without hybrid operating and it can be compensated with the hybrid operating.

• 한국태양에너지학회:학술대회논문집
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• 2012.03a
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• pp.229-233
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• 2012

Proton exchange membrane fuel cell (PEMFC) is the most promising energy source for the robot applications because it has unique advantages such as high energy density, no power drop during operating, and easy to make compact size. However, PEMFC has intrinsic disadvantages which are delay to start up and difficulty to correspond drastic load changes. These disadvantages can be compensated by hybrid operating with a Li-poly battery. This study is focus to build and understand the hybrid system for the robot system. In this study, we build the PEMFC hybrid system using EOS-320 PEMFC stack, Li-poly battery and G-Philos FDX1-250BU dc-dc converter. The hybrid system is accurately monitored by CAN and RS485. The system was studied under two conditions such as non-loaded and loaded operating conditions. The results show that the system has delay to start up without hybrid operating and it can be compensated with the hybrid operating.

• The KSFM Journal of Fluid Machinery
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• v.18 no.5
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• pp.26-32
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• 2015

This paper describes performance evaluation of design parameters, air velocity inside a pipeline and pressure along a pipeline, using experimental measurements in an automated vacuum waste collection system. Automatic robot having six cameras is introduced to analyze the internal pipeline conditions whether waste accumulates at the bottom of the pipeline or not. Throughout the experimental measurements of the pipeline having the various shapes, it is found that pressure and internal air velocity linearly increase along the pipeline from a waste inlet to a waste collection station while air density decreases due to the air compression effect with high pressure. Although air velocity inside the pipeline at a waste inlet keeps design velocity range between 20 m/s and 30 m/s, it is noted that air velocity near the waste collection station exceeds maximum design velocity of 30 m/s. Pressure increase per unit length is changed from 17.6 Pa/m to 18.9 Pa/m, which depends on the air velocity inside the pipeline. From the investigation inside the pipeline with CCTV loaded on an automated robot, waste accumulated at the bottom of the pipeline is mainly found at the downstream of a circular curved pipe, an inclined pipe and a bended pipe.

• Korean Journal of Computational Design and Engineering
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• v.17 no.5
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• pp.312-323
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• 2012

Planetary gearing is a gear system consisting of one or more planet gears, revolving about a sun gear. While the planetary gear system has many advantages- for example, high power density, large reduction in a small volume, multiple kinematic combinations, pure torsional reactions, and coaxial shafting, it has not been widely used because of its high bearing loads, inaccessibility, and design complexity. It is also necessary to shift several pairs of gear profiles at a same time. Therefore, designing profile shifted planetary gear system is a difficult and know-how dependent job. This study provides a practical solution to design a profile shifted gear system by the procedural design scheme, and proposes a bearing integrated structure of the dual stage profile shifted gear system with a robust output end. A dual stage profile shifted gear system with the bearing integrated structure is manufactured by the proposed design scheme in this study. This gear system is verified that it is good enough to commercialize, because it has high performance with high gear ratio and robust output end against axial and radial directional runouts in a small space.

• Journal of the Korean Society of Industry Convergence
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• v.24 no.3
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• pp.283-288
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• 2021

A tungsten material using a pressure sintering process and a titanium sintering additive was prepared to evaluate the microstructure, and mechanical properties of flexural strength and hardness. In addition, the reliability on each hardness data was evaluated by analyzing the distribution of the hardness of the tungsten material using the Weibull probability distribution. In particular, the optimal manufacturing conditions were analyzed by analyzing the correlation between the sintering temperature and the mechanical properties of the tungsten sintered body. Although the sintering density of the tungsten material was hardly changed up to 1700 ℃, but it was increased at 1800 ℃. The hardness of the tungsten sintered material increased as the sintering temperature increased, and in particular, the tungsten material sintered at 1800 ℃ showed a high hardness value of about 1790 Hv. It showed relatively excellent flexural strength at a sintering temperature of 1800 ℃.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.349-355
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• 2015

Underwater robots generally show better performances for tasks than humans under certain underwater constraints such as. high pressure, limited light, etc. To properly diagnose in an underwater environment using remotely operated underwater vehicles, it is important to keep autonomously its own position and orientation in order to avoid additional control efforts. In this paper, we propose an efficient method to assist in the operation for the various disturbances of a remotely operated vehicle for the diagnosis of underwater structures. The conventional AHRS-based bearing estimation system did not work well due to incorrect measurements caused by the hard-iron effect when the robot is approaching a ferromagnetic structure. To overcome this drawback, we propose a sensor fusion algorithm with the camera and AHRS for estimating the pose of the ROV. However, the image information in the underwater environment is often unreliable and blurred by turbidity or suspended solids. Thus, we suggest an efficient method for fusing the vision sensor and the AHRS with a criterion which is the amount of blur in the image. To evaluate the amount of blur, we adopt two methods: one is the quantification of high frequency components using the power spectrum density analysis of 2D discrete Fourier transformed image, and the other is identifying the blur parameter based on cepstrum analysis. We evaluate the performance of the robustness of the visual odometry and blur estimation methods according to the change of light and distance. We verify that the blur estimation method based on cepstrum analysis shows a better performance through the experiments.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.2
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• pp.203-208
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• 2006

The main research conducted previously on GPS ionosphere in China is first introduced. Besides, the current investigations include as follows: (1) GPS-based spatial environmental, especially the ionosphere, monitoring, modeling and analysis, including ground/space-based GPS ionosphere electron density (IED) through occultation/tomography technologies with GPS data from global/regional network, development of a GNSS-based platform for imaging ionosphere and atmosphere (GPFIIA), and preliminary test results through performing the first 3D imaging for the IED over China, (2) The atmospheric and ionospheric modeling for GPS-based surveying, navigation and orbit determination, involving high precisely ionospheric TEC modeling for phase-based long/median range network RTK system for achieving CM-level real time positioning, next generation GNSS broadcast ionospheric time-delay algorithm required for higher correction accuracy, and orbit determination for Low-Earth-orbiter satellites using single frequency GPS receivers, and (3) Research products in applications for national significant projects: GPS-based ionospheric effects modeling for precise positioning and orbit determination applied to China's manned space-engineering, including spatial robot navigation and control and international space station intersection and docking required for related national significant projects.

• Journal of the Institute of Convergence Signal Processing
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• v.21 no.3
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• pp.113-120
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• 2020

With the recent development of communication equipment, the demand for communication equipment is gradually increasing. Accordingly, various signal processing has been studied. In the case of an image, noise removal is an indispensable step because noise propagation problems may occur if noise is not removed in the pre-processing process. Salt and Pepper noise is a typical impulse noise with two extremes. Various studies have been conducted to remove such noise, and there are CWMF, MF and MMF. However, the existing methods are somewhat insufficient in the high-density noise region. Therefore, in this study, we have proposed an algorithm that filters the size of the mask according to the number of noises inside the 7×7 mask and filters it with a modified switching filter using the histogram distribution of the image. In the case of the proposed algorithm, noise can be effectively removed in a high-density noise region. For objective judgment, PSNR was used to compare and analyze with existing algorithms.

• The KSFM Journal of Fluid Machinery
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• v.16 no.3
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• pp.18-25
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• 2013

Recently the requirement of long-term mobile energy source for mobile robot or small-sized unmanned vehicle is highly increased, and the micro turbine generator(MTG) which is known to have high energy and power density is under development. MTG is designed to have air foil bearing and high speed rotor of which operating speed is 400,000rpm. In the development stage of high speed rotor and bearing, stability analysis for the full operational speed range is essential and the dynamic coefficients such as stiffness and damping coefficients of bearing depending on the rotational speed are required for that. Although perturbation method is usually used to identify the dynamic coefficients, it's not easy to give the perturbation to the high speed rotating rotor. In this study, we present the dynamic coefficients measurement system for air foil bearing which consists of electromagnets, gap sensors, high speed motor and controller. This measurement system can exert the sine sweep force to the rotor-bearing, measure the displacement of rotor and get FRF(Frequency response function) of rotor-bearing. The least square estimation method is applied to identify the dynamic coefficients of bearing from the measured frequency response at the different rpm and the identified dynamic coefficients for the wide rotational speed range are presented.

• Journal of the Korean Solar Energy Society
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• v.34 no.4
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• pp.17-22
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• 2014

The design of a fuel cells stack is important to get optimal output power. This study focuses on the evaluation of fuel cell system for unmaned aerial vehicles (UAVs). Low temperature proton exchange membrane (LTPEM) fuel cells are the most promising energy source for the robot applications because of their unique advantages such as high energy density, cold startup, and quick response during operation. In this paper, a 600 W open cathode LTPEM fuel cell was tested to evaluate the performance and to determine optimal operating conditions. The open cathode design reduces the overall size of the system to meet the requirement for robotic application. The cruise power requirement of 600 W was supported entirely by the fuel cell while the additional power requirements during takeoff was extended using a battery. A peak of power of 900 W is possible for 10 mins with a lithium polymer (LiPo) battery. The system was evaluated under various load cycles as well as start-stop cycles. The system response from no load to full load meets the robot platform requirement. The total weigh of the stack was 2 kg, while the overall system, including the fuel processing system and battery, was 4 kg.