• Nuclear Engineering and Technology
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• v.27 no.5
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• pp.661-669
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• 1995

A mobile robot, named KAEROT, has been developed for inspection and maintenance operations in nuclear facilities. The main feature of locomotion system is the planetary wheel assembly with small wheels. This mechanism has been designed to be able to go over the stairs and obstacles with stability. This paper presents the inverse kinematic solution that is to be operated by remote control. The automatic stair climbing algorithm is also proposed. The. proposed algorithms generates the moving pathes of small wheels and calculates the angular velocity of 3 actuation wheels. The results of simulations and experiments are given for KAEROT peformed on the irregular stairs in laboratory. It is shown that the proposed algorithm provides the lower inclination angle of the robot body and increases its stability during navigation.

• Plant Journal
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• v.6 no.2
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• pp.62-69
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• 2010

The stability of coal pulverizer in the 800 MW coal-fired plants is vital to maintain their performance. Thus, this study analyzed the uneven abrasion of the deflector and coal spillage due to the air velocity maldistribution in the vane wheel of a bowl-type pulverizer as it is a possible cause for problems of facility using pulverized coal. In addition, air flow in the underbowl of a bowl-type pulverizer was studied to check air velocity maldistribution in the vane wheel using numerical method. In an attempt to correct the maldistribution of air velocity, air flow of the modified duct vane was studied as enlarging the length of the duct vanes installed at the air inlet duct of the pulverizer and increasing the angle of inclination. It was found that modified duct vane make the velocity distribution at the vane wheel uniform. formed by the duct vanes installed at the air inlet duct of the pulverizer and swirling flow is the major factor in making the velocity distribution of vane wheel exit uniform. This can prevent the uneven abrasion of the deflector, which is one of the components inside the pulverizer and coal spillage.

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.3
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• pp.716-724
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• 1990

Oblique impinging plane jets were investigated experimentally and numerically at Reynolds number 21000. The inclination angle was varied from 90.deg.(normal to the impinging plate) to 60.deg.. The distance H between the nozzle exit and the stagnation point on the impinging plate was fixed at H/D=8. The working fluid was air. The mean velocity components and turbulent quantities were measured by a hot-wire anemometer. And the static pressure distributions on the impinging plate were measured by a Pitot tube. In numerical computation, the governing partial differential equations of elliptic type were solved with conventional k-.epsilon. turbulence model. The measurements show that, after impingement, the jet half width alone the wall increases in both directions, and that similarity for each turbulent quantity such as Reynolds shear stress or turbulent kinetic energy is revealed in the wall jet region. The computed results show some deviation from experimental data in the impingement region, where streamline curvature is significant. However, the computed results agree qualitatively well with measurements.

• Imaging Science in Dentistry
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• v.35 no.2
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• pp.83-86
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• 2005

Purpose : To evaluate the effect of deviation of mandibular positioning, by changing the mandibular plane inclination, on the measured height and width of mandible in spiral conventional tomography. Materials and Methods : By means of the Scanora multifunctional unit, cross-sectional tomograms were taken from two human dried mandibles at the mandibular angulations: -15 degree, -10 degree, -5 degree, and 0 degree. Twenty-eight sites in two dried mandibles were imaged. One examiner measured the bone heights and widths at selected sites on the images and the actual bone heights were recorded. Results : The bone heights at the four mandibular inclinations overestimated real bone heights and the mean difference between actual heights and image heights on 0 degrees was the smallest (P<0.01). The bone widths on -15 degrees were narrowest and there were significant differences between bone widths measured at the four mandibular inclinations (P<0.001). We found statistically significant differences between both bone heights and widths as measured according to the mandibular plane angle for the posterior region (P<0.01). Conclusion : The use of different mandibular positioning may result in discrepancies in heights and widths when measured from the cross-sectional tomographic images. It is suggested that the mandibular positioning may play a significant role in the measurement of mandibular heights and widths.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.14 no.1_2
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• pp.54-64
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• 1992

The balance of facial sop tissue is important factor for the treatment of maxillofacial deformity patients. There are many cephalometric analysis of facial bone but a few soft tissue analysis of face for the orthognathic surgery, especially in the oriental people. This study aimed at examining the mean value of the soft tissue measurement of 120 Korean adult women with the linear and angular measurement and comparing with Caucasian. The results ere as follows. 1. In the frontal linear measurement, Korean women have larger interocular distant and width of nose, but the width of mouth appeared less than Caucasian. 2. In the frontal angular measurement, Korean women have larger inclination of the eye than Caucasian. 3. In the lateral linear measurement, Korean women have more prominent upper and lower lip position than Caucasian and have longer upper facial height comparing with lower facial height than Caucasian. 4. In the lateral angular measurement, Korean women have more convex facial profile and less nasolabial and geniolabial angle. 5. In the lateral facial ratio, Korean women have larger proportion in the lower department below the stomion.

• Journal of the Korean Society of Safety
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• v.27 no.3
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• pp.9-14
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• 2012

The objectives of this study were to compare the results of HSL (Health and Safety Laboratory) ramp test with perceived sense of slip onto the several different floor surfaces under contaminated conditions. There are a variety of approaches from biomechanical measurements to psychophysical test and human perception. However, controversies over these approaches still remain. Some widely accepted methods need to be improved. AHP (Analytic Hierarchy Process) was used to evaluate the perception of slipperiness of seven different floor surfaces under the contaminated condition with glycerol solution. Twelve subjects worn same footwear and walked with self-selected step and cadence along the test floors. The angle of inclination obtained for water wet condition using 5 l/min with HSL ramp test was compared to perception of slipperiness. The surface roughness ($R_z$) related very well both AHP (r=0.95) and ramp test (r=0.92). The high significant correlation (r=0.90) was found between AHP and HSL ramp test.The HSL ramp test values (Coefficient of Friction, COF) according to subjective evaluation were divided into two categories. There were high correlations between test results (subjective evaluation, HSL ramp test) and surface roughness in Rz. Perception rating obtained with AHP showed a high correlation with COF obtained with HSL ramp test.

• Wind and Structures
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• v.20 no.1
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• pp.75-93
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• 2015

This work is focused on a parametric numerical study of the barrier's bar inclination shelter effect in crosswind scenario. The parametric study combines mesh morphing and design of experiments in automated manner. Radial Basis Functions (RBF) method is used for mesh morphing and Ansys Workbench is used as an automation platform. Wind barrier consists of five bars where each bar angle is parameterized. Design points are defined using the design of experiments (DOE) technique to accurately represent the entire design space. Three-dimensional RANS numerical simulation was utilized with commercial software Ansys Fluent 14.5. In addition to the numerical study, experimental measurement of the aerodynamic forces acting on a vehicle is performed in order to define the critical wind disturbance scenario. The wind barrier optimization method combines morphing, an advanced CFD solver, high performance computing, and process automaters. The goal is to present a parametric aerodynamic simulation methodology for the wind barrier shelter that integrates accuracy and an extended design space in an automated manner. In addition, goal driven optimization is conducted for the most influential parameters for the wind barrier shelter.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.1400-1405
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• 2004

Experimental study is performed to investigate the effect of heat load and operating temperature on the thermal performance of a heat pipe with screen mesh wick. The heat pipe was designed in 200 screen meshes, 500mm length and 12.7mm O.D tube of copper, water as working fluid(4.8g) and nitrogen as non-condensible gas(NCG). The heat pipe used in this study has evaporator, condenser and adiabatic section, respectively. Experimental data of axial wall temperature distribution is presented for heat transport capacity, the temperature of cooling water of condenser, inclination angle, and operating temperature. For the results from this study, it is found that, for the same charging mass of working fluid, the initial operating temperature and the overall wall temperatures of heat pipe are higher for NCG charging mass of $5.0{\times}10^{-6}kg$ and $3.4{\times}10^{-6}kg$, than that of $1.0{\times}10^{-6}kg$.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.677-683
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• 2015

This paper proposes a helicopter direction adjustment system using barycenter shift. Most conventional methods for direction adjustment of uniaxial helicopters rely on the angle of inclination of the main rotor. However, the inherent burden of the bearing of the main rotor and serious abrasion of the helicopter using the above methods may results in loss of balance. To decrease abrasion and enhance the barycenter stability, the proposed method was used to shift the barycenter of the helicopter instead of the main rotor for direction adjustment. We set a biaxial ARM on a uniaxial helicopter to adjust the direction of ARM pointing as well as to realize stable direction control when the helicopter loses its balance. The method may enhance the landing safety of helicopters in emergencies. Uniaxial helicopters can be controlled under any environment by adjusting the motor parameters of the ARM which is dependent on the center of mass using neural network. The experiment results show that the helicopter can return to the starting position quickly under the external disturbance.

• Steel and Composite Structures
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• v.12 no.3
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• pp.183-205
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• 2012

This paper presents an investigation of the effect of inclined stiffeners on the load-carrying capacity of simply-supported hot-rolled steel I-beams under various load conditions. The study is carried out using finite element analysis. A series of beams modeled using 3-D solid finite elements with consideration of initial geometric imperfections, residual stresses, and material nonlinearity are analyzed with and without inclined stiffeners to show how the application of inclined stiffeners can offer a noticeable increase in their lateral-torsional buckling (LTB) capacity. The analysis results have shown that the amount of increase in LTB capacity is primarily dependent on the location of the inclined stiffeners and the lateral unsupported length of the beam. The width, thickness and inclination angle of the stiffeners do not have as much an effect on the beam's lateral-torsional buckling capacity when compared to the stiffeners' location and beam length. Once the optimal location for the stiffeners is determined, parametric studies are performed for different beam lengths and load cases and a design equation is developed for the design of such stiffeners. A design example is given to demonstrate how the proposed equation can be used for the design of inclined stiffeners not only to enhance the beam's bearing capacity but its lateral-torsional buckling strength.