• Journal of the Korean Society for Precision Engineering
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• v.29 no.2
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• pp.178-184
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• 2012

This paper presents a transformable track mechanism for wall climbing robots. The proposed mechanism allows a wall climbing robot to go over obstacles by transforming the track shape, and also increases contact area between track and wall surface for safe attachment. The track mechanism is realized using a timing belt track with one driving actuator. The inner frame of the track consists of serially connected 5R-joints and 1P-joint, and all joints of the inner frame are passively operated by springs, so the mechanism does not require any actuators and complex control algorithms to change its shape. Static analysis is carried out to determine design parameters which enable $90^{\circ}$ wall-to-wall transition and driving over projected obstacles on wall surfaces. A Prototype is manufactured using the transformable track on which polymer magnets are installed for adhesion force. The size of the prototype is $628mm{\times}200mm{\times}150mm$ ($Length{\times}Width{\times}Height$) and weight is 4kgf. Experiments are performed to verify its climbing capability focusing on $90^{\circ}$ wall to wall transition and driving over projected obstacle.

• Journal of the Korean Wood Science and Technology
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• v.47 no.4
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• pp.533-542
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• 2019

As energy costs increase, more people has become interested on energy efficiency and savings in residential buildings. The two main subjects related to energy in residential buildings are insulation and condensation. There are two approaches to prevent condensation; increasing air tightness and maintaining the temperature inside of the wall structure over the dew point, which is in turn related to insulation. Even though the Korean government has highlighted the importance of energy efficiency for residential housings, and in spite of the customers' demands, the timber construction industry is still using conventional light-frame construction without even trying to improve energy efficiency. In this study, various types and combinations of wall structures were tested under cold outdoor and warm indoor temperatures to analyse the temperature gradients and to determine the possible sites of condensation in the wall structures. In addition to the experimental tests, three theoretical models were developed and their estimations of temperature change through the wall structure were compared with the actual measurements to evaluate accuracy of the models. The results of the three models agree relatively well with the experimental values, indicating that they can be used to estimate temperature changes in wall structures. The theoretical analysis of different insulation layers' combinations show that condensation may occur within the mid-layer in the conventional light-frame wall structures for any combination of inner-, mid-, and outer-layers of insulation. Therefore, it can be concluded that the addition of an inner and outer insulation layer or increasing the thickness of insulation may not be adequate to prevent condensation in the wall structure without preventing penetration of warm moist air into the wall structure.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.6
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• pp.258-266
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• 2002

This paper proposes the methodology of the image processing algorithm that estimates the pose of the inner-pipe crawling robot. The inner-pipe crawling robot is usually equipped with a lighting device and a camera on its head for monitoring and inspection purpose of defects on the pipe wall and/or the maintenance operation. The proposed methodology is using these devices without introducing the extra sensors and is based on the fact that the position and the intensity of the reflected light from the inner wall of the pipe vary with the robot posture and the camera. The proposed algorithm is divided into two parts, estimating the translation and rotation angle of the camera, followed by the actual pose estimation of the robot . Based on the fact that the vanishing point of the reflected light moves into the opposite direction from the camera rotation, the camera rotation angle can be estimated. And, based on the fact that the most bright parts of the reflected light moves into the same direction with the camera translation, the camera position most bright parts of the reflected light moves into the same direction with the camera translation, the camera position can be obtained. To investigate the performance of the algorithm, the algorithm is applied to a sewage maintenance robot.

• The KSFM Journal of Fluid Machinery
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• v.15 no.4
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• pp.67-71
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• 2012

This study analyzed performance changes by an inner flow path of impeller groove for side channel type ring blower using CFD. Two models have the same side channel and clearance while one has an inner flow path and the other doesn't. To analyze the performance change of a ring blower, overall performance and local flow field were analyzed. For the overall performance, pressure increase and impeller torque were checked under the design flow condition. Under the design flow condition, pressure increase was greater for the model with the inner flow path. The model with the inner flow path showed improved efficiency because the area subject to torque decreased due to the creation of inner flow path. To analyze local flow field, a section was created from the representative location of each impeller groove toward the direction of radius. Inner channel pressure distribution depending on the rotation direction shows that the model with the inner flow path has pressure equilibrium of working fluid through the inner flow path. Velocity distribution of inside impeller groove shows that flow field was coupled and appeared to form an inner wall where the flow field was stabilized.

• International Journal of Aeronautical and Space Sciences
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• v.4 no.2
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• pp.51-60
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• 2003

An experimental research program is being undertaken to develop a regeneratively-cooled experimental thrust chamber of liquid rocket engine using liquefied natural gas and liquid oxygen as propellants. Prior to firing test using a regenerative cooling with liquefied natural gas in this program, several firing tests were conducted with water as a coolant. Experimental thrust chambers with a thrust of about 10tf were developed and their firing test facility was built up. Injector used in the thrust chamber was of shear-coaxial type appropriate for propellants of gas and liquid phase and cooling channels are of milled rectangular configuration. Periodical variation of the soot deposition and discoloration was observed through an eyes' inspection on the inner wall of a combustion chamber and a nozzle after each firing test, and an intuitive concept of the periodical variation of mixture ratio near the inner wall of a combustion chamber and a nozzle at once was brought about and analyzed quantitatively. Thermal heat flux to the coolant was calculated and modified with the periodical variation model of mixture ratio, and the increment of coolant temperature at cooling channels was compared with measured one.

• 보존과학연구
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• s.21
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• pp.119-143
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• 2000

The pigments composition and structure of the mural painting at Pongjongsa Kuknakjon is discussed. The structure of inner wall is consisited of Paint layer, Ground divided two layers of yellow and white pigments, Support. In case of outer wall, it is consisted of Paint layer, Ground divided three layers of yellow and green pigments, a layer mixed green pigments and paint layer, Support. As a result of compositon analysis of mural painting pigments at Pongjongsa Kuknakjon using Micro-area X-ray diffraction system, the red pigment on inner wall is consisted of Heamatite($Fe_2O_3$), Magnetite($Fe_3O_4$)of deep black pigment, and Chalcocite($Cu_2S$) of light black pigment. The white pigment on outer wall is consisted of Anglesite($PbSO_4$) and Atacamite($Cu_2CI(OH)_3$) of green pigment. We found out that natural pigments painted in the mural painting at Pongjongsa Kuknakjon has kept up its own color for a long time due to using the natural pigment not to artificial synthetic pigment.

• Proceedings of the KSME Conference
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• 2000.04b
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• pp.104-107
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• 2000

Evaporative heat transfer characteristics of carbon dioxide has been investigated. Experiment has been carried out for seamless stainless steel tube with outer diameter of 9.55 mm and inner diameter of 7.75 mm. Direct heating method is used for supplying heat to the refrigerant was uniformly heated by electric current which was applied to the tube wall. The saturation temperature of refrigerant is calculated from the measured saturation pressure by using an equation of state. Inner wall temperature was calculated from measured outer wall temperature, accounting for heat generation in the tube and heat conduction through the tube wall. Mass Quality of refrigerant was calculated by considering energy balance in the preheater and the test section. Heat fluxes were set at 12, 16, 20, 23, and $27kW/m^2$, mass fluxes were controlled at 212, 318, 424, and $530 kg/m^2s$, and saturation temperature of refrigerant were adjusted at 0, 3.4, 6.7 and $10.5^{\circ}C$. From this study, heat transfer coefficients of carbon dioxide have been provided with respect to quality for several mass fluxes, heat fluxes. Finally, the experimental results in this study are compared with the correaltion by Gungor and Winterton(1987).

• Corrosion Science and Technology
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• v.16 no.1
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• pp.23-30
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• 2017

The inhibition effect of thioureido imidazoline inhibitor (TAI) for flow accelerated corrosion (FAC) at different locations for an X65 carbon steel elbow was studied by array electrode and computational fluid dynamics (CFD) simulations. The distribution of the inhibition efficiency measured by electrochemical impedance spectroscopy (EIS) is in good accordance with the distribution of the hydrodynamic parameters at the elbow. The inhibition efficiencies at the outer wall are higher than those at the inner wall meaning that the lower inhibition efficiency is associated with a higher flow velocity, shear stress, and turbulent kinetic energy at the inner wall of the elbow, as well as secondary flow at the elbow rather than the mass transport of inhibitor molecules. Compared to the static condition, the inhibition efficiency of TAI for FAC was relatively low. It is also due to a drastic turbulence flow and high wall shear stress during the FAC test, which prevents the adsorption of inhibitor and/or damages the adsorbed inhibitor film.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.1
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• pp.26-33
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• 2003

Based on detailed FE limit analyses, the present paper provides tractable approximations fer plastic limit pressure solutions fur axially through-wall-cracked pipe; axially (inner) surface-cracked pipe; circumferentially through-wall-cracked pipe; and circumferentially (inner) surface-cracked pipe. In particular, for surface crack problems, the effect of the crack shape, the semi-elliptical shape or the rectangular shape, on the limit pressure is quantified. Comparisons with existing analytical and empirical solutions show a large discrepancy in circumferential short through-wall cracks and in surface cracks (both axial and circumferential). Being based on detailed 3-D FE limit analysis, the present solutions are believed to be the most accurate, and thus to be valuable information not only for plastic collapse analysis of pressurised piping but also for estimating non-linear fracture mechanics parameters based on the reference stress approach.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.29 no.1
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• pp.21-28
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• 2017

Curtain-wall systems have been widely applied to buildings because of their lightweight and constructability characteristics. However, as curtain-wall systems include many building materials, vapor barriers can become damaged and condensation can occur. Due to the material properties of stone curtain-walls, the external appearance and structure of a building could be damaged and the insulating performance of the curtain-wall could be worse. Natural ventilation using an air cavity in a curtain-wall is expected to be effective for the prevention of condensation in inner walls and for the reduction of building cooling energy use in the summer. The purpose of this experimental study is to analyze the influence of a ventilated cavity on the insulating performance of a curtain-wall and the ventilated cavity depth and ratio of top opening needed to prevent condensation in a curtain-wall.