• Journal of Biosystems Engineering
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• v.38 no.2
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• pp.138-148
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• 2013

Purpose: Determining an appropriate path is a top priority in order for a robot to maneuver in a dynamically efficient way especially in a pick-and-place task. In a non-standardized work environment, current robot arm executes its motion based on the kinematic displacements of joint variables, though resulting motion is not dynamically optimal. In this research we suggest analyzing and applying motion patterns of the human arm as an alternative to perform near optimum motion trajectory for arbitrary pick-and-place tasks. Methods: Since the motion of a human arm is very complicated and diverse, it was simplified into two links: one from the shoulder to the elbow, and the other from the elbow to the hand. Motion patterns were then divided into horizontal and vertical components and further analyzed using kinematic and dynamic methods. The kinematic analysis was performed based on the D-H parameters and the dynamic analysis was carried out to calculate various parameters such as velocity, acceleration, torque, and energy using the Newton-Euler equation of motion and Lagrange's equation. In an attempt to assess the efficacy of the analyzed human motion pattern it was compared to the virtual motion pattern created by the joint interpolation method. Results: To demonstrate the efficacy of the human arm motion mechanical and dynamical analyses were performed, followed by the comparison with the virtual robot motion path that was created by the joint interpolation method. Consequently, the human arm was observed to be in motion while the elbow was bent. In return this contributed to the increase of the manipulability and decrease of gravity and torque being exerted on the elbow. In addition, the energy required for the motion decreased. Such phenomenon was more apparent under vertical motion than horizontal motion patterns, and in shorter paths than in longer ones. Thus, one can minimize the abrasion of joints by lowering the stress applied to the bones, muscles, and joints. From the perspectives of energy and durability, the robot arm will be able to utilize its motor most effectively by adopting the motion pattern of human arm. Conclusions: By applying the motion pattern of human arm to the robot arm motion, increase in efficiency and durability is expected, which will eventually produce robots capable of moving in an energy-efficient manner.

• Journal of the Korean Society of Marine Environment & Safety
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• v.22 no.7
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• pp.900-905
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• 2016

The field of power system harmonics has been receiving a great deal of attention recently. This is primarily due to the fact that non-linear (or harmonic-producing) loads comprise an ever-increasing portion of what is handled at a typical industrial plant. The incidence rate of harmonic-related problems is low, but awareness of harmonic issues can still help increase offshore power plant system reliability. On the rare occasion that harmonics become a problem, this is either due to the magnitude of harmonics produced or power system resonance. This harmonic study used an electrical configuration for the offloading scenario of a Floating LNG (FLNG) unit, considering power load. This electrical network configuration is visible in the electrical network load flow study part of the project. This study has been carried out to evaluate the performance of an electric power system, focusing on the harmonic efficiency of an electrically driven motor system to ensure offshore plant safety. In addition, the design part of this study analyzed the electric power system of an FLNG unit to improve the safety of operation and maintenance.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.35 no.8
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• pp.789-798
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• 2011

We carry out an experimental investigation to analyze the basic performance of NO(nitric oxide) storage in a lean phase and also analyze the NO reduction achieved by the spraying of reducing agents in the rich phase of the exhaust gas in an LNT(Lean NOx Trap). This is an after-treatment system used to reduce the NOx emissions from a diesel engine. If the stored NO is reduced, we measure the outlet concentration downstream of the LNT. The test LNT material used in the experiments is commercial LNT. After being canned into stainless-steel(SUS304), it was built in a micro bench-flow reactor. Compositions of feed gases, three heated and three no heated gases were sprayed upstream of the LNT to analyze the characteristics. We use various temperatures and space velocities as response variables.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.12
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• pp.2641-2646
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• 2009

The more growing on home automation system at automatic control, the more efficiency required for energy consumption and for recycling energy in near future. Heating is essential in general apartment. Heating method is two types in apartment. One uses electricity, and other one uses warm water. If use electricity, is not efficient by rise of electric charges. But, It can reduce much in expense aspect, if use warm water. When use warm water, temperature of warm water is not equal from all pipe parts. Therefore, indoor tempera can be unequal with set point. Solution of these problems is as following. Temperature sensor in warm water attach pipe. The measured temperature transmits by real time. Temperature of warm water controls in receiver side. In this paper, we propose an automatic temperature transmission system for the heating pipe at home, that is a low-power based, and supply the energy source from a small AC motor resided in bottom cement mortal. The proposed system is used in power mechanism from a collision process of water-jet using propeller water-difference and also designed a CPU module by Atmega8 at ATMEL co., Inc. and a communication module by CC1020 at Chipcon co., Inc.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.10a
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• pp.686-686
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• 2013

Automotive turbochargers have become common in gasoline engines as well as diesel engines. They are excellent devices to effectively increase fuel efficiency and power of the engines, but they unfortunately cause several noise problems. The noises are classified into mechanical noises induced from movement of a rotating shaft and aerodynamic noises by air flow in turbochargers. In addition to, there is a mechanical noise caused from movement of an actuator, electronically controlling a wastegate valve. It is called as valve rattle noise. The actuator is connected to a valve through a linkage. The noise occurs only if the valve is open, where the linkage is freely contact to neighbor structures without being constrained by any external forces. This condition allows impacts by the pulsation of exhaust gas, and the vibration from the impacts spreads out through turbine housing, causing the rattle noise. The noise is not in mechanical operating wastegate turbochargers because the linkage of an actuator is strongly connected by actuating force. For the electronic wastegate turbocharger, this paper proposed a test device to show the noise generating mechanism with a small vibration motor having an unbalanced shaft. It also shows how to reduce the noise - reduction of linkage clearances, inserting wave washers into a connection, and applying loose fitting in bushing embracing a valve lever to turbine housing.

• Journal of Animal Environmental Science
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• v.12 no.3
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• pp.133-140
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• 2006

The climate of stall significantly influences on animal production ability. High concentration of ammonia gas, $CO_2$ and lots of dust are found in modern densely raising stall system, as results, they provide a negative influence on animal and farmer health, and production ability. Therefore, it is necessary to keep clean the inside air of stall to increase the productivity. An air cleaner of wet type, consisting of a fan, a motor, rotating discs, a dust collector, a water bowl, an ozone generator etc, has been developed to clean the stall air. The work principle is that the inside air is sucked through the fan, and the rotating discs make water into fineness spray and blow into the stall. The rest water flows down to the dust collector. In the present study, we measured the dust, ammonia gas, odor, temperature and humidity in a swine stall that were installed two wet air cleaners with 700 fattening swine with On-mode and Off-mode of wet air cleaners. The dust measure was divided into 3 categories, TSP, $PM_{10}$, and $PM_{2.5}$. In summer, the TSP in on-mode were maximum $0.259mg/m^3$ and minimum $0.128mg/m^3$, and the average was $0.195mg/m^3$. These are comparable to the data from Off-mode stall that maximum $0.308mg/m^3$, minimum $0.139mg/m^3$, and average $0.277mg/m^3$. However, $PM_{10}$ and $PM_{2.5}$ showed any significant differences between the tests. The concentrations of ammonia gas in Off-mode stall were maximum 13.8 ppm and minimum 5.9 ppm, and the average was 8.47 ppm. However in On-mode stall the ammonia gas concentrations were maximum 10.5 ppm and minimum 5.5 ppm, and the average was 7.63 ppm. The concentration of ammonia gas in On-mode was 10% in average lower than off-mode stall. Odor was measured by olfactometer. In the Off-mode stall, the odor unit were maximum 420 $Ou/m^3$ and minimum $300\;OU/m^3$, and the average was $367\;OU/m^3$, but in the On-mode stall the odor unit were maximum $330\;OU/m^3$ and minimum $210\;OU/m^3$, and the average was $253\;OU/m^3$. Odor removal efficiency was about 31% in On-mode stall.

• Journal of Bio-Environment Control
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• v.13 no.1
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• pp.1-7
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• 2004

This study is kinematics for the manipulator development of cucumber harvesting. A theory value was verified by repeated error measurement after the forward kinematics or inverse kinematics analysis of manipulator. Manipulator is consisted of one perpendicular link and two revolution link. The transformation of manipulator can be valued by kinematics using Denavit-Hartenberg parameter. The value of inverse kinematics which is solved by three angles faction shows two types. Repeated errors refered maximum 2.60 mm, 2.05mm and 1.55 mm according to X, Y, Z axis. In this study, the actual coordinates of maximum point and minimum point were agreement in the forward kinematics or inverse kinematics. The results of repeated error measurement were reflect to be smaller compared to a diameter of cucumber. measurement errors were determined by experimented errors during the test. For reducing errors of manipulator and improving work efficiency, the number of link should be reduced and breeding and cultural environment should be considered to reduce the weight and use the hard stuff. The velocity of motor for working should be considered, too.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.4
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• pp.456-465
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• 2019

PHEV(Plug in Hybrid Electric Vehicle) and BEV(Battery Electric Vehicle) equip high voltage batteries to drive motor and vehicle electric system. Those vehicle require OBC(On-Board Charger) for charging batteries and LDC(Low DC/DC Converter) for converting from high voltage to low voltage. Since the charger and the converter actually separate each other in electrical vehicles, there is a margin to reduce the vehicle weight and area of installation by integration two systems. This paper studies a 1.5kW LDC converter that can be integrated into an OBC using an isolated current-fed converter by simplifying the design of LDC transformers. The proposed LDC can control the final output voltage of the LDC by using a fixed arbitrary output voltage of the bidirectional buck-boost converter, so that Compared to the existing OBC-LDC integrated system, it has the advantage of simplifying the transformer design considering the battery voltage range, converter duty ratio and OBC output turn ratio. Prototype of the proposed LDC was made to confirm normal operation at 200V ~ 400V input voltage and maximum efficiency of 91.885% was achieved at rated load condition. In addition, the OBC-LDC integrated system achieved a volume of about 6.51L and reduced the space by 15.6% compared to the existing independent system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.6
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• pp.75-82
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• 2021

Low-temperature combustion (LTC) strategies, such as HCCI (Homogeneous Charge Compression Ignition), PCCI (Premixed Charge Compression Ignition), and RCCI (Reactivity Controlled Compression Ignition), have been developed to effectively reduce NOx and PM while increasing the thermal efficiency of diesel engines. Through numerical analysis, this study examined the effects of the injection timing and two-stage injection ratio of diesel fuel, a highly reactive fuel, on the performance and exhaust gas of RCCI engines using gasoline as the low reactive fuel and diesel as the highly reactive fuel. In the case of two-stage injection, combustion slows down if the first injection timing is too advanced. The combustion temperature decreases, resulting in lower combustion performance and an increase in HC and CO. The injection timing of approximately -60°ATDC is considered the optimal injection timing considering the combustion performance, exhaust gas, and maximum pressure rise rate. When the second injection timing was changed during the two-stage injection, considering the combustion performance, exhaust gas, and the maximum pressure increase rate, it was judged to be optimal around -30°ATDC. In the case of two-stage injection, the optimal result was obtained when the first injection amount was set to approximately 60%. Finally, a two-stage injection rather than a single injection was considered more effective on the combustion performance and exhaust gas.

• Journal of Korean Society of Forest Science
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• v.97 no.1
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• pp.61-70
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• 2008

This study was conducted to develop a mobile tower-yarder with tractor for agriculture and forestry that is the efficient yarder in steep terrains, thinning operation and small scale logging operation. It was designed and manufactured that the power source of tower-yarder is equiped three hydraulic pump connected to PTO of tractor, and three hydraulic pump is used to operate the four motor for drum, the cylinder for clutch of interlocker, the cylinder for tower expanding and the out-rigger cylinder. It was to adopt the running skyline system and the inter-lock function, and to equip the double capstan drum, the storage drum and the clutch for interlock in the development of tower-yarder. It was to develop the tower-yarder which the winch torque of double-capstan drum, the traction force of double-capstan drum, the number of rotation of double-capstan drum and the line speed is $191kg{\cdot}m$, 1,910 kgf, 220.5 rpm and 138.5 m/min, respectively. And it was known that the optimum flange diameter of the main and haulback storage drum is about 360 mm and about 460 mm in order to storage the main line length of 250m and the haulback line length of 450 m. The carriage was made to adopt the running skyline system and to equip the lock function in order to the convenience of chocking and the fall down preventing of tree. It was provided to develop the wire remote controller for the inter-lock function, the convenience of control and the efficiency of yarding. In development process, this tower-yarder was attached the 3-point linkage hitch equipment and the tire wheel for the traction and moving of tower-yarder. Also, it was equipped that the out-rigger and the guy line in order to raise the safety and efficiency of yarding of tower-yarder.