• Proceedings of the Korea Air Pollution Research Association Conference
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• 2007.10a
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• pp.67-68
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• 2007

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.281-282
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.227-228
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.369-370
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.709-710
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• 2010

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.25-31
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• 2022

Moving among multiple floors is one of the most challenging tasks for indoor autonomous robots. Most of the previous researches for indoor mapping and localization have focused on singular floor environment. In this paper, we present an algorithm that creates a multi-floor map using 3D point cloud. We implement localization within the multi-floor map using a LiDAR and an IMU. Our algorithm builds a multi-floor map by constructing a single-floor map using a LOAM-based algorithm, and stacking them through global registration that aligns the common sections in the map of each floor. The localization in the multi-floor map was performed by adding the height information to the NDT (Normal Distribution Transform)-based registration method. The mean error of the multi-floor map showed 0.29 m and 0.43 m errors in the x, and y-axis, respectively. In addition, the mean error of yaw was 1.00°, and the error rate of height was 0.063. The real-world test for localization was performed on the third floor. It showed the mean square error of 0.116 m, and the average differential time of 0.01 sec. This study will be able to help indoor autonomous robots to operate on multiple floors.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.12
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• pp.3317-3328
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• 1995

The objective of the present study is to predict the characteristics of heat and mass transfer around an evaporative condenser. Numerical calculations have been performed using multi-zone method to investigate heat transfer rate and evaporation rate with the variation of inlet condition(velocity, relative humidity and temperature) of the moist air, the flow rate of the cooling water and the shape of the condenser tube. From the results it is found that the profile of heat flux is the same as that of evaporation rate since heat transfer along the gas-liquid interface is dominated by the transport of latent heat in association with the vaporization(evaporation) of the liquid film. The evaporation rate and heat transfer rate is increased as mass flow rate increases or relative humidity and temperature decrease respectively. But the flow rate of the cooling water hardly affect the evaporation rate and heat flux along the gas-liquid interface. The elliptic tube which the ratio of semi-minor axis to semi-major axis is 0.8 is more effective than the circular tube because the pressure drop is decreased. But the evaporation rate and heat flux shown independency on the tube shape.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.1
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• pp.33-40
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• 2012

The scaffold serves as 3D substrate for the cells adhesion and mechanical support for the newly grown tissue by maintaining the 3D structure for the regeneration of tissue and organ. In this paper, we proposed integrated scaffold fabrication system using multi-axis rapid prototyping (RP) technology. It can fabricate various types of scaffolds: arbitrary sculptured shape, primitive shape, and tube shape scaffolds by layered dispensing biocompatible/ biodegradable polymer strands in designated patterns. In order to fabricate the 3D scaffold, we need to generate the plotting path way for the scaffold fabrication system. We design a data processing program - scaffold plotting software, which can convert the 3D STL file, primitive and tube model images into the NC code for the system. Finally, we fabricated the customized 3D scaffolds with high accuracy using the plotting software and the fabrication system.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2009.10a
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• pp.359-362
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• 2009

Optimal efficiency control of synchronous reluctance motor(SynRM) is very important in the sense of energy saving and conservation of natural environment because the efficiency of the SynRM is generally lower than that of other types of AC motors. This paper is proposed a novel efficiency optimization control of SynRM considering iron loss using multi adaptive fuzzy learning controller(AFLC). The optimal current ratio between torque current and exciting current is analytically derived to drive SynRM at maximum efficiency. This paper is proposed an efficiency optimization control for the SynRM which minimizes the copper and iron losses. There exists a variety of combinations of d and q-axis current which provide a specific motor torque. The objective of the efficiency optimization control is to seek a combination of d and q-axis current components, which provides minimum losses at a certain operating point in steady state. The control performance of the proposed controller is evaluated by analysis for various operating conditions. Analysis results are presented to show the validity of the proposed algorithm.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.12
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• pp.1160-1165
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• 2011

This study is focused on the structural dynamic responses, i.e., vibration analysis results of the high-accuracy observation multi-axial camera, which is installed and operated for the UAV (Unmanned Aerial Vehicle) and helicopter etc. And, the authors newly suggest a modeling technology of the ball bearing applied to the camera by using three-axis spring elements. The vibration analysis results well agreed to the randum vibration test results. Also, the vibration responses characteristics of the multi-axial camera through the time history analysis of the random vibration were analyzed and evaluated. The above results can be applied to the FE-modeling of the ball bearings used for the space cameras.