• 한국대기환경학회:학술대회논문집
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• 한국대기환경학회 2007년도 추계학술대회 논문집
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• pp.67-68
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• 2007

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.281-282
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• 2009

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.227-228
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• 2009

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 추계학술대회 논문집
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• pp.369-370
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• 2009

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.709-710
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• 2010

• 로봇학회논문지
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• 제17권1호
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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.

• 대한기계학회논문집
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• 제19권12호
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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.

• 한국정밀공학회지
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• 제29권1호
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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.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 2009년도 추계학술대회 논문집
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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.

• 한국항공우주학회지
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• 제39권12호
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• pp.1160-1165
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• 2011

본 연구는 무인항공기 및 헬리콥터 등에 장착되어 운용되는 고정밀 관측 다축 구동 EO/IR 카메라의 진동해석에 관한 것이며, 카메라에 적용된 볼 베어링을 모델링 하는데 있어서 3축 스프링요소를 적용하는 방법을 제시하였고, 이것에 의한 유한요소모델의 진동 응답 결과를 얻었다. 볼 베어링을 3축 스프링 요소로 모델링한 진동해석결과는 시험결과와 비교 되었으며, 잘 일치함을 알 수 있었다. 또한, 랜덤진동 시간이력해석을 통하여 다축 구동 EO/IR 카메라의 진동 응답 특성을 해석하고 분석하였다. 이의 연구결과는 우주용 카메라들에 사용되는 볼 베어링의 유한요소모델링 기법에 응용될 수 있다.