• 대한의용생체공학회:의공학회지
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• 제37권3호
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• pp.105-111
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• 2016

Introduction: Surgical robot is the alternative instrument that substitutes the difficult and precise surgical operation; should have intuitiveness operationally to transfer natural motions. There are limitations of hand motion derived from contacting mechanical handle in the surgical robot master interface such as mechanical singularity, isotropy, coupling problems. In this paper, we will confirm and verify the feasibility of intuitive Non-restraint master interface which tracking the hand motion using infra-red camera and only 3 reflective markers without the hardware handle for the surgical robot master interface. Materials & methods: We configured S/W and H/W system; arranged 6 infra-red cameras and attached 3 reflective markers on hands for measuring 3 dimensional coordinate then we find the 7 motions of grasp, yaw, pitch, roll, px, py, pz. And we connected Virtual-Master to the slave surgical robot(Laparobot) and observed the feasibility. To verify the result of motion, we compare the result of Non-restraint master and that of clinometer (and protractor) through measuring 0~180 degree, 10degree interval, 1000 samples and recorded standard deviation stands for error rate of the value. Results: We confirmed that the average angle values of Non-restraint master interface is accurately corresponds to the result of clinometer (and protractor) and have low error rates during motion. Investigation & Conclusion: In this paper, we confirmed the feasibility and accuracy of 3D Non-restraint master interface that can offer the intuitive motion of non-contact hardware handle. As a result, we can expect the high intuitiveness, dexterousness of surgical robot.

• 한국CDE학회논문집
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• 제19권4호
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• pp.324-331
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• 2014

In the design of a combat vehicle, various performances such as firepower, mobility and survivability, etc., should be considered. Furthermore, since these performances relate to each other, design framework which can treat an integrated system should be employed to design the combat vehicle. In this paper, we use empirical interior ballistic and 3D combat vehicle analyses for predicting firepower and mobility performances which are developed in previous study (1) integrated performance modeling. In firepower performance, pitch and roll angle by sequential firing are considered. In mobility performance, vertical acceleration after passing through a bump is regarded. However, since there are many design variables such as mass of vehicle, mass of suspension, spring and damping coefficient of suspension and tire, geometric variables of vehicle, etc., for firepower and mobility performance, we utilize analysis of variance and quality function deployment to reduce the number of design variables. Finally, integrated design optimization is carried out for integrated performance such as firepower and mobility.

• 한국해양공학회지
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• 제26권6호
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• pp.53-58
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• 2012

An experimental study on the hydrodynamic performance of a backward bent duct buoy (BBDB) was performed in a 2D wave tank. The BBDB is one of the promising oscillating water column (OWC) types of floating wave energy converters. Two different corner-shaped BBDBs (sharp-corner and round-corner) were used to measure the maximum chamber surface elevations and body motions for various incident wave conditions, and their hydrodynamic characteristics were compared. In order to investigate the effect of the pneumatic pressure inside the chamber, the heave and pitch angle interacted with elevations were compared for both open chamber and partially open chamber BBDBs. From the comparison study, the deviation in the chamber surface elevations between the two shapes of BBDBs was found to be significant near the resonance period, which may be explained by viscous energy loss. It was also found that the pneumatic pressure noticeably affected the chamber surface elevation and body motions.

• 한국항해항만학회지
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• 제33권5호
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• pp.323-330
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• 2009

병렬기구를 이용하여 항만공사를 위한 수중로봇을 개발하였다. 수중으로 큰 피복석을 옮기기 위해 수중로봇은 크레인에 의해 권양된다. 수중로봇의 요오와 피치운동은 유압 실린더에 의해 제어되지만 롤 운동은 제어되지 않는다. 롤 운동을 위해 로봇 양쪽에 프로펠러가 장착되어 제어된다. 본 논문은 수중로봇의 롤 운동제어에 관한 것이다. 롤 운동 각도를 측정하기 위해 자이로 센서가 사용되었다. 로봇의 롤 운동을 2차 비선형 시스템으로 나타내고 반복 리스트 스퀘어 방법과 적응인식 방법으로 동적 모델을 찾았다. 동적 모델로 외란을 보상하기 위한 제어입력을 계산하고 PD 제어, 반복 리스트 스퀘어 모델 베이스 제어, 적응 모델 베이스 제어를 롤 운동제어에 적용했다. 수중로봇의 시스템을 설명하고 제안한 제어기의 시뮬레이션과 실험결과를 보인다.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2010년도 제35회 추계학술대회논문집
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• pp.648-651
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• 2010

FAR25급 터보프롭 항공기에서 프로펠러는 고속으로 비행할 수 있는 추력을 얻기 위해 공기역학적으로 우수하며 높은 효율을 가져야 한다. 프로펠러 형상 설계를 위한 익형은 전형적인 터보프롭 항공기 프로펠러에 사용되는 Clark-Y를 적용하였다. 프로펠러 공력설계 및 해석에는 최소에너지손실을 위한 조건을 만족시키도록 설계하는 와류-깃요소 이론(Vortex-Blade element theory)에 근거한 Adkins의 방법을 이용한 Javaprop을 이용하였다. 시위길이와 피치각 분포를 변경해 가며 FAR25급 터보프롭 항공기의 설계점에 가장 효율적인 프로펠러 형상을 생성하였으며, 전산유체역학을 이용하여 생성된 프로펠러 공력특성 분석을 통해 프로펠러 설계결과가 FAR25급 터보프롭 항공기에 적용 가능함을 확인하였다.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2010년도 제34회 춘계학술대회논문집
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• pp.304-310
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• 2010

본 연구에서는 딤플이 설치된 유로, 립이 설치된 유로, 립과 딤플이 함께 설치된 유로에서의 열전달 성능을 천이액정법을 이용하여 측정하였다. 실험에 사용된 유로의 종횡비(W/H)는 4이고, 립의 높이는 6 mm, 립 간 거리(P/e)는 10, 립이 설치된 각도는 $60^{\circ}$이며, 딤플의 직경은 6 mm, 딤플 중심간 거리(s/D)는 1.2로 하였다. 레이놀즈 수는 30000-50000에 대해 실험을 수행하였다. 립이 설치된 유로에서는 경사 립에 의해 발생된 이차유동이 열전달 계수를 증가시켰고, 립과 딤플이 함께 설치된 유로에서는 립 사이에 설치된 딤플이 열전달 계수를 더욱 증가시켰다. 열전달계수는 립과 딤플이 복합 적용된 유로, 립이 적용된 유로, 딤플이 적용된 순으로 나타났고, 열성능계수도 립과 딤플이 복합 적용된 유로에서 크게 나타났다.

• 한국태양에너지학회 논문집
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• 제39권6호
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• pp.83-91
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• 2019

Photovoltaic thermal (PVT) collectors are devices that simultaneously produce electricity and heat. Research on conventional air-type PVT collector focuses on installing baffles to enhance the collector's thermal performance. However, the baffles have pressure drop inside the collector which degrades the thermal performance. Thus, it is necessary to design baffles to smoothen the flow inside the air-type PVT collector. Alternatively, installing perforated baffles in air-type PVT collectors can reduce the collector weight, but parameters such as the diameter of the perforated holes and the height of the perforated plates should be considered. Therefore, the main aim of this study was to analyze thermal characteristics of each variable of perforated baffles installed inside air-type PVT collector. For this purpose, the uniformity of air flow in the collector was compared through NX program, and the resultant heat gain and thermal efficiency of the air-type PVT collector were compared and analyzed. Therefore, the main aim of this study was to analyze thermal characteristics of each variable (Baffle angle, length, height, pitch, perforated ratio) of perforated baffles installed inside air-type PVT collector. For this purpose, the uniformity of air flow in the collector was compared through CFD program, and the resultant heat gain and thermal efficiency of the air-type PVT collector were compared and analyzed. As a result, the maximum outlet temperature was increased by 1.45 times and the heat gain was increased by 193.8 Wth, depending on the perforated baffle plate, compared to the collector without the baffle. The heat transfer performance showed that the maximum internal velocity was 1.61 times higher and the Reynolds number was 1.06 times higher depending on the parameters of the baffle plate.

• 천문학회보
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• 제37권2호
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• pp.117.1-117.1
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• 2012

Energetic neutral atoms (ENAs) are emitted by charge exchange collisions between energetic ions and cold neutral atoms. ENAs can be used as an alternative measure of the energetic ions in the source region because they maintain the energy and pitch angle of the source energetic ions. In the present study we present simulation results of the ENA emissions during a magnetic storm to be measured by the STEIN instrument onboard the CINEMA/TRIO satellites. The CINEMA/TRIO mission consists of three identical cubesats with low-altitude orbits. The STEIN instrument onboard each cubesat can measure ENAs with energies from ~4 keV to ~20 keV as well as suprathermal electrons and ions. The measurement of ENA emissions from ring current by STEIN is simulated using the models for energetic ring current ions and geocoronal neutral atoms. Especially we will discuss about the energy spectrum of the ENAs and the effect of transient variations of the ring current.

• 천문학회보
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• 제37권2호
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• pp.122-122
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• 2012

Geosynchronous electron flux dropouts are most likely due to fast drift loss of the particles to the magnetopause (or equivalently, the "magnetopause shadowing effect"). A possible effect related to the drift loss is the radial diffusion of PSD due to gradient of PSD set by the drift loss effect at an outer L region. This possibly implies that the drift loss can affect the flux levels even inside the trapping boundary. We recently investigated the details of such diffusion process by solving the diffusion equation with a set of initial and boundary conditions set by the drift loss. Motivated by the simulation work, we have examined observationally the energy spectrum and pitch angle distribution near trapping boundary during the geosynchronous flux dropouts. For this work, we have first identified a list of geosynchronous flux dropout events for 2007-2010 from GOES satellite electron measurements and solar wind pressures observed by ACE satellite. We have then used the electron data from the Time History of Events and Macroscale Interactions during Substorms (THEMIS) spacecraft measurements to investigate the particle fluxes. The five THEMIS spacecraft sufficiently cover the inner magnetospheric regions near the equatorial plane and thus provide us with data of much higher spatial resolution. In this paper, we report some case studies showing energy dependence during magnetopause shadowing effect.

• 한국항공우주학회지
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• 제37권10호
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• pp.975-983
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• 2009

본 논문은 동축반전 로터 블레이드의 성능 특성 파악을 위한 선행연구로서, 단일 로터 블레이드에 대한 공력 데이터 획득 및 성능 특성을 확인하기 위한 연구에 중점을 두었다. 이를 위해 제자리 비행 상태에서 추력과 토크의 측정이 가능한 소형 로터 블레이드용 회전 시험장치를 구성하고 제작하였다. 로터 회전 시험장치는 회전장치부, 센서부, 그리고 데이터 획득 시스템으로 구성되었으며, 고정된 회전속도에서 콜렉티브 피치각을 변화시키면서 추력과 토크를 측정할 수 있도록 하였다. 이를 통하여 저 레이놀즈 수 ($Re{\approx}3{\times}10^5$) 영역에서 운용되는 단일 로터의 제자리 비행 성능 시험을 수행하였고 소형 로터 블레이드의 제자리 비행 성능을 획득하여 로터 회전 시험장치의 성능을 검증하였다.