• Advances in robotics research
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• v.1 no.1
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• pp.21-39
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• 2014

Due to the rapid progress in the field of robotics, it is a high time to concentrate on the development of a robot that can manoeuvre in all type of landscapes, ascend and descend stairs and sloping surfaces autonomously. This paper presents details of a prototype robot which can navigate in very rough terrain, ascend and descend staircase as well as sloping surface and cross ditches. The robot is made up of six differentially steered wheels and some passive mechanism, making it suitable to cross long ditches and landscape undulation. Static stability of the developed robot have been carried out analytically and navigation capability of the robot is observed through simulation in different environment, separately. Description of embedded system of the robot has also been presented and experimental validation has been made along with some details on obstacle avoidance. Finally the limitations of the robot have been explored with their possible reasons.

• The Magazine of the Society of Air-Conditioning and Refrigerating Engineers of Korea
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• v.17 no.4
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• pp.395-407
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• 1988

Transient flow in a cold-water supply system for cooling the inside of a coal mining pit was numerically simulated. Properly designed and presetted pressure reducing valves control the level of pressures of the piping system at normal or emergent conditions Quasi-steady relations to simulate the valve motion are obtained and the transient performance of the valve is investigated in the present paper. The present method reasonably simulate transient phenomena in the system including the pressure reducing valve. Excessive valve motion and column separation are simulated when the flow is abruptly reduced. A calculated example of the real system is also presented. The simulation can be used for the safety-check and the guidance for design and operation in emergent cases of the system.

• Nuclear Engineering and Technology
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• v.53 no.12
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• pp.4060-4066
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• 2021

Flow-accelerated corrosion (FAC) of carbon steel piping is a significant problem in nuclear power plants. The basic process of FAC is currently understood relatively well; however, the accuracy of prediction models of the wall-thinning rate under an FAC environment is not reliable. Herein, we propose a methodology to construct pipe wall-thinning rate prediction models using artificial neural networks and a convolutional neural network, which is confined to a straight pipe without geometric changes. Furthermore, a methodology to generate training data is proposed to efficiently train the neural network for the development of a machine learning-based FAC prediction model. Consequently, it is concluded that machine learning can be used to construct pipe wall thinning rate prediction models and optimize the number of training datasets for training the machine learning algorithm. The proposed methodology can be applied to efficiently generate a large dataset from an FAC test to develop a wall thinning rate prediction model for a real situation.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.1
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• pp.184-192
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• 2022

Valve internal leakage is caused by damage to the internal parts of the valve, resulting in accidents and shutdowns of the piping system. This study investigated the possibility of a real-time leak detection method using the acoustic emission (AE) signal generated from the piping system during the internal leakage of a butterfly valve. Datasets of raw time-domain AE signals were collected and postprocessed for each operation mode of the valve in a systematic manner to develop a data-driven model for the detection and classification of internal leakage, by applying machine learning algorithms. The aim of this study was to determine whether it is possible to treat leak detection as a classification problem by applying two classification algorithms: support vector machine (SVM) and convolutional neural network (CNN). The results showed different performances for the algorithms and datasets used. The SVM-based binary classification models, based on feature extraction of data, achieved an overall accuracy of 83% to 90%, while in the case of a multiple classification model, the accuracy was reduced to 66%. By contrast, the CNN-based classification model achieved an accuracy of 99.85%, which is superior to those of any other models based on the SVM algorithm. The results revealed that the SVM classification model requires effective feature extraction of the AE signals to improve the accuracy of multi-class classification. Moreover, the CNN-based classification can be a promising approach to detect both leakage and valve opening as long as the performance of the processor does not degrade.

• Journal of Navigation and Port Research
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• v.46 no.6
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• pp.562-569
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• 2022

The alarm monitoring technology applied to existing operating ships manages data items such as temperature and pressure with AMS (Alarm Monitoring System) and provides an alarm to the crew should these sensing data exceed the normal level range. In addition, the maintenance of existing ships follows the Planned Maintenance System (PMS). whereby the sensing data measured from the equipment is monitored and if it surpasses the set range, maintenance is performed through an alarm, or the corresponding part is replaced in advance after being used for a certain period of time regardless of whether the target device has a malfunction or not. To secure the reliability and operational safety of ship engine operation, it is necessary to enable advanced diagnosis and prediction based on real-time condition monitoring data. To do so, comprehensive measurement of actual ship data, creation of a database, and implementation of a condition diagnosis monitoring system for condition-based predictive maintenance of auxiliary equipment and piping must take place. Furthermore, the system should enable management of auxiliary equipment and piping status information based on a responsive web, and be optimized for screen and resolution so that it can be accessed and used by various mobile devices such as smartphones as well as for viewing on a PC on board. This update cost is low, and the management method is easy. In this paper, we propose CBM (Condition Based Management) technology, for autonomous ships. This core technology is used to identify abnormal phenomena through state diagnosis and monitoring of pumps and purifiers among ship auxiliary equipment, and seawater and steam pipes among pipes. It is intended to provide performance diagnosis and failure prediction of ship auxiliary equipment and piping for convergence analysis, and to support preventive maintenance decision-making.

• Smart Structures and Systems
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• v.31 no.3
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• pp.275-281
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• 2023

In recent years, technological developments have rapidly increased the number of complex structures and equipment in the industrial. Accordingly, the prognostics and health monitoring (PHM) technology has become significant. The safety assessment of industrial sites requires data obtained by installing a number of sensors in the structure. Therefore, digital twin technology, which forms the core of the Fourth Industrial Revolution, is attracting attention in the safety field. The research on digital twin technology of structures subjected to seismic loads has been conducted recently. Hence, this study proposes a digital twin system that estimates the responses and arbitrary load in real time by utilizing the minimum sensor to a pipe that receives a seismic and arbitrary load. To construct the digital twin system, a finite-element model was created considering the dynamic characteristics of the pipe system, and then updating the finite-element model. In addition, the calculation speed was improved using a finite-element model that applied the reduced-order modeling (ROM) technology to achieve real-time performance. The constructed digital twin system successfully and rapidly estimated the load and the point where the sensor was not attached. The accuracy of the constructed digital twin system was verified by comparing the response of the digital twin model with that derived by using the load estimated from the digital twin model as input in the finite-element model.

• International Journal of Fluid Machinery and Systems
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• v.10 no.1
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• pp.40-46
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• 2017

Small valves including ball valves, gate valves and butterfly valves have been adopted in the fields of steam power generation, petrochemical industry, carriers, and oil tankers. Butterfly valves have normally been applied to fields where in narrow places installing the existing valves such as gate valves and ball valves have proven difficult due to the surrounding area and the heavier of these valves. Butterfly valves are used to control the mass flow of the piping system under low pressure by rotating the circular disk installed inside. The butterfly valve is benefitted by having simpler structure in which the flow is controlled by rotating the disc circular plate along the center axis, whereas the weight of the valve is light compared to the gate valve and ball valve above-mentioned, as there is no additional bracket supporting the valve body. The manufacturing company needs to acquire the performance and life test equipment, in the case of adopting the improving factors to detect leakage and damage on the seat of the valve disc. However, small companies, which are manufacturing the industrial valves, normally sell their products without the life test, which is the reliability test and environment test, because of financial and manpower problems. Furthermore, the failure mode analysis of the products failed in the field is likewise problematic as there is no system collecting the failure data on sites for analyzing the failures of valves. The analyzing and researching process is not arranged systematically because of the financial problem. Therefore this study firstly tried to obtain information about the failure data from the sites, analyzed the failure mode based on the field data collected from the customers, and then obtained field data using measuring equipment. Secondly, we designed and manufactured the performance and life test equipment which also have the real time monitoring system with the naked eye for the butterfly valves. The concept of this equipment can also be adopted by other valves, such as the ball valve, gate valve, and various others. It can be applied to variously sized valves, ranging from 25 mm to large sized valves exceeding 3000 mm. Finally, this study carries out the life test with square wave pressure, using performance and life test equipment. The performance found out that the failures from the real time monitoring system were good. The results of this study can be expanded to the other valves like ball valves, gate valves, and control valves to find out the failure mode using the real time monitoring system for durability and performance tests.

• KIEAE Journal
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• v.14 no.6
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• pp.105-110
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• 2014

The basic factors determining the amount of energy used in hospital buildings are weather conditions and building factors. But the real energy consumer is central plant equipment such as boilers and chillers that produce thermal energy for heating and cooling. Inaccurate decision of the primary equipment's size can cause a high initial-cost, an excessive equipment space, a wasted energy by low operation-efficiency and shortening of the machine's life. In this reason, the decision of optimal size for central plant equipment is very important. There are several factors for the decision such as an operation factor, a factor (equipment factor), piping losses and a simultaneous usage factor applied in the sizing process except a basic cooling load. But there is no standard method for applying those factors. Usually, factors are applied individually by an experience or custom of each engineer. In this study, the authors emphasize the meaning and the problem of those factors, examine them by analyzing factors which were applied to actual practices, and propose the recommendation value of safety, load, operation factors and application methods.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.12
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• pp.1393-1400
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• 2009

The objective of this study is to validate local failure criteria, which were proposed based on the notched-bar specimen tests combining with finite element (FE) simulations, using the results of real-scale pipe failure tests. This study conducted burst test using wall-thinned pipe specimens, which were made of 4 inch Sch.80 ASTM A106 Gr.B carbon steel pipe, under simple internal pressure at ambient temperature and performed associated FE simulations. Failure pressures were estimated by applying the failure criteria to the results of FE simulations and were compared with experimental failure pressures. It showed that the local stress based criterion, given as true ultimate tensile stress of material, accurately estimated the failure pressure of wall-thinned pipe specimens. However, the local strain based criterion, which is fracture strain of material as a function of stress tri-axiality, could not predict the failure pressure. It was confirmed that the local stress based criterion is reliably applicable to estimation of failure pressure of local wall-thinned piping components.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.362-368
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• 2008

The purpose of this is providing employees who take charge of operation and maintenance at power plant with education contents that can be used for self-studying and on the job training through their computers. We developed the education contents for making actually application possible using this piping and instrument diagram(P&ID), operation and maintenance procedure, unit specification and material of 500MW thermal power plant those include unit equipment 3-dimension animation, character and narration performance considering making teaching plan, flexibility, extension, reuse, maintenance and focusing on user. Specially, we developed the flash type education contents about power plant operation based on the plant 3-dimension animation and the spot real picture concerned about new generation trend for power plant incoming employees actual knowledge. in addition, this contents apparently contributed to improve the level of employees technical power as distributed to employees.