• 로봇학회논문지
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• 제17권2호
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• pp.172-177
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• 2022

In general, detection robots using ultrasonic sensors are equipped with sensors to protrude outward or to contact objects. However, in the case of a screw-propelled robot that detects the inside of a reactor tendon duct, if the ultrasonic sensor protrudes to the outside, resistance due to grease is generated, and thus the propulsion efficiency is reduced. In order to increase the propulsion efficiency, the screw must be sharp, and the sharper the screw, the more difficult it is to apply a high-performance ultrasonic sensor, and the detection efficiency decreases. This paper proposes a screw shape-changing mechanism that can improve both propulsion efficiency and detection efficiency. This mechanism includes an overlapped helical ring (OHR) structure and a magnetic clutch system (MCS), and thus the shape of a screw may be changed to a compact size. As a result, the Screw-propelled robot with this mechanism can reduce the overall length by about 150 mm and change the shape of the screw faster and more accurately than a robot with a linear actuator.

• 로봇학회논문지
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• 제17권2호
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• pp.178-182
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• 2022

Post-tension duct in nuclear reactor containment building is filled with grease to prevent steel strand from corroding. If grease leaks by break of duct, steel strand will corrode and cause problem in building safety. Therefore, grease leak should be checked preventatively. But currently used method is inefficient, since it has to remove grease and strand to check. And other methods for checking post-tension dust are not well-researched. In this paper, we develop screw-propelled robot that can move in grease and detect grease duct directly. Also, we make the test environment that is similar to real post-tension duct of containment building and test robot in that environment to verify that our robot is feasible in the post-tension duct. The robot can move forward and backward in grease duct by twin screw mechanism and has mount for sensors to detect grease leakage and strand corrosion.

• Journal of Biosystems Engineering
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• 제41권1호
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• pp.12-20
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• 2016

Purpose: Pepper prices have risen continuously because of a decrease in cultivation area; therefore, mechanical harvesting systems for peppers should be developed to reduce cost, time, and labor during harvest. In this study, a screw type picking head for a self-propelled pepper harvester was developed, and the optimal working conditions were evaluated considering helix types, winding directions of helix, and rotational speeds of the helix. Methods: The screw type was selected for the picking head after analyzing previous studies, and the device consisted of helices and a feed chain mechanism for conveying pepper branches. A double helix and a triple helix were manufactured, and rotational speeds of 200, 300, and 400 rpm were tested. The device was controlled by a variable speed (VS) motor and an inverter. Both the forward and reverse directions were tested for the winding and rotating directions of the helix. An experiment crop (cultivar: Longgreenmat) was cultivated in a plastic greenhouse. The test results were analyzed using the SAS program with ANOVA to examine the relationship between each factor and the performance of the picking head. Results: The results of the double and triple helix tests in the reverse direction showed gross harvest efficiency levels of 60-95%, mechanical damage rates of 8-20%, and net marketable portion rates of 50-80%. The dividing ratio was highest at a rotational speed of 400 rpm. Gross harvest efficiency was influenced by the types of helix and rotational speed. Net marketable portion was influenced by rotational speed but not influenced by the type of helix. Mechanical damage was not influenced by the type of helix or rotational speed. Conclusions: Best gross harvest efficiency was obtained at a rotational speed of 400 rpm; however, operating the device at that speed resulted in vibration, which should be reduced.

• 대한조선학회지
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• 제3권1호
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• pp.25-32
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• 1966

For preliminary estimation of ships' machinery weights, many papers giving well-judged data and discussions for rational method of estimation, such as [1], [2], [3], [4], [5], [6], are available, however, they are mostly concerned with large ships propelled by power more than about 2, 000 horsepower. Regarding the medium and small-sized ships, as far as the author is aware, fragmental data and vague discussions found in various technical literature are the all available. In this paper, available data concerned with machinery weights of commercial ships propelled by direct-drive diesel plants of power below 3, 000 horsepower with single screw propeller are collected and analysed to obtain systematic data Fig. 1 and Fig. 2 as weight to power ratio versus power per shaft diagrams together with suplementary data Fig. 1 and Fig. 3. Influences of various factor such as revolutions per minute, mean effective pressure, type and construction of the main units on machinery weights are also investigated in detail to give a better guidance for logical and rational utlization of the proposed diagrams in preliminary estimation of machinery weights.

• Journal of Advanced Marine Engineering and Technology
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• 제21권5호
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• pp.474-481
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• 1997

Waterjet propulsion generally refers to propulsion of ships by internally mounted pumps with proper ducting. This arrangement of the actuator component of the system leads to the fundamental differences with respects to screw propeller system. In this paper, the basic hydrodynamic characteristics of waterjet propulsion was outlined to clarify the application consideration and proposal for carrying out model self-propulsion tests with waterjet propelled models was presented. The results of model self-propulsion tests carried out in the Hyundai Maritime Research Institute towing tank with catamaran ship were presented.