• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.8
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• pp.971-980
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• 2010

In this paper, we present a navigation control algorithm for mobile robots that move in environments having static and moving obstacles. The algorithm includes a global and a local path-planning algorithm that uses $D^*$ search algorithm, a fuzzy logic for determining the immediate level of danger due to collision, and a fuzzy logic for evaluating the required wheel velocities of the mobile robot. To apply the $D^*$ search algorithm, the two-dimensional space that the robot moves in is decomposed into small rectangular cells. The algorithm is verified by performing simulations using the Python programming language as well as by using the dynamic equations for a two-wheeled mobile robot. The simulation results show that the algorithm can be used to move the robot successfully to reach the goal position, while avoiding moving and unknown static obstacles.

• Plant Journal
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• v.4 no.3
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• pp.66-72
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• 2008

The vibration of steam turbine is caused by Mass unbalance, Shaft misalignment, Oil whip and rubbing etc. But in turbine which is normally operated and maintained, the Mass unbalance component possesses the greatest portion. Our power plant has two steam turbines in capacity of 200 MW and 135 MW respectively and each turbine is supported by 6 journal bearings. However, we had many difficulties because the vibration amplitude of #3 and #4 Bearings was high during the start-up and operation mode change of steam turbine. But, with this study, we completely solved the vibration problem caused by the mass unbalance of #1 steam turbine. Until a recent date, #3 and #4 bearings which support high pressure turbine for #1 steam turbine had shown about $135{\mu}m$ in vibration amplitude (sometimes it increased to $221{\mu}m$ maximum. alarm: 6 mils, trip: 9 mils) at base load. After applying the study, they decreased to about $45{\mu}m$ maximum. It is a result from that we did not change the setting value of bearing alignment and only changed the assembly position of internal parts in Synchro clutch coupling rachet wheel which links between high pressure turbine and low pressure turbine, and increased the internal gap and machining of the Pawl cage surface. In the operation of steam turbine, if the vibration value increases by 1X, we should reduce the vibration of bearing by weight balancing. However, unless the vibration of bearing is declined by the balancing, we will have to disassemble and check the component and find the cause. In this study, we researched the way to lower mass unbalance that is 1X vibration component which has the greatest portion of vibration generated by steam turbine and we got good result by applying the findings of this study.

• Publications of The Korean Astronomical Society
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• v.20 no.1 s.24
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• pp.143-149
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• 2005

KASI (Korea Astronomy and Space Science Institute) is developing the near-infrared camera system named KASINICS (KASI Near-Infrared Camera System) which will be installed at the 60cm f/13.5 Ritchey-Chretien telescope of the Sobaeksan Optical Astronomy Observatory (SOAO). The camera system is optimized for JHKL bands and has a 6 arcmin FOV. The optical system consists of two spherical mirrors and a 8-position filter wheel. With the exception for the dewar window, all optical elements are cooled inside cryogenic dewar. Since the Offner system is adopted to prevent thermal noises from outside of the telescope primary mirror, the secondary mirror of the Offner system acts as a cold Lyot stop. The optical performance does not change by temperature variations because the Aluminum mirrors contract and expand homogeneously with its mount. We finished the design and fabrication of the optical parts and are now aligning the optical system. We plan to have a test observation on 2006 January.

• Journal of Technologic Dentistry
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• v.33 no.4
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• pp.331-337
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• 2011

Purpose: The purpose of this study was to impact of force system change in finger spring that add helical coil one round on orthodontic force. Methods: The following conclusions were drawn from the experiment conducted after bending 90 samples with a CNC wire forming machine while changing the height and lumen size to 1mm - 3mm - 5mm and 2mm - 3mm - 4mm respectively in the coil of the force system in finger spring added with one wheel of helical coil of 18-8 stainless steel round wire (${\Phi}0.5mm$, spring hard) from Jinsung Co. in domestic market under the following conditions: Laboratory name = Instron 5942; Temperature($deg^{\circ}C$) = 18.00; Humidity(%) = 50.00; Rate 1 = 10.00000 mm/min; Compressive extension = 5.0mm. Results: When Coil height is 1, 3, 5mm and lumen size is 2, 3, 4mm reduce finger spring as mean value of compressive extension occasion maximum load(mN) increases as coil height rises, and lumen size grows to 5.0mm. And was expose that compressive load(mN) increases as coil position of finger spring rises and increase as lumen size is decrescent. Conclusion: As the adherence height of coil was raised from 1mm through 3mm to 5mm, compressive load increased. As the lumen size increased from 2mm through 3mm to 4mm, compressive load decreased. Therefore, these results suggest that it is desirable to lower the coil height and enlarge the lumen size to enhance the biomechanical efficiency of finger spring when manufacturing the finger spring for removable orthodontic devices.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.232-235
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• 2008

The vibration of steam turbine is caused by Mass Unbalance, Shaft Misalignment, Oil Whip and Rubbing etc. but in turbine which is normally operated and maintained, the Mass Unbalance component possesses the greatest portion. Our power plant has two steam turbines in capacity of 200MW and 135MW respectively and each turbine is supported by 6 journal bearings. However, we had many difficulties because the vibration amplitude of No 3 and 4 Bearings was high during the start-up and operation mode change of steam turbine. But, with this study, we completely solved the vibration problem caused by the mass unbalance of No 1 steam turbine. Until a recent date, No 3 and 4 bearings which support high pressure turbine for No 1 steam turbine had shown about 135${\mu}$m in vibration amplitude (sometimes it increased to 221${\mu}$m maximum. alarm: 6mils, trip: 9mils) at base load. After applying the study, they decreased to about 40${\mu}$m maximum. It is a result from that we did not change the setting value of Bearing Alignment and only changed the assembly position of internal parts in Synchro Clutch Coupling Rachet Wheel which links between high pressure turbine and low pressure turbine, and increased the internal gap and machining of the Pawl stopper surface. In the operation of steam turbine, if the vibration value increases by 1X, we should reduce the vibration of bearing by weight balancing. However, unless the vibration of bearing is declined by the balancing, we will have to disassemble and check the component and find the cause. In this study, We researched the way to lower mass unbalance that is 1X vibration component which has the greatest portion of vibration generated by steam turbine and We got good result by applying the findings of this study.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.9
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• pp.1606-1611
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• 2008

Recently, The diagnosis techniques of electric facilities are developed on live line. This paper describes the discharge characteristics of polymer insulator(EPDM A type). Keeping the facilities in good working order, the goal of this paper will provide the information to enable user to easily judge conditions of facilities on the spot. The performance of polymer insulator is assessed from the KS C IEC 60270 and CEA LWIWG-01(96)(Tracking Wheel Test). As the results, UV generation patterns of polymer insulator grow like a jellyfish shape follow the ramping voltage. Discharging UVs are detected at about 31.25% of breakdown voltage. Just then, dimension of UV image is about $0.84cm^{2}$. The dimension of max. UV image is about $297.4cm^{2}$ at $160kV(V_{bd})$. The position of UV generation due to surface discharge of polymer insulator is the center of insulator in the early, then moved the ground side and the last, UV image moved through the junction part of source side. Surface of aged polymer insulator is cracked and faded due to arc. UV absorption spectrum of polymer insulator are appeared the C-H bond of scissoring vib. at $1014cm^{-1}$ and C=O bond of recombination structure. Also, recombined UV absorption peak such as C-H, N-H, and O-H is detected at the $3321cm^{-1}$. Through the paper, there are inspection data which are the relations between surface discharge of polymer insulator and UV detecting image.

• Tribology and Lubricants
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• v.33 no.1
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• pp.1-8
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• 2017

Drag torque reduction in a wet clutch pack is a key aspect of the design process of the dual clutch transmission (DCT) system. In order to reduce the drag torque caused by lubricant shear resistance, recently developed wet clutch pack systems of DCT, as well as automatic transmission and other four-wheel drive (4WD) couplings, frequently utilize wavy wet clutch pads. Therefore, wavy shape of friction pad are made on the groove patterns like waffle pattern for the reduction of drag torque. Additionally, the groove patterns are designed with larger channels at several locations on the friction pad to facilitate faster outflow of lubricant. However, channel performance is a function of the waviness of the friction pad at the location of the particular channel. This is because the discharge sectional area varies according to the waviness amplitude at the location of the particular channel. The higher location of the additional channel on the friction pad results in a larger cross-sectional area, which allows for a larger flow discharge rate. This results in reduction of the drag torque caused by the shear resistance of DCTF, because of marginal volume fraction of fluid (VOF) in the space between the friction pad and separator. This study computes the VOF in the space between the friction pad and separator, the hydrodynamic pressure developed, and the shear resistance of friction torque, by using CFD software (FLUENT). In addition, the study investigates the dependence of these parameters on the location and waviness amplitude of the channel pattern on the friction pad. The paper presents design guidelines on the proper location of high waviness amplitude on wavy friction pads.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.6
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• pp.1497-1508
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• 1993

Real-time mobile robot controllers usually have been designed focused on control theory without paying attention to the importance of system integration. This paper demonstrates that autonomous mobile robots require a real-time controller with a wide range of capabilities in addition to control theory. An architectural frame work supporting these capabilities has been designed in actual hardware environments. Individual modules such as a path planner, a path tracking controller, position estimators, wheel controllers and other cruical elements have been successfully integrated into the control system using this frame work. The overall performance of the system was investigated via a series of tracking experiments with a prototype mobile robot named LCAR deveoped in the laboratory. The context of the research involves the architecture, its implementation and experimental results.

• International Journal of Highway Engineering
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• v.6 no.1 s.19
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• pp.25-36
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• 2004

The total length of paved roads in Korea is 67,265 Km, and among these roads, about 40% of the national highways and 98% of local roads are paved with asphalt concrete. The major distress to asphalt pavement is rutting and fatigue crack. The permanent deformation including rutting accounts for about 75% of this distress. UTW(Ultra-Thin Whitetopping), which is known for its high-quality performance in asphalt pavement with rutting and cracking, seems to reduce maintenance costs significantly if it is used as the maintenance/repair method for domestic asphalt pavement. In the research, static load test was conducted to establish a behavior of Whitetopping under traffic and environmental condition. It showed that the effect of the thickness of the concrete layer and the temperature change was significant. In addition, the tensile strain as the wheel load position was close to interior and edge of concrete slab were increased up to 75% of maximum tensile strain. It showed that joint spacing must be considered in UTW design procedure.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.11
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• pp.1391-1398
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• 2011

Biomechanical analysis of arm motion during steering was performed using a motion analysis technique. Three-dimensional position data for each part of arm are fed into an interactive model combining a musculoskeletal arm model and the mechanical steering system to calculate joint angles and torques using inverse kinematic and dynamic analyses, respectively. The analysis shows that elbow pronation/supination, wrist flexion/extension, shoulder adduction/abduction, and shoulder flexion/extension have significant magnitudes. Sensitivity analysis of the arm joint motion with respect to seating posture and steering wheel configuration is carried out to investigate the qualitative influence of the seating posture and driver's seat configuration on the steering behavior.