• Nuclear Engineering and Technology
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• v.27 no.5
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• pp.661-669
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• 1995

A mobile robot, named KAEROT, has been developed for inspection and maintenance operations in nuclear facilities. The main feature of locomotion system is the planetary wheel assembly with small wheels. This mechanism has been designed to be able to go over the stairs and obstacles with stability. This paper presents the inverse kinematic solution that is to be operated by remote control. The automatic stair climbing algorithm is also proposed. The. proposed algorithms generates the moving pathes of small wheels and calculates the angular velocity of 3 actuation wheels. The results of simulations and experiments are given for KAEROT peformed on the irregular stairs in laboratory. It is shown that the proposed algorithm provides the lower inclination angle of the robot body and increases its stability during navigation.

• Nuclear Engineering and Technology
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• v.48 no.5
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• pp.1126-1139
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• 2016

In this research, for the first time, a new optimization method, i.e., strength Pareto evolutionary algorithm II (SPEA-II), is developed for the burnable poison placement (BPP) optimization of a nuclear reactor core. In the BPP problem, an optimized placement map of fuel assemblies with burnable poison is searched for a given core loading pattern according to defined objectives. In this work, SPEA-II coupled with a nodal expansion code is used for solving the BPP problem of Kraftwerk Union AG (KWU) pressurized water reactor. Our optimization goal for the BPP is to achieve a greater multiplication factor ($K_{eff}$) for gaining possible longer operation cycles along with more flattening of fuel assembly relative power distribution, considering a safety constraint on the radial power peaking factor. For appraising the proposed methodology, the basic approach, i.e., SPEA, is also developed in order to compare obtained results. In general, results reveal the acceptance performance and high strength of SPEA, particularly its new version, i.e., SPEA-II, in achieving a semioptimized loading pattern for the BPP optimization of KWU pressurized water reactor.

• Journal of Ocean Engineering and Technology
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• v.25 no.5
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• pp.76-81
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• 2011

In the shipbuilding industry, accuracy management is one of the keys for strengthening competitiveness. However, ship block errors are unavoidable in the block erection stage because of the deformation of the blocks. Currently, accuracy managers decide whether or not block corrections are needed, based on measured and designed point data. They adjust the locations of hull blocks so that the blocks are aligned with other assembly blocks based upon the experience of production engineers. This paper proposes an optimization process that can adjust the locations of ship blocks during the erection stage. A genetic algorithm is used for this optimization scheme. Finally, the feasibility of the proposed method is discussed using several case studies. We found that the proposed method can find the optimized re-alignment of erection blocks, as well as improve the productivity of the erection stage.

• Tribology and Lubricants
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• v.36 no.6
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• pp.324-331
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• 2020

Wedging in a frictional elastic system is defined if the state of stick exists after the external loading on the system is removed. This paper presents a method to determine the critical coefficient of wedging for an elastic frictional system by considering the separation state. Wedging is always possible if the coefficient of friction exceeds a critical value known as the critical wedging coefficient. This method requires two concepts: a necessary and sufficient condition for wedging, which can be interpreted as positive spanning sets of constraint vectors existing in the wedged system, and the minimal positive basis that enables a minimum wedging coefficient. The algorithm based on the positive spanning concept is repeatedly executed after eliminating nodes from the contact stiffness matrix, for which the separation states are impending. The simulation results show that once a node enters the separation state, it never returns to the contact state again and the critical wedging coefficient reduces during repeated algorithm execution. The benefit of this method is that the computation time permits handling models with large numbers of contact nodes. The algorithm can also numerically find the critical wedging coefficient, thereby contributing to fastening and assembly performance improvements in mechanical systems.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1993.10a
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• pp.12-19
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• 1993

In general, the line balancing problem is defined as of finding an assignment of the given jobs to the workstations under the precedence constraints given to the set of jobs. Usually, the objective is either minimizing the cycle time under the given number of workstations or minimizing the number of workstations under the given cycle time. In this paper, we present a new type of an assembly line balancing problem which occurs in an electronics company manufacturing home appliances. The main difference of the problem compared to the general line balancing problem lies in the structure of the precedence given to the set of jobs. In the problem, the set of jobs is partitioned into two disjoint subjects. One is called the set of fixed jobs and the other, the set of floating jobs. The fixed jobs should be processed in the linear order and some pair of the jobs should not be assigned to the same workstations. Whereas, to each floating job, a set of ranges is given. The range is given in terms of two fixed jobs and it means that the floating job can be processed after the first job is processed and before the second job is processed. There can be more than one range associated to a floating job. We present a procedure to find an approximate solution to the problem. The procedure consists of two major parts. One is to find the assignment of the floating jobs under the given (feasible) assignment of the fixed jobs. The problem can be viewed as a constrained bin packing problem. The other is to find the assignment of the whole jobs under the given linear precedence on the set of the floating jobs. First problem is NP-hard and we devise a heuristic procedure to the problem based on the transportation problem and matching problem. The second problem can be solved in polynomial time by the shortest path method. The algorithm works in iterative manner. One step is composed of two phases. In the first phase, we solve the constrained bin packing problem. In the second phase, the shortest path problem is solved using the phase 1 result. The result of the phase 2 is used as an input to the phase 1 problem at the next step. We test the proposed algorithm on the set of real data found in the washing machine assembly line.

• Journal of Advanced Navigation Technology
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• v.6 no.2
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• pp.158-167
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• 2002

In this paper, it is analyzed that WAP packet transmission time to improve performance of WAP using SAR-QT algorithm in Bluetooth channel. The order for SAR-QT algorithm to improve the transfer capability, it is fragmented in WTP total messages that are coming down from upper layer and then the packets are sent one at time in baseband. And it is studied that transmission time for WAP over Bluetooth according to DMI, DM3 or DM5 packet type using SAR-QT algorithm in Bluetooth piconet environment. This SAR-QT algorithm decreases WAP packet transmission time of L2CAP baseband packets by sending packet that are spanning multiple slots. From the results, in WAP over Bluetooth channels, it is found out that WTP packet size ought to be increased to decrease transmission time of WAP packet. In addition, considering BER in wireless channel, optimal WTP packet size is achieved for WAP over Bluetooth in a Rician fading environment.

• Journal of the Korea Convergence Society
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• v.11 no.5
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• pp.175-182
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• 2020

The calculation of the optimal trajectory of the stepped top-down robot was made using a genetic algorithm and a computational torque controller. First, the total energy efficiency was minimized using the Red-Cold Generic Algorithm (RCGA) consisting of reproductive, cross, and mutation. The reproducibility condition related to the position assembly of the start and end of the stride and the joints, angles, and angular velocities are linear constraints. Next, the unequal constraint accompanies the condition for preventing the collision of the swing leg at the corner with the outer surface of the stairs, the condition of the knee joint for preventing kinematic peculiarity, and the condition of no moment in safety in the traveling direction. Finally, the angular trajectory of each joint is defined by fourth-order polynomial whose coefficient is to approximate chromosomes. This is to approximate walking. In this study, the energy efficiency of the optimal trajectory was analyzed by computer simulation through a biped robot with seven degrees of freedom composed of seven links.

• Journal of the Institute of Convergence Signal Processing
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• v.21 no.1
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• pp.13-20
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• 2020

In shipyards, internal materials are assembled after designing and manufacturing each ship's block. Internal material assembly means the installation of parts and equipment except ship's body. In this process, if the assembly of pipes and equipment existing in the block is not done correctly during the assembly between blocks, this causes a lot of costs. In addition, even if the assembly of the internal materials already completed, the production efficiency of the ship is reduced due to rework when problems such as space arrangement of the internal materials occurs. Therefore, this study introduces space arrangement and inspection system before and after hull outfitting work based on coexistence reality technology using 3D design drawing to solve these problems. The various coexistence reality algorithms and inspection systems developed and introduced in this study are based on AR service, which has never been introduced in Korea. So it will be widely applicable to various manufacturing industries using design drawings such as automobiles and architectures as well as ship building process.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.11 no.1
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• pp.18-25
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• 2018

In this paper, we present a low-power implementation of the multi-channel hearing aid system using a general-purpose DSP chip. The system includes an acoustic amplification algorithm based on Wide Dynamic Range Compression (WDRC), an adaptive howling canceller, and a single-channel noise reduction algorithm. To achieve a low-power implementation, each algorithm is re-constructed in forms of integer program, and the integer program is converted to the assembly program using BelaSigna(R) 250 instructions. Through experiments using the implementation system, the performance of each processing algorithm was confirmed in real-time. Also, the clock of the implementation system was measured, and it was confirmed that the entire signal processing blocks can be performed in real time at about 7.02MHz system clock.

• Journal of Mechanical Science and Technology
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• v.20 no.4
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• pp.437-446
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• 2006

Laser vision inspection systems are becoming popular for automated inspection of manufactured components. The performance of such systems can be enhanced by improving accuracy of the hardware and robustness of the software used in the system. This paper presents a new approach for enhancing the capability of a laser vision system by applying hardware compensation and using efficient analysis software. A 3D geometrical model is developed to study and compensate for possible distortions in installation of gantry robot on which the vision system is mounted. Appropriate compensation is applied to the inspection data obtained from the laser vision system based on the parameters in 3D model. The present laser vision system is used for dimensional inspection of car chassis sub frame and lower arm assembly module. An algorithm based on simplex search techniques is used for analyzing the compensated inspection data. The details of 3D model, parameters used for compensation and the measurement data obtained from the system are presented in this paper. The details of search algorithm used for analyzing the measurement data and the results obtained are also presented in the paper. It is observed from the results that, by applying compensation and using appropriate algorithms for analyzing, the error in evaluation of the inspection data can be significantly minimized, thus reducing the risk of rejecting good parts.