• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1044-1050
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• 2014

Robots used for pipe inspection have been studied for a long time and many mobile mechanisms have been proposed to achieve inspection tasks within pipelines. Localization is an important factor for an inpipe robot to perform successful autonomous operation. However, sensors such as GPS and beacons cannot be used because of the unique characteristics of inpipe conditions. In this paper, an inpipe localization algorithm based on elbow detection is presented. By processing the projected marker images of laser pointers and the attitude and heading data from an IMU, the odometer module of the robot determines whether the robot is within a straight pipe or an elbow and minimizes the integration error in the orientation. In addition, an off-line positioning algorithm has been performed with forward and backward estimation and Procrustes analysis. The experimental environment has consisted of several straight pipes and elbows, and a map of the pipeline has been constructed as the result.

• Transactions of the Korean hydrogen and new energy society
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• v.27 no.6
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• pp.773-782
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• 2016

The performance of the CT-TDLAS (computed tomography-tunable diode laser absorption spectroscopy) is strongly dependent upon the line broadening functions. The line of the laser beam used in the TDLAS is scattered by the natural broadening, the collisional broadening and the doppler broadening. The influence of the natural broadening to the experimental spectra obtained in the TDLAS is negligible. The influences of the collisional broadening and the doppler broadening to the experimental spectra are relatively large, in high pressure gas flows and in high temperature low pressure gas flows, respectively. In this study, optimal coefficients are proposed for the doppler broadening function by using the experimental data obtained in a flat burner test. The optimal coefficients were ${\gamma}_j=0.16$ and n=0.37. Using these coefficients, the temperature and concentration distributions at the engine exhaust gas pipe have been calculated showing their validities.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.11
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• pp.61-68
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• 2004

Recently, there has been an increasing demand for computer-vision based inspection and/or measurement system as a part of factory automation equipment. Existing manual inspection method can inspect only specific samples and has low measuring accuracy as well as it increases working time. Thus, in order to improve the objectivity and reproducibility, computer-aided analysis method is needed. In this paper, front and side profile inspection and/or data transfer system are developed using computer-vision during the inspection process on three kinds of pipes coming from a forming line. Straight line and circle are extracted from profiles obtained from vision using Laplace operator. To reduce inspection time, Hough Transform is used with clustering method for straight line detection and the center points and diameters of inner and outer circle are found to determine eccentricity and whether good or bad. Also, an inspection system has been built that each pipe's data and images of good/bad test are stored as files and transferred to the server so that the center can manage them.

• Journal of KIISE
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• v.43 no.5
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• pp.562-568
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• 2016

Point cloud data can be expressed in a specific coordinate system of a data set with a large number of points, to represent any form that generally has different characteristics in the three-dimensional coordinate space. This paper is aimed at finding a cylindrical pipe in the point cloud of the three-dimensional coordinate system using RANSAC, which is faster than the conventional Hough Transform method. In this study, the proposed cylindrical pipe is estimated by combining the results of parameters based on two mathematical models. The two kinds of mathematical models include a sphere and line, searching the sphere center point and radius in the cylinder, and detecting the cylinder with straightening of center. This method can match cylindrical pipe with relative accuracy; furthermore, the process is rapid except for normal estimation and segmentation. Quick cylinders matching could benefit from laser scanning and reverse engineering construction sectors that require pipe real-time estimates.

• Journal of the Korean Institute of Gas
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• v.11 no.4
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• pp.47-53
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• 2007

The safe operation of high pressure pipe line systems is of significant importance. Leaks due to faulty operation from the pipelines can lead to considerable product losses and to exposure of community to dangerous gases. There are several leak detection methods, which have been recently suggested on pipeline network. The negative pressure wave detection technology, which has advantages of short time detection availability, accurate leaking location estimate capability and cost effective, is concentrated in this study. Theoretical analysis of the flow characteristics for leaking through a hole on the pipe wall has been performed by using CFD++, commercial CFD package. The results of 3-dimensional analysis near leaking hole confirm the occurrence of negative pressure wave and verify the characteristics of propagation of the wave which travels with speed equal to the speed of sound in the pipeline contents. For the application of long pipe line system. The method of 1-dimensional analysis has been suggested and verified with results of CFD++.

• Journal of Welding and Joining
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• v.31 no.6
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• pp.90-95
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• 2013

Pipe inside clad welding is mainly used to the flow pipe of sub-sea or chemical plant. For the inside clad welding to the medium pipe with the diameter of about 12", TIG welding is frequently applied with filler metal. In this case, the clad welding has the very broad weld area over $10m^2$. And, the non-destructive test (NDT) such as ultrasonic test (UT) or radiographic testing (RT) should be conducted on the broad weld area, and it costs very high due to the time-consuming work. Therefore, the present study investigated the variation of arc voltage to develop the in-line quality monitoring system for the pipe inside TIG cladding. The 4 experimental parameters (current, arc length, wire feed position, and shield gas flow rate) varied to observe the change of arc voltage and to establish the model for the monitoring. The arc voltage was decreased when the wire was fed to the backward eccentric position(over 2mm), and the shield gas flow rate was insufficient under 10L/min. In the case of the backward eccentric position over 2mm, the bead appearance was not good and the dilution ratio was increased due to deep penetration. When the shield gas flow rate was lower than 10L/min, the bead surface was oxidized.

• Journal of the Korean Institute of Gas
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• v.16 no.2
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• pp.1-8
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• 2012

According to the last 5 year statistics of KGS, there occurred 22 under ground gas pipe accidents per year in Korea. And about 5 accidents per year were caused from the third party digging. IT recognition technique could reduce such underground gas accidents. Among IT recognition technique, RFID is most poplar. In the air, RFID were applied to various fields including the distribution industry, but underground condition, the research and application cases of RFID were little This research was undertaken to see the applicability of RFID to underground gas pipe safety. By use of 900 MHz RFID reader and commercial metal tag, the stable recognition distance was measured in the similar underground condition of LNG pipe. Stable recognition depth of RFID tag were measured to be 50, 45, 25 cm in the medium of soil, 5 cm-thick-concrete+soil, and water respectively. The measured distances were considered to be the meaningful distance to prevent the gas pipe accidents Also the efficient ways to input the required gas pipe data to the 24 byte metal tag were proposed. Application of RFID to underground LNG supply system will not only reduce the gas accidents due to third party digging but also improve the gas line maintenance efficiency.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.36 no.6
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• pp.979-990
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• 2016

This study presents a nonlinear finite element procedure involving a phenomenological model to validate the tensile strain capacity of the X80 line pipe developed for the strain-based design purpose. The procedure is based on the Gurson-Tvergaard-Needleman (GTN) model, which models nucleation, growth and coalescence of void volume fraction occurred inside a metal. In this study, the user-defined material module (UMAT) is implemented in the commercial finite element platform ABAQUS and is applied to the nonlinear damage analysis of steel specimens. Material parameters for the nonlinear damage analysis of base and weld metals are calibrated from numerical simulations for the tensile tests of round bar and full thickness specimens. They are then employed in the numerical simulations for SENT (Single Edge Notch Tension) test and CWPT (Curved Wide Plate Test) and in the simulations, the tensile strain capacities are naturally evaluated. Comparison of the numerical results with the experimental results and the conventional empirical formulae shows that the proposed numerical procedure can fairly well predict the tensile strain capacity of X80 line pipe. So, it is readily expected to be effectively applied to the strain-based design procedure.

• Journal of the Korean Society of Safety
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• v.14 no.2
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• pp.32-41
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• 1999

If the Leak-Before-Break (LBB) concept is applicable to the nuclear piping design, it is not necessary to consider the dynamic effect due to pipe rupture. Therefore, the construction cost can be significantly reduced by eliminating unnecessary pipe whip restraints and jet impingement devices. The objective of this paper is to develop the Piping Evaluation Diagram (PED) for efficient application of LBB concept to piping system at an initial piping design stage. For this purpose, the 3-D finite element analyses were performed to evaluate the crack stability. And the stress-strain curve based on the pipe material tests were used to calculate the detectable leakage crack length. Finally, the present PED which was composed as a function of NOP load and allowable SSE load, was developed for an application of LBB concept to the safety injection and shutdown cooling line in Korean Next Generation Reactor (KNGR).

• Nuclear Engineering and Technology
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• v.28 no.4
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• pp.405-414
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• 1996

In this paper, the unsteady 2-dimensional turbulent flow model for thermal stratification in a pressurizer surge line of PWR plant is proposed to numerically investigate the heat transfer and flow characteristics. The turbulence model is adapted to the low Reynolds number K-$\varepsilon$ model (Davidson model). The dimensionless governing equations are solved by using the SIMPLE (Semi-Implicit Method for Pressure Linked Equations) algorithm. The results are compared with simulated experimental results of TEMR Test. The time-dependent temperature profiles in the fluid and pipe nil are shown with the thermal stratification occurring in the horizontal section of the pipe. The corresponding thermal stresses are also presented. The numerical result for thermal stratification by the outsurge during heatup operation of PWR shows that the maximum dimensionless temperature difference is about 0.83 between hot and cold sections of pipe well and the maximum thermal stress is calculated about 322MPa at the dimensionless time 28.5 under given conditions.