• 제어로봇시스템학회논문지
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• 제20권12호
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• pp.1267-1271
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• 2014

There have been many autonomous robot calibration methods which form closed loop structures through the various attached sensors and mechanical fixtures. Single point calibration among them has been used for on-site calibration due to its convenience of implementation. The robot can reach a single point with infinitely many configurations so that single point calibration algorithm can be set up and easily implemented relative to the other methods. However, it is not still easy to drive the robots' sharp edge to its corresponding edge of the fixture. This is error-prone process. In this paper, we propose a 3 dimensional small displacement measuring sensor and a robot calibration algorithm based on this sensor. This method relieves the difficulty of matching two edges in the single point calibration and improves the resulting robot accuracy. Simulated study is carried out on a Hyundai HA06 robot to show the effectiveness of the proposed method over the single point calibration. And also, the resulting robot accuracy is compared with that from 3D laser tracker based calibration to show the dependency of robot accuracy on range of the workspace where the measurement data are collected.

• 대한기계학회논문집B
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• 제30권2호
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• pp.136-143
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• 2006

A particle image velocimetry (PlV) technique has been applied to measure the quantitative flow field characteristics behind a road vehicle with/without an air spoiler attached on its trunk and to estimate its effect on the wake. A vehicle model scaled in the ratio of 1/43 is set up in the mid-section of a closed-loop water tunnel. The Reynolds number based on the vehicle length is $10^5$. To investigate the three-dimensional structure of the recirculation zone and vortices, measurements are carried out on the planes both parallel and perpendicular to the free stream, respectively. The results show significant differences in the recirculation region and the vorticity distributions according to the existence of the air spoiler. The focus and the saddle point, appearing just behind the air spoiler, are disposed differently along the spanwise direction. Regarding the streamwise vortices, the air spoiler produces large wing tip vortices. They have opposite rotational directions to C-pillar vortices which are commonly observed in case that the air spoiler is absent. The wing tip vortices generate the down-force and as a result, they can make the vehicle more stable in driving.

• 설비공학논문집
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• 제16권6호
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• pp.589-598
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• 2004

Flow condensation heat transfer coefficients (HTCs) of R22 and R134a were measured on a horizontal 9 hole aluminum multi-channel tube. The main test section in the refrigerant loop was made of a flat multi-channel aluminum tube of 1.4 mm hydraulic diameter and 0.53 m length. Refrigerant was cooled by passing cold water through an annulus surrounding the test section. Data were obtained in the vapor qualities of 0.1∼0.9 at mass flux of 200∼400 kg/$m^2$s and heat flux of 7.3∼7.7 ㎾/$m^2$ at the saturation temperature of 4$0^{\circ}C$. All popular correlations in single-phase subcooled liquid and flow condensation originally developed for large single tubes predicted the present data of the flat tube within 20% deviation when effective heat transfer area is used in determining experimental data. This suggests that there is little change in flow characteristics and patterns when the tube diameter is reduced down to 1.4 mm diameter range. Thermal insulation for the outer tube section surrounding the test tube for the transport of heat transfer fluid is very important in fluid heat-ing or cooling type heat transfer experimental apparatus.

• 센서학회지
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• 제18권1호
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• pp.33-41
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• 2009

A multilevel acoustic Fresnel lens (MAFL) for the ultrasonic imaging transducer of which center frequency is approximately 5.MHz was newly designed and fabricated. The phase level of the lens was 64, and the focal length and the aperture width were 30.mm and 11.mm, respectively. The characteristics of impulse response, acoustic field and imaging performance of the transducer attached the lens were compared with the transducer attached a conventional refraction type acoustic lens (RAL). The results show that the center frequency, the loop sensitivity, and the focal depth of the MAFL transducer were higher or larger than those of the RAL transducer by approximately 0.2.MHz, 1.4.dB, and 2.mm, respectively. Consequently, it was shown that the brighter acoustic images with higher lateral resolution and the increased imaging performance for deep targets can be obtained by using the MAFL transducer.

• Journal of Power Electronics
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• 제18권4호
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• pp.1255-1267
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• 2018

Parasitic parameters have a larger influence on Silicon Carbide (SiC) devices with an increase of the switching frequency. This limits full utilization of the performance advantages of the low switching losses in high frequency applications. By combining a theoretical analysis with a experimental parametric study, a mathematic model considering the parasitic inductance and parasitic capacitance is developed for the basic switching circuit of a SiC MOSFET. The main factors affecting the switching characteristics are explored. Moreover, a fast-switching double pulse test platform is built to measure the individual influences of each parasitic parameters on the switching characteristics. In addition, guidelines are revealed through experimental results. Due to the limits of the practical layout in the high-speed switching circuits of SiC devices, the matching relations are developed and an optimized layout design method for the parasitic inductance is proposed under a constant length of the switching loop. The design criteria are concluded based on the impact of the parasitic parameters. This provides guidelines for layout design considerations of SiC-based high-speed switching circuits.

• 펄프종이기술
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• 제38권2호
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• pp.1-8
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• 2006

In this study a process simulation method was used to analyze the accumulation phenomena of anionic starch in the process white water as the closure level of a fine paper making process is increased. A pilot paper machine was used as a model process. Dynamic simulations of the influence of white water usage ratio and uncoated broke addition ratio on the variation of process variable was monitored as a function of time. Results from the dynamic simulations showed that the volume of reservoirs affected the dynamic behavior of the process. The dynamic behavior of flow rate and dissolved starch concentration in process units were different from each other. The speed of the change of dissolved starch concentration in process units was depend on the starting point of the change of dissolved starch concentration, the length of circulation loop, and the volume of reservoirs.

• Wind and Structures
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• 제26권5호
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• pp.317-329
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• 2018

Wake characteristics of the flow over a finite square prism at different incidence angles were experimentally investigated using an open-loop wind tunnel. A finite square prism with a width D = 15 mm and a height H = 7D was vertically mounted on a horizontal flat plate. The Reynolds number was varied from $6.5{\times}10^3$ to $28.5{\times}10^3$ and the incidence angle ${\alpha}$ was changed from $0^{\circ}$ to $45^{\circ}$. The ratio of boundary layer thickness to the prism height was about ${\delta}/H=7%$. The time-averaged velocity, turbulence intensity and the vortex shedding frequency were obtained through a single-component hotwire probe. Power spectrum of the streamwise velocity fluctuations revealed that the tip and base vortices shed at the same frequency as that ofspanwise vortices. Furthermore, the results showed that the critical incidence angle corresponding to the maximum Strouhal number and minimum wake width occurs at ${\alpha}_{cr}=15^{\circ}$ which is equal to that reported for an infinite prism. There is a reduction in the size of the wake region along the height of the prism when moving away from the ground plane towards the free end.

• The Korean Journal of Physiology
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• 제4권2호
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• pp.19-24
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• 1970

Since the discovery of the muscle spindle by Hassall (1831), an intensive studies of its anatomical and physiological characteristics had been undertaken. Recent morphological studies of Boyd (1962) demonstrated that the muscle spindles have two different intrafusal muscle fibers, nuclear bag and nuclear chain fiber, and these intrafusal fibers are under independent motor innervation by ${\gamma}_1$ and ${\gamma}_2$ motor neurone. Neurophysiological studies of Hunt and Kuffler (1951) showed regulatory effect of ${\gamma}$ motor neurone upon the excitability of the spindle afferents. Harvey and Mathews (1961) observed the dynamic and static characteristics of the two different spindle afferents, the primary and secondary ending. Furthermore, Mathews (1962) postulated the functional existance of two kind of ${\gamma}$ motor neurones, namely, the dynamic and static fusimotor fiber. Recent report of Kim and Partridge(1969) pointed out that the descending vestibular signals had increased the slope of the length-tension relationship in stretch reflex; Kim (1967) demonstrated that the descending vestibular impulses act upon the stretch reflex loop through the ${\gamma}$ motor pathway. These experimental evidences from the morphological and neurophysiological studies on the muscle spindles support the concept that the stretch reflex action of the skeletal muscle operates as a negative feedback control system. The author had discussed the way by which the f system participates in the control of stretch relfex feed back system. that was taken for a prototype of posture and movement.

• 한국산학기술학회논문지
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• 제9권4호
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• pp.1030-1038
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• 2008

교통량조사 방법은 루프검지기와 피에조센서를 주로 많이 사용하여 차량의 숫자만을 파악하여 교통주기를 계산하는 방법을 사용하나 교통량을 파악하는 방법은 단순한 교통량에만 국한되는 것이 아니라 다중교통특성인 진입로의 길이, 도로의 폭, 보행자의 수, 통과차량수, 지체차량수 등 관련되는 교통대안을 총 망라하여 새로운 교통량인 혼잡도라는 개념을 대표대안으로 선정하면 바로 교통주기에 적용할 수 있다. 본 논문에서는 서로 관련성이 없는 교통대안들을 AHP 방법을 사용하여 교통주기 계산에 즉시 사용할 수 있는 공통 분모인 새로운 교통대안을 찾아내는 알고리즘을 개발하고 이를 새로운 교통량 개념인 혼잡도라는 교통량을 찾아내는 퍼지센서 알고리즘을 구성하는데 적용한다. 시뮬레이션을 통해 타 교통제어방법과 비교하여 지체차량시간이 줄어듬을 보여준다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 추계학술대회 논문집 전문대학교육위원 P
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• pp.1-3
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• 1999

EM (ElectroMagnetic) pump is used for the purpose of transporting liquid sodium coolant with electrical conductivity in the LMR(Liquid Metal Reactor). (In the present study, pilot EM pump has been designed by using of equivalent circuit method which is commonly employed to analyze linear induction machines for the test of removal of residual heat. The length and diameter of the pump have fixed values of 840 mm and 101.6 mm each by taking account of geometrical size of circulation loop for the installation of EM pump. Flowrate versus developing pressure is related from Laithwaite's standard design formula and the characteristic analyses of developing force and efficiency are carried out according to change of input frequency. From the characteristic curve, input frequency of 13 Hz is determined as the design frequency. On the other hand, The annular air gap size of 6.05 mm is selected not to bring about too much hydraulic loss. Resultantly design analysis makes pump have the electrical input of 604 VA and the hydrodynamical capacity of 1.3 bars and 40 l/min.