• 한국항공우주학회지
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• 제43권9호
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• pp.845-857
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• 2015

최근 우주쓰레기로 인한 우주환경 악화에 대한 국제적인 관심이 높아지고 있으며, 미국, 프랑스, 일본 등 우주개발 선진국들을 중심으로 우주파편 경감을 위한 가이드라인을 제정하여 준수하고자 노력하고 있는 추세이다. 이러한 노력과 더불어 우주파편을 직접 제거함으로써 그 숫자를 경감하고자 하는 기술을 '우주파편 능동제거 기술'이라고 한다. 본 논문에서는 우주파편 경감을 위한 해외 기관들의 연구동향과 배경들을 살펴보고 관련 기술개발 사례 및 특허들을 분석하였다. 또한, 이를 바탕으로 우주파편 능동제거시스템 개발을 위한 소요기술들을 분석해봄으로써 우리나라에서도 관련 연구에 관심을 가지고 본격적으로 시작하고자 하는 연구자들에게 선행연구 분석 자료로써 유용하게 활용될 수 있도록 하였다.

• 한국지능시스템학회논문지
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• 제25권4호
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• pp.342-348
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• 2015

최근에는 자연재해 및 무단투기 등으로 인해서 해양으로 많은 양의 폐기물이 유입되고 있으며 그 영향으로 해양생태계가 파괴되고 미관이 훼손되는 등 해양환경이 오염되고 있다. 해양에 존재하는 폐기물 수거를 위해 여러 방법을 사용하고 있는데, 주로 수거되는 폐기물의 형태는 부유물이다. 부유물을 수거하기 위해 주로 그물을 사용하며 최근에는 선박으로 수거를 실시하고 있다. 하지만, 선박 수거에 있어서 인력 및 기술 부족으로 많은 어려움이 발생하고 있다. 이 문제를 해결하기 위해서 부유물 수거용 수상로봇이 개발되었다. 개발된 로봇의 성능 검증을 위해서 Surge, Yaw, 부유물수거 등의 시험평가가 수행되었다. 시험평가 결과는 실제 적용 가능성 및 추가적인 연구의 필요성을 보여준다.

• Nuclear Engineering and Technology
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• 제32권4호
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• pp.395-409
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• 2000

Parametric studies were performed to assess the sensitivity in determining the maximum in-vessel heat removal capability from the core material relocated into the lower plenum of the reactor pressure vessel (RPV）during a core melt accident. A fraction of the sensible heat can be removed during the molten jet delivery from the core to the lower plenum, while the remaining sensible heat and the decay heat can be transported by rather complex mechanisms of the counter-current flow limitation (CCFL) and the critical heat flux (CHF）through the irregular, hemispherical gap that may be formed between the freezing oxidic debris and the overheated metallic RPV wall. It is shown that under the pressurized condition of 10MPa with the sensible heat loss being 50% for the reactors considered in this study, i.e. TMI-2, KORI-2 like, YGN-3&4 like and KNGR like reactors, the heat removal through the gap cooling mechanism was capable of ensuring the RPV integrity as much as 30% to 40% of the total core mass was relocated to the lower plenum. The sensitivity analysis indicated that the cooling rate of debris coupled with the sensible heat loss was a significant factor The newly proposed heat removal capability map (HRCM) clearly displays the critical factors in estimating the maximum heat removal from the debris in the lower plenum. This map can be used as a first-principle engineering tool to assess the RPV thermal integrity during a core melt accident. The predictive model also provided ith a reasonable explanation for the non-failure of the test vessel in the LAVA experiments performed at the Korea Atomic Energy Research Institute (KAERI), which apparently indicated a cooling effect of water ingression through the debris-to-vessel gap and the intra-debris pores and crevices.

• 제어로봇시스템학회논문지
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• 제20권10호
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• pp.1063-1066
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• 2014

The humanoid robot, DRC-HUBO is developed from the KHR (KAIST Humanoid Robot) series to meet the requirements of the DARPA Robotics Challenge. DARPA Robotics Challenge was a competition to develop semi-autonomous humanoid robot so that dispatched in dangerous environments in place of humans like the Fukushima nuclear accident. In this paper, we introduce DRCH-UBO briefly and a methodology to remove debris blocking an entryway. The methodology includes inverse kinematics for DRC-HUBO and stabilization controller based on ZMP. Proposed inverse kinematics is robust, and pelvis-related tasks improve the manipulability and workspace of the arms. The controller improves the damping characteristic of the system and mitigates the instability during removal of debris. For given position and orientation of the debris, DRC-HUBO generates motion to reach the debris and lift up while stabilizing itself. Many experimental results verify our proposed methodology.

• Journal of Astronomy and Space Sciences
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• 제30권4호
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• pp.279-290
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• 2013

Due to the continuous space development by mankind, the number of space objects including space debris in orbits around the Earth has increased, and accordingly, difficulties of space development and activities are expected in the near future. In this study, among the stages for space debris removal, the implementation of a vision-based approach technique for approaching space debris from a far-range rendezvous state to a proximity state, and the ground test performance results were described. For the vision-based object tracking, the CAM-shift algorithm with high speed and strong performance, and the Kalman filter were combined and utilized. For measuring the distance to a tracking object, a stereo camera was used. For the construction of a low-cost space environment simulation test bed, a sun simulator was used, and in the case of the platform for approaching, a two-dimensional mobile robot was used. The tracking status was examined while changing the position of the sun simulator, and the results indicated that the CAM-shift showed a tracking rate of about 87% and the relative distance could be measured down to 0.9 m. In addition, considerations for future space environment simulation tests were proposed.

• 한국항공우주학회지
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• 제50권6호
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• pp.435-444
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• 2022

본 연구는 우주 쓰레기를 제거하기 위한 청소 위성(Space debris removal satellite)의 우주 그물(Space-net)을 이용한 우주 쓰레기의 포획 시뮬레이션 연구를 수행하였다. 포획 시뮬레이션은 비선형 구조 동역학 해석 코드인 ABAQUS를 이용하여 수행하였다. 정사각형(1 m × 1 m)의 우주 그물 및 30 kg 질량의 정육면체(0.3 m × 0.3 m × 0.3 m) 형상인 우주 쓰레기를 기본 모델로 설계하였다. 기본 모델에 기반하여 포획 과정을 이해하고 포획 성공 또는 실패에 대한 기준을 정립하기 위하여 ABAQUS를 이용한 포획 시뮬레이션을 수행하였다. 또한 우주 그물의 다양한 설계 조건을 고려하여 포획 시뮬레이션을 수행하였으며, 우주 쓰레기를 성공적으로 포획하기 위한 우주 그물의 주요 설계 인자를 확인하였다.

• 한국공작기계학회논문집
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• 제15권6호
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• pp.15-21
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• 2006

This work deals with the electrical conductivity of dielectric on output parameters such as metal removal rate and surface roughness value of a carbon steel(SM25C) and sintered carbides cut by wire electrical discharge machining (WEDM). Dielectric has several functions like insulation, ionization, cooling, the removal of waste metal particles. The presence of minute metal particles(debris) in spark gap contaminates and lowers the breakdown strength of dielectric. And it is considered that too much debris in spark gap is generally believed to be the cause of arcing. Experimental results show that increases of cobalt amount in carbides affects the metal removal rate and worsens the surface quality as a greater quantity of solidified metal deposits on the eroded surface. Lower electrical conductivity of the dielectric results in a lower metal removal rate because the gap between wire electrode and workpiece reduced. Especially, the surface characteristics of rough-cut workpiece and wire electrode were analyzed too. Debris were analyzed also through scanning electron microscopy(SEM) and surface roughness tester. Micro cracks and some of electrode material are found on the workpiece surface by energy dispersive spectrometer(EDS).

• 대한기계학회논문집A
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• 제27권10호
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• pp.1800-1808
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• 2003

This work deals with the electrical conductivity of dielectric on output parameters such as metal removal rate and surface roughness value of a carbon steel(SM25C) and sintered carbides cut by wire-electrical discharge machining(W-EDM). Dielectric has several functions like insulation, ionization, cooling, the removal of waste metal particles. The presence of minute particles(gap debris) in spark gap contaminates and lowers the breakdown strength of dielectric. And it is considered that too much debris in spark gap is generally believed to be the cause of arcing. Experimental results show that increases of cobalt amount in carbides affects the metal removal rate and worsens the surface quality as a greater quantity of solidified metal deposits on the eroded surface. Lower electrical conductivity of the dielectric results in a lower metal removal rate because the gap between wire electrode and workpiece reduced. Especially, the surface characteristics of rough-cut workpiece and wire electrode were analyzed too. Debris were analyzed also through scanning electron microscopy(SEM) and surface roughness tester. Micro cracks and some of electrode material are found on the workpiece surface by energy dispersive spectrometer(EDS).

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1244-1247
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• 2005

The material removal mechanism of Electrical Discharge Machining (EDM) process has been studied for several decades. However, understanding of the material removal mechanism is still a difficult problem because the mechanism involves complicated physical phenomena including plasma. Especially, for a micro-EDM process, due to the influence of the debris that is generated during the machining process, quantitative modeling of EDM becomes more complex. To understand better the effects of the debris in the micro-EDM process experimentally, a new approach has been introduced in this study. Using a specially designed workpiece holder, the debris generated during the EDM with various process conditions has been collected. Then, using a simulated environment using micro-sized metal powders, the influence of the debris during the single EDM discharge has been observed. The effects of EDM process parameters on the debris size and product quality are discussed.

• Restorative Dentistry and Endodontics
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• 제17권2호
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• pp.413-420
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• 1992

The purpose of this study was to compare the effectiveness of hand instrumentation with K - file and ultrasonic instrumentation and irrigation system in removing pulpal debris and canal wall planing. 20 mandibular molar teeth were instrumented to size 30 K - file and 20 teeth were instrumented with ultrasonic Suprasson. And Normal Saline and 2.5% NaOCl were used as irrigation solution. All specimens were viewed at the coronal, middle, and apical third of the root canals for the evaluation of the cleaning effect under the multiview microscope. The result were as follows : 1. All of the technique and irrigation solution was effecient in the debris removal and canal wall planing at the cervical and middle thirds of the root canal. 2. All of the techniques and irrigation solutions was less efficient in the debris removal and canal planing at the apical third of the root canal. 3. The debris removal and canal wall planing was depended more on the anatomical variations of the root canal than on the techniques and irrigation solutions.