• 한국지능시스템학회논문지
• /
• 제21권2호
• /
• pp.159-164
• /
• 2011

본 연구에서는 4절 링크 이론(four-bar linkage mechanism)과 얀센 메커니즘(Jansen mechanism)을 기반으로 다관절 보행 로봇(multi-legged walking robot)인 게(crab) 로봇을 제작하고, 게 로봇의 움직임에 대하여 기구학적인 해석을 제시한다. 제작된 게 로봇은 영상 획득을 위하여 카메라를 장착하였고, 장애물 회피를 위하여 3조의 초음파 센서를 가지고 있다. 또한 RF통신으로 외부에 영상 정보를 전달하며, Blue-tooth 통신 모듈을 장착하여 외부로부터 부여된 임무를 수행할 수 있다. 게 로봇의 설계와 제작을 하기 위해서 필요로 하는, 로봇 다리의 움직임을 알기 위해서는 관절 변수와 다리 끝단의 위치 및 자세와의 관계를 얻어야 한다. 따라서, 제안된 기구학적 해석은 로봇의 설계와 제작에 있어서 많은 도움을 주며 중요한 과정이다.

• 대한방사선기술학회지:방사선기술과학
• /
• 제38권4호
• /
• pp.443-449
• /
• 2015

초음파 프로브는 초음파 진단기에서 성능 결함이 발생할 빈도가 매우 높으면서 도플러 영상에 미치는 영향이 크다. 본 연구는 초음파 프로브의 소자 결함이 파워 및 칼러 도플러 영상에 미치는 영향을 실험적으로 살펴 본 것이다. 실험 결과 초음파 프로브 소자 결함은 그 크기가 클수록 도플러 활동 소자군 중심부에 위치할수록 도플러 영상의 밝기 및 도플러 속도를 크게 감소시키는 것으로 나타났다. 컬러 및 파워 도플러 영상에서 소자 결함이 증가할수록 혈관의 주변 부위에서부터 혈관 플라그로 오인할 수 있는 허상이 생기고 있음을 보여 주었다. 따라서 소자결함이 의심될 때는 B-모드에서 확인과정이 필요하다. 이를 볼 때 초음파 검사에 있어서는 우선적으로 프로브에 관심을 가지고 지속적인 초음파프로브 QA가 중요하다.

• 비파괴검사학회지
• /
• 제5권1호
• /
• pp.34-47
• /
• 1985

The developing country, KOREA where does not possess the natural resources for traditional energy such as oil and gas, so. The nuclear energy is the most single reliable source available for closing the energy gap. For these reason, It is inavoidable to construct the nuclear power plant and to develop technology related nuclear energy. The rate of operation in large nuclear power facilities depends upon the performance of work system through design and construction, and also the applied technology. Especially, it is the most important element that safety and reliability in operation of nuclear power plant. In view of this aspects, Nuclear power plant is performed severe examinations during preservice and inservice inspection. This study provide an automation of analysis for volumetric examination which is required to nuclear power plant components. It is composed as follows: I. Introduction II. Inservice Inspection of Nuclear Power Plant ${\ast}$ General Requirement. ${\ast}$ Principle and Methods of Ultrasonic Test. ${\ast}$ Study of Flaw Evaluation and Design of Classifying Formula for Flaws. III. Design of Automation for Flaw Evaluation. IV. An Example V. Conclusion In this theory, It is classifying the flaws, the formula of classifying flaws and the design of automation that is the main important point. As motioned the above, Owing to such as automatic design, more time could be allocated to practical test than that of evaluation of defects, Protecting against subjective bias tester by himself and miscalculation by dint of various process of computation. For the more, adopting this method would be used to more retaining for many test data and comparative evaluating during successive inspection intervals. Inspite of limitation for testing method and required application to test components, it provide useful application to flow evaluation for volumetric examination. Owing to the characteristics of nuclear power plant that is highly skill intensive industry and has huze system, the more notice should be concentrated as follows. Establishing rational operation plan, developing various technology, and making the newly designed system for undeveloped sector.

• 한국항공우주학회지
• /
• 제32권7호
• /
• pp.51-59
• /
• 2004

저속충격에 의한 복합재의 파손 모드를 규명하기 위하여 PVDF 센서를 이용한 신호취득 방법과 측정된 PVDF 센서 신호를 시간-주파수 분석법 (time-frequency analysis)인 국소 퓨 리에 변환 및 웨이블렛 변환을 적용하여 분석할 수 있는 실험적 전차에 대하여 고찰하였다. 고분자 암전센서를 이용하여 저속충격시 발생할 수 있는 여러 충격손상 형태 모재균열, 층간분리, 섬유파단에 의한 응력파 측정 가능성을 고찰하기 위하여 일련의 저속충격 시험을 수행하였다. 충격 시험 후, 저속 충격을 받은 적층판에 대하여 C-scan 과 단면 검사를 통하여 센서 신호, 손상 모드 및 크기에 대한 상관관계를 고찰하였다. 센서신호의 취득과 신호분석을 통하여 저속충격의 발생/진행과정을 알 수 있는 많은 중요한 정보가 PVDF 센서신호에도 내재되어 있음을 알 수 있으며 PVDF 센서 신호를 주의 깊게 분석함으로써 저속 충격에 의한 복합재료의 손상 모드 규명이 가능하며 저속충격 위협에 대한 복합재 구조물의 건전성 모니터링에 활용할 수 있는 가능성을 제시하였다.

• Macromolecular Research
• /
• 제15권7호
• /
• pp.676-681
• /
• 2007

A process designed to synthesize rigid polyurethane foam (PUF) with insulative properties via the modulation of PUF cell size via the addition of clay and the application of ultrasound was assessed. The blowing agents utilized in this study include water, cyclopentane, and HFC-365mfc, all of which are known to be environmentally-friendly blowing agents. The rigid PUFs were prepared from polymeric 4,4'-diphenylmethane diisocyanate (PMDI) and polyether polyol with a density of $50kg/m^3$. In addition, rigid PUFs/clay nanocomposites were synthesized with clay modified by PMDI with and without the application of ultrasound. The PUF generated using water as a blowing agent evidenced the highest tensile strength. The tensile strength of the PUF/nanocomposites was higher than that of the neat PUF and the strength was even higher with the application of ultrasound. The cell size of the PUF/clay nanocomposites was less than that of the neat PUF, regardless of the type of blowing agent utilized. It appears that the higher tensile strength and lower cell size of the PUF/clay nanocomposites may be attributable to the uniform dispersion of the clay via ultrasonic agitation. The thermal conductivity of the PUF/clay nanocomposites generated with HCFC-141b evidenced the lowest value when PUF/clay nanocomposites were compared with other blowing agents, including HFC-365mfc, cyclopentane, and water. Ultrasound has also proven effective with regard to the reduction of the thermal conductivity of the PUF/clay nanocomposites with any of the blowing agents employed in this study. It has also been suggested that the uniformly dispersed clay particles in the PUF matrix function as diffusion barriers, which prevent the amelioration of the thermal insulation property.

• 한국결정성장학회지
• /
• 제25권4호
• /
• pp.160-165
• /
• 2015

Lead-free piezoelectric materials have been actively studied to substitute for conventional PZT based solid solution, $Pb(Zr_xTi_{1-x}O_3)$, which occurs unavoidable PbO during the sintering process. Among them, Bismuth Sodium Titanate, $Na_{0.5}Bi_{0.5}TiO_3$ (abbreviated as NBT) based solid solution is attracted for the one of excellent candidates which shows the strong ferroelectricity, Curie temperature (Tc), remnant polarization (Pr) and coercive field (Ec). Especially, the solid solution of rhombohedral phase NBT with tetragonal perovskite phase has a rhombohedral - tetragonal morphotropic phase boundary. Modified NBT with tetragonal perovskite at the region of MPB can be applied for high frequency ultrasonic application because of not only its low permittivity, high electrocoupling factor and high mechanical strength, but also effective piezoelectric activity by poling. In this study, solid state ceramic processing of NBT and modified NBT, $(Na_{0.5}Bi_{0.5})_{0.93}Ba_{0.7}TiO_3$ (abbreviated as NBT-7BT), at the region of MPB using 7 % $BaTiO_3$ as a tetragonal perovskite was introduced and the structure between NBT and NBT-7BT were analyzed using rietveld refinement. Also, the ferroelectric and piezoelectric properties of NBT-7BT such as permittivity, piezoelectric constant, polarization hysteresis and strain hysteresis loop were compared with those of pure NBT.

• International Journal of Precision Engineering and Manufacturing
• /
• 제8권2호
• /
• pp.38-43
• /
• 2007

This paper describes ultrasonically assisted grinding used to obtain a glossy surface quickly and precisely. High-quality surfaces are required for plastic injection molding dies used in the production of plastic parts such as dials for cellular phones. Traditionally, in order to finish the dies, manual polishing by a skilled worker has been required after the machining processes, such as electro discharge machining (EDM), which leaves an affected layer, and milling, which leaves tooling marks. However, manual polishing causes detrimental geometrical deviations of the die and consumes several days to finish a die surface. Therefore, a machining process for finishing dies without manual polishing to improve the surface roughness and form accuracy would be extremely valuable. In this study, a 3D positioning machine equipped with an ultrasonic spindle was used to conduct grinding experiments. An electroplated diamond tool was used for these experiments. Generally, diamond tools cannot grind steel because of excessive wear as a result of carbon atoms diffusing into bulk steel and chips. However, ultrasonically assisted grinding can achieve a fine surface (roughness Rz of $0.4{\mu}m$) on die steel without severe tool wear. The final aim of this study is to realize mirror surface grinding for injection molding dies without manual polishing. To do this, it is necessary to fabricate an electroplated diamond tool with high form accuracy and low run-out. This paper describes a tool-making method for high precision grinding and the grinding performance of a self-electroplated tool. The ground surface textures, tool performance and tool life were investigated A ground surface roughness Rz of 0.14 um was achieved Our results show that the spindle speed, feed rate and cross feed affected the surface texture. One tool could finish $5000mm^2$ of die steel surface without any deterioration of the ground surface roughness.

• 한국표면공학회지
• /
• 제53권5호
• /
• pp.241-248
• /
• 2020

The change of the deposition behavior of diamond through a pretreatment process of the base metal prior to diamond deposition using HFCVD was investigated. To improve the specific surface area of the base material, sanding was performed using sandblasting first, and chemical etching treatment was performed to further improve the uniform specific surface area. Chemical etching was performed by immersing the base material in HCl solutions with various etching time. Thereafter, seeding was performed by immersing the sanded and etched base material in a diamond seeding solution. Diamond deposition according to all pretreatment conditions was performed under the same conditions. Methane was used as the carbon source and hydrogen was used as the reaction gas. The most optimal conditions were found by analyzing the improvement of the specific surface area and uniformity, and the optimal diamond seeding solution concentration and immersion time were also obtained for the diamond particle seeding method. As a result, the sandblasted base material was immersed in 20% HCl for 60 minutes at 100 ℃ and chemically etched, and then immersed in a diamond seeding solution of 5 g/L and seeded using ultrasonic waves for 30 minutes. It was possible to obtain optimized economical diamond film growth rates.

• 드라이브 ㆍ 컨트롤
• /
• 제13권1호
• /
• pp.18-26
• /
• 2016

This research is conducted to develop an automatic steering system for parallel parking, and the performance of the system was evaluated by parallel parking a conventional vehicle. The automatic steering system consisted of MDPS (motor driven power steering) to control steering, ESC (electronic stability control) to acquire wheel speed, ultrasonic sensors to recognize the parking space, and a controller to communicate and handle data. The parallel parking process using the automatic steering control consisted of parking space recognition, parking path generation, and parking path tracking. The path for parallel parking was generated based on a kinematic model of a conventional vehicle, and a PI controller was used to control the steering angle for path tracking. Parallel parking using the automatic steering control was conducted according to vehicle speed conditions. The results show that the errors on the x-axis and y-axis were below 0.54 m and 0.14 m, respectively, and the error on the steering angle was less than $1^{\circ}$. Therefore, it is possible to implement parallel parking using an automatic steering control system for conventional vehicles.

• 대기
• /
• 제29권3호
• /
• pp.269-282
• /
• 2019

While it is important to obtain the accurate information on snowfall data due to the increase in damage caused by the heavy snowfall in the winter season, it is not easy to observe the snowfall quantitatively. Recently, snow measurements using a weighing precipitation gauge have been carried out, but there is a problem that high snowfall intensity results in low accuracy. Also, the observed snowfall data are sensitive depending on wind speed, temperature, and humidity. In this study, a new process of quality control for snow water equivalent (SWE) data of the weighing precipitation gauge were proposed to cover the low accuracy of snow data and maximize the data utilization. Snowfall data (SWE) observed by Pluvio, Parsivel, snow-depth meter using laser or ultrasonic, and rainfall gauge in Cloud Physics Observation Site (CPOS) were compared and analyzed. Applying the QC algorithm including the use of number of hydrometeor particles as reference, the increased SWE per the unit time was determined and the data noise was removed and marked by flag. The SWE data converted by the number concentration of hydrometeor particles are tested as a method to restore the QC-removed data, and show good agreement with those of the weighing precipitation gauge, though requiring more case studies. The three events data for heavy snowfall disaster in Pyeongchang area was analyzed. The SWE data with improved quality was showed a good correlation with the eye-measured data ($R^2$ > 0.73).