• New & Renewable Energy
• /
• v.2 no.2 s.6
• /
• pp.75-80
• /
• 2006

The effective thermal conductivities of $Mm(La_{0.6-0.8})Ni_{4.0}Co_{0.6}Mn_{0.2}Al_{0.2}$ [TL-492] with hydrogen and helium have been examined. Experiment results show that pressure has great influence on effective thermal conductivity in low pressure range [below 0.5 MPa]. And that influence decreases rapidly with increase of gas pressure. The reason is at low pressure, the mean free path of gas becomes greater than effective thickness of gas film which is important to the heat transfer mechanism in this research. And, carbon fibers have been used to try to enhance the poor thermal conductivity of TL-492. Three types of carbon fibers and three mass fractions have been examined and compared. Naturally, the highest effective thermal conductivity has been reached with carbon fiber which has highest thermal conductivity, and highest mass fraction. This method has acquired 4.33 times higher thermal conductivity than pure metal hydrides with quite low quantity of additives, only 0.99 wt% of carbon fiber. This is a good result comparing to other method which can reach higher effective thermal conductivity but needs much higher mass fraction of additives too.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.6
• /
• pp.532-539
• /
• 2001

In robot teleoperation, much research has been carried out to control the slave robot from remote site. One of the essential devices for robot teleoperation is the masterarm, which is a path command generating device worn on human arm. In this paper, a new masterarm based on human kinematics is proposed. Its controller is based on the distributed controller architecture composed of two controller parts: a host controller and a set of satellite controllers. Each satellite controller measures the corresponding joint angle, while the host controller performs forward and inverse kinematics calculation. This distributed controller architecture can make the data updating faster, which allows to implement real-time implementation. The host controller and the satellited controllers are networked via three-wire daisy-chained SPI(Serial Peripheral Interface) protocol, so this architecture makes the electrical wiring very simple, and enhances maintenance. Analytical method for finding three additional unknown joint angles is derived using only three measured angles for each shoulder and wrist, which makes th hardware implementation very simple by minimizing the required number of satellite controllers. Finally, the simulation and experiment results are given to demonstrate the usefulness and performance of the proposed masterarm.

• International Journal of Precision Engineering and Manufacturing
• /
• v.4 no.3
• /
• pp.48-54
• /
• 2003

This paper deals with mirror grinding of a small-sized aspherical lens by a resin bonded diamond spherical wheel. Up to now, a spherical lens has been used for the lens of the optical communication optical part. However, recently, aspherical optical parts are mainly used in order to attempt the improvement in image quality and miniaturization of the optical device. It is possible to manufacture the aspherical lens which is presently being used in optical instrument through ultra-precision machining technology. Also, to realize compactness, efforts are being made to produce a micro aspherical lens, fur which the development of a high-precision, micro molding die is inevitable. Therefore, extensive research is being done on methods of producing a micro aspherical surface by high-precision grinding. In this paper, the spherical wheel was trued by cup-shaped truer and tool path was calculated by the radius of curvature of the wheel after truing and dressing. Then in the aspherical grinding experiment, WC material which is used as a melding die for the small-sized aspherical lens was ground. The results showed that a form accuracy of 0.1918 $\mu\textrm{m}$ P-V and a surface roughness of 0.064 $\mu\textrm{m}$ Rmax could be achieved.

• Journal of the Korean Society for Precision Engineering
• /
• v.18 no.12
• /
• pp.82-87
• /
• 2001

This paper deals with mirror grinding of a small-sized aspherical lens by the resin bonded diamond spherical wheel. Up to now, a spherical lens has been used for the lens of the optical communication optical part. However, recently, the aspherical optical parts are mainly used in order to attempt the improvement in image quality and miniaturization of the optical device. It is possible to manufacture the aspherical lens which is presently being used in optical instrument through ultra-precision machinery technology. Also, to realize compactability, efforts are being made to produce a micro aspherical lens, for which the development of a high-precision, micro molding die is inevitable. Therefore, extensive research is being done on methods of producing an micro aspherical surface by high-precision grinding. In this paper, the spherical wheel was trued by cup-type truer and tool path was calculated by the radius of curvature of wheel after truing and dressing. And then in the aspherical grinding experiment, WC material which is used as a molding die for the small-sized aspherical lens was ground. It results was that a form accuracy of 0.1918${\mu}m$ P-V and a surface roughness of 0.064${\mu}m$ Rmax.

• Steel and Composite Structures
• /
• v.45 no.6
• /
• pp.865-876
• /
• 2022

The slit members have lower strength and lower stiffness, which might lead to lower energy dissipation. In order to improve the seismic performance of the slit members, the paper proposes the shear lead damper, which has stable performance and small deformation energy dissipation capacity. Therefore, the shear lead damper can set in the vertical silts of the slit member to transmit the shear force and improve energy dissipation, which is suitable for the slit member. Initially, the symmetrical teeth-shaped lead damper was tested and analyzed. Then the staggered teeth-shaped lead dampers were developed and analyzed, based on the defect analysis and build improvements of the symmetrical specimen. Based on the parameter analysis, the main influence factors of hysteretic performance are the internal teeth, the steel baffles, and the width and length of damper. Finally, the theoretical analysis was presented on the hysteretic curve. And the skeleton curve and hysteresis path were identified. Based on the above theoretical analysis, the design method was proposed, including the damping force, the hysteresis model and the design recommendations.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.18 no.3
• /
• pp.221-226
• /
• 2012

This research presents an analysis of algorithm for ship track-keeping along a given trajectory. The maneuver of a free running model ship guiding through a simple path are presented. In order to solve the above problem, a desired trajectory is usually determined by GPS points in a pre-fixed place then these points are set in a pre-programmed navigation so that the ship would be automatically tracked. Proportional-Derivative(PD) control which is useful for fast response controllers was used in this program as a course keeping system. A high accuracy GPS receiver was installed on the model ship that could provide positions frequently, the system will compare and give out the remaining distance and heading to the target way-point. The results of ship auto track-keeping experiment will be explained in order to illustrate the adjustment in controlling parameters. These results can be utilized as a preliminary step to carry out the experiment of ship collision avoidance system and automatic berthing in the future.

• Journal of Navigation and Port Research
• /
• v.47 no.2
• /
• pp.75-84
• /
• 2023

Ships need to ensure safety during their navigation, which makes route determination highly important. It must be accompanied by a route following controller that can accurately follow the route. This study proposes a method for automatically generating the ship route based on deep reinforcement learning algorithm and following it using a route following controller. To generate a ship route, under keel clearance was applied to secure the ship's safety and navigation chart information was used to apply ship navigation related regulations. For the experiment, a target ship with a draft of 8.23 m was designated. The target route in this study was to depart from Busan port and arrive at the pilot boarding place of the Ulsan port. As a route following controller, a velocity type fuzzy P ID controller that could compensate for the limitation of a linear controller was applied. As a result of using the deep Q network, a route with a total distance of 62.22 km and 81 waypoints was generated. To simplify the route, the Douglas-Peucker algorithm was introduced to reduce the total distance to 55.67 m and the number of way points to 3. After that, an experiment was conducted to follow the path generated by the target ship. Experiment results revealed that the velocity type fuzzy P ID controller had less overshoot and fast settling time. In addition, it had the advantage of reducing the energy loss of the ship because the change in rudder angle was smooth. This study can be used as a basic study of route automatic generation. It suggests a method of combining ship route generation with the route following control.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.28 no.1B
• /
• pp.137-147
• /
• 2008

Soil Vapor Extraction (SVE) has been extensively used to remove volatile organic compounds (VOCs) from the vadoze zone. In order to investigate the removal mechanism during SVE operation, laboratory modeling experiments were carried out and tailing effect could be observed in later stage of the experiment. Tailing effect means that removal rate of contaminants gets significantly to decrease in later stage of SVE operation. Also, mathematical model simulating the tailing effect was used, which considers rate-limited diffusion in a water film during mass transfer among gas, liquid, and solid phases. Measurement data obtained through the experiment was used as input data of the numerical analyses. Sensitivity analysis was performed to examine the effect of each parameter on required time to reach final target concentration. Finally, it was found that the concentration in the soil phase decreased significantly with a liquid and gas diffusion coefficient larger, actual path length shorter, and water saturation smaller.

• The Journal of the Korea Contents Association
• /
• v.9 no.9
• /
• pp.31-40
• /
• 2009

What are important in wireless sensor networks are reliable data transmission, energy efficiency of each node, and the maximization of network life through the distribution of load among the nodes. The present study proposed DSPR, a dynamic unique path routing machanism that considered these requirements in wireless sensor networks. In DSPR, data is transmitted through a dynamic unique path, which has the least cost calculated with the number of hops from each node to the sink, and the average remaining energy. At that time, each node monitors its transmission process and if a node detects route damage it changes the route dynamically, referring to the cost table, and by doing so, it enhances the reliability of the network and distributes energy consumption evenly among the nodes. In addition, when the network topology is changed, only the part related to the change is restructured dynamically instead of restructuring the entire network, and the life of the network is extended by inhibiting unnecessary energy consumption in each node as much as possible. In the results of our experiment, the proposed DSPR increased network life by minimizing energy consumption of the nodes and improved the reliability and energy efficiency of the network.

• Fisheries and Aquatic Sciences
• /
• v.5 no.1
• /
• pp.5-20
• /
• 2002

To investigate the effect of mechanical parameters on the circulation and its fluctuation in Sagami Bay, baroclinic model experiments were carried out by use of a two-layer source-sink flow in a rotating tank. In the experiment, a simple coastal topography with flat bottom was reproduced. The results show that the path of the Through Flow, which corresponds to the branch current of the Kuroshio, depends on external Rossby number (Ro) and internal Rossby number $(Ro^*)$, and divided into two regimes. For $Ro^*\leq1.0$ in which Rossby internal radius of deformation of the Through Flow is smaller than the width of the approaching channel, the current flows along the Oshima Island as a coastal boundary density current separated from the western boundary of the channel. For $Ro^*>1.0$ it changes to a jet flow along the western boundary of the channel, separated from the coast of Oshima Island. The current is independent on both Ro and Ro* in the regime of $Ro^*>1.0,\;Ro\geq0.06$ and $Ro^*\leq1.0,\;Ro\geq0.06$. The pattern of the cyclonic circulation in the inner part of the bay is also determined by Ro and Ro*. In case of $Ro^*\leq1.0$, frontal eddies are formed in the northern boundary of the Through Flow. These frontal eddies intrude into the inner part along the eastern boundary of the bay providing vorticity to form and maintain the inner cyclonic circulation. For $Ro^*>1.0$, the wakes from the Izu peninsula are superposed intensifying the cyclonic circulation. The pattern of the cyclonic circulation is divided into three types; 1) weak cyclonic circulation and the inner anticyclonic circulation $(Ro<0.12)$. 2) cyclonic circulation in the bay $(0.12\leq Ro<0.25)$. 3) cyclonic circulation with strong boundary current $(RO\geq0.25)$.