• 신재생에너지
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• 제2권2호
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• pp.75-80
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• 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.

• 제어로봇시스템학회논문지
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• 제7권6호
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• pp.532-539
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• 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
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• 제4권3호
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• pp.48-54
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• 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.

• 한국정밀공학회지
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• 제18권12호
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• pp.82-87
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• 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
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• 제45권6호
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• pp.865-876
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• 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.

• 해양환경안전학회지
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• 제18권3호
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• pp.221-226
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• 2012

본 연구는 미리 지정된 항로를 따라 항해하기 위한 선박의 Track-keeping에 대한 기초 실험 연구 분석결과를 제시하였다. 항로상에 위치한 여러 가지 변침점을 설정하고, 해당 선박이 그 항로를 항해하도록 알고리즘을 구성, 모형선을 이용한 실험 결과를 보여주었다. 지정된 구역에서 GPS로 변침점을 설정하고, 그 포인트를 Data화하여, 미리 프로그램된 알고리즘에 입력하면 해당 선박이 자동으로 항로를 항해하도록 설계되었다. PD 제어를 이용하여 침로 유지 알고리즘을 구성하였고, 선박 자동 Track-keeping 결과는 모니터링 가능토록 하였고, 변수를 설정 변경하도록 설계되었다. 제시된 알고리즘은 실험을 통하여 그 알고리즘의 효용성을 확인할 수 있었으며, 실선의 항해 자동화 및 충돌회피, 자동접안 등의 다양한 분야에 응용될 수 있을 것으로 판단된다.

• 한국항해항만학회지
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• 제47권2호
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• pp.75-84
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• 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.

• 대한토목학회논문집
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• 제28권1B호
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• pp.137-147
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• 2008

SVE 공법은 휘발성 유기물로 오염된 불포화대의 정화 공법으로 널리 적용되어 왔다. 본 연구에서는 SVE 적용시 오염물 제거 기작을 관찰하기 위해 모형조 시험을 수행하였으며, 이로부터 SVE의 주요 특징인 tailing 현상, 즉 후반부로 갈수록 제거 속도가 급격히 느려지는 꼬리 효과를 확인하였다. 본 연구에서는 액상 막에서의 확산 제약 현상을 고려할 수 있는 수치 모델을 적용하였으며, 모형조 시험 결과와 구축된 수치 모델링을 통해 SVE의 전형적인 특징이 꼬리 현상을 적절하게 모사할 수 있었다. 또한 4가지 변수에 대한 민감도 분석을 수행하여, 총토양농도의 백분율은 액상확산계수가 클수록, 가스상 확산계수가 클수록, 실제확산경로가 짧을수록, 물포화도가 작을수록 빠르게 감소함을 확인하였다.

• 한국콘텐츠학회논문지
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• 제9권9호
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• pp.31-40
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• 2009

센서 네트워크에서는 신뢰성 있는 데이터 전송, 각 노드의 에너지 효율성 그리고 노드의 부하 분산을 통한 네트워크 수명의 최대화가 중요하다. 본 논문에서는 무선 센서 네트워크에서 동적 단일 경로를 이용하여 이러한 내용을 고려한 동적 단일경로 설정기법(DSPR : Dynamic Single Path Routing)을 제안한다. 각 노드는 싱크까지의 홉 카운트와 평균 잔존 에너지로 계산된 최소 비용을 가지는 동적 단일 경로로 데이터를 전송한다. 이 때, 각 노드들은 자신의 전송 과정을 감시하고 경로 손상을 탐지한 노드는 코스트 테이블을 참조하여 손상된 경로를 동적으로 변경함으로써 네트워크의 신뢰성을 높이고 노드들의 에너지 소모를 균등하게 분산시킨다. 또한 네트워크 토폴로지 변화 발생시 전체 네트워크를 재구성하는 대신에 변화에 관련된 부분만을 동적으로 재구성하여 각 노드에서의 불필요한 에너지 소모를 최대한 억제함으로써 네트워크 수명을 증가시킨다. 실험결과 본 논문에서 제안하는 DSPR이 각 노드의 에너지 소모를 최소화하여 네트워크 수명을 증가시키고 신뢰성과 에너지 효율성에서 우수함을 보였다.

• Fisheries and Aquatic Sciences
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• 제5권1호
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• pp.5-20
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• 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 $(RO\geq0.25)$.