We present a method for improving adaptability of Learning from Demonstration (LfD) strategy by combining the LfD and Particle Swarm Optimization (PSO). A trajectory generated from an LfD is modified with PSO by minimizing a fitness function that considers constraints. Finally, the final trajectory is suitable for a task and adapted for constraints. The effectiveness of the method is shown with a target reaching task with a manipulator in three-dimensional space.

Electrochemical ion exchange method is expected to be one of the most acceptable techniques for the separation of radioactive cations from nuclear wastewater. In this study a thin film of hexacyanoferrate on nickel surface was derivatized chemically in an aqueous potassium-ferricyanide solution. Electrochemical redox behavior of the nickel hexacyanoferrate(NiHCNFe) film electrode was investigated with the use of cyclic voltammetry potentiostated from -100 to 800 mV versus SCE. The electro-reduction characteristics of the NiHCNFe film were examined in the cobalt solutions. The NiHCNFe ion exchanger was more useful at lower concentration, lower temperature, and pH7 of the cobalt solution. The capacity loss of NiHCNFe was 0.018%/cycle that was less than the average loss of 2~3%/cycle of the convective organic exchanger. The 45~55% of the initial cobalt ions was electro-deposited on the NiHCNFe by using continuous recirculating reactor system. As a result, it was found that the electroactive NiHCNFe films showed better performance than the organic resins for the separation of cobalt ion from the aqueous solutions.

Low operational cost and high efficiency is absolute requirements in the mass production of the ship engine. Increasing the performance of the fuel injection system in the diesel engine is one kind of solution to improve the efficiency. Modern diesel engines are using electronic control module as the main controller in the fuel injection control system, however the mechanical system still involved in the modern control system. In modern ship engine, a control valve was used in injection fuel to regulate the flow of the fuel. High pressure and friction are intensively occur within this part, therefore high wear resist and low friction coefficient material including fine lubricating are needed. This study is to figure out the wear resist material and proper lubricant in the control valve fuel injection. The experiment has been tested using pin on disk in several treatments those are used various lubricants and non-lubricant condition. Two kinds of lubricant were used in this experiment such as INDERIN AW-32 and paraffin oil. INDERIN AW-32 has a better result compared to non-lubricant condition, which are 20% performance increases than non-lubricant condition. SCM 440 was providing small friction coefficient in the lower velocity. The friction coefficient was constantly maintains at 0.1 m/s of velocity or above respectively with the increment of the loads. Using INDERIN AW-32 and paraffin oil the lowest friction coefficient occurred at the lower load, and increases side by side with the increment of loads.

There are many hoppers in the actual industrial plants such as grain hoppers in agricultural companies, surge hoppers in steel companies, and so on. In general, they are time-delay systems so that their level control is not easy. Thus, they have been manually controlled to avoid the overflow and empty out. In this paper, we proposed Fuzzy PID controller for level control of hopper systems. To show the effectiveness of the proposed scheme, some simulation results are given.

For the study on the ion exchange of nickel hexacyanoferrate(NiHCNFe) electrode with the several cations, the film of hexacyanoferrate was prepared on the bare nickel surface by the electrochemical and chemical methods in the solution composed with 5mM K3Fe(CN)6 and 100mM KNO3. To compare the capability of the ion exchange of NiHCNFe film electrode, the repeated cyclic voltammograms were measured in the 0.5M cation nitrate solutions at $25^{\circ}C$ and pH7. It was found that the capacity of the electrochemically derivatized NiHCNFe reduced in the rate of 0.5~0.7%/cycle and was nearly exhausted at the 150th potential cycle. Better result was obtained from that the capacity loss of the chemically assembled NiHCNFe was less than 0.02%/cycle for 5,000cycles. Furthermore, the residual capacity was more than 30% at the 5,000th cycle.

Delta parallel robots are now widely used for high-speed applications. However, typical Delta robots, such as ABB Flexpicker suffer from rotating axis with passive prismatic joint subjected to critical speed and so requiring careful maintenance. In this paper, a novel 4-DOF high-speed parallel robot with four legs is presented, which consists of three legs with 90 degree arrangement for translational motions and one remaining leg with rack & pinion gears for rotational motion. The inverse kinematics, velocity, acceleration, statics, and inverse dynamics have been analyzed. From the workspace analysis and inverse dynamics simulation for 0.43 sec cycle time, the 4-axis parallel robot prototype with 12kg payload has been designed. In the future research, computed torque control methods will be developed for the prototype.

Thus, this study aimed to develop a gear-type vane damper in order to replace the link-type vane damper. To achieve this goal, the torque generated in a gear-type vane damper was analyzed, and a structural analysis was conducted. In addition, the fluid flow was analyzed according to the changes in the vane's angle, and experimental tests such as a dry-heat test and cold test were conducted considering the operating conditions of the vessels. Moreover, an appropriate actuator was selected for the developed gear-type vane damper, and studies on the reduction in the backlash due to the facing-pressure adjustment length and flow rate and leakage test due to the vane's angle were conducted.

This paper presents data-driven thermal protection algorithm for preventing overheating of automotive sunroof motor. When a sunroof motor operates abnormally, its coil is overheated and it is failed. Besides, drivers and passengers are damaged. Hence, the sunroof motor observes its temperature and will be stoped when its temperature reach a predefined level. In order to implement low-cost thermal protection function, we drew a knowledge-based temperature increasing and decreasing curve from the result of experimental test. And then, we implemented data-driven thermal protection algorithm which prevents motor's On/Off operation according to motor operating voltage and motor speed. Finally, we implemented experimental test bed and evaluated its feasibility.

In this study, Green apple from Mungyeong area was used as material in the fermentation process. In apple fruit growing process, to produce a high quality apple fruit, some Green apple should be removed. Since the removed Green apple fruit is inedible, it doesn't have any economical value. To solve this problem, this paper proposed fermentation process to increase the economical value of raw apple as a fermentation product. This research conducted seven days, and the pH and brix value analysis was done every 12 hours during fermentation process. The experimental results show that the fermentation product under blender treatment is better than cutting treatment and without cutting treatment. Initial brix 25% is the best treatment for fermentation because produce fermentation product with a good taste and aroma than other treatment.

This paper investigates the possibility to increase the economic value of the thinned young apple trough fermentation process. It is studies the optimal fermentation condition of thinned young apple by manipulating preparation treatment and sugar content. To do this following steps are done. Firstly, different preparation treatment for thinned young apple such as whole apple, cutting apple, and blending apple were done. The different sugar content such as $24^{\circ}Brix$, $15^{\circ}Brix$ and $4^{\circ}Brix$ was added. Secondly, the sugar contents and pH level were measured during fermentation process. Finally, statistical analysis was used to examine the relation between the preparation treatment, sugar content and pH level during the fermentation process. The experimental result shows that the different preparation treatment influences to the fermentation process. The blending apple treatment gave lower pH level compared to other kind treatments. The sugar content of thinned young apple was decrease during the fermentation process. The statistical analysis shows that the manipulation preparation treatment and sugar content affect the final pH level and whole fermentation process. Experimental result shows that the thinned young apple fermentation could be proposed as new alternative product in the market. The best fermentation process was obtained from blending thinned young apple treatment with $24^{\circ}Brix$.