The use of robots in automated factories requires accurate bin-picking to ensure that objects are correctly identified and selected. In the case of atypical objects with multiple reflections from their surfaces, this is a challenging task. In this paper, we developed a random 3D bin picking system by integrating the low-cost vision system with the robotics system. The vision system identifies the position and posture of candidate parts, then the robot system validates if one of the candidate parts is pickable; if a part is identified as pickable, then the robot will pick up this part and place it accurately in the right location.

The shell and tube-type heat exchangers have been frequently used in many industrial field because of its simple structure and wide operation conditions and so on. The purpose of this study is to investigate the flow characteristics in single shell of shell and tube-type heat exchanger according to velocity and temperature of hot air released from heat exchanger simulator through numerical analysis. As the results, the temperature was decreased in almost quadratic curve from top to bottom in single shell of the shell and tube-type heat exchanger. Further the changes of pressure and velocity in outlet according to change of inlet temperature were not observed. The cost for operating the shell and tube-type heat exchanger should be compared the supply cost of hot air with that of velocity in order to make a economic decision.

In this paper, we directly implemented the Line Tracer ROS package that can detect and follow lines drawn on the map on Gazebo, an open-source that is widely used in autonomous driving research. For line detection, the cv_bridge package was used to enable OpenCV's image processing tools, and parameters such as robot speed, line color and ground material could be changed. In addition, proportional (P) and PID controls could be implemented using the color centroid obtained through image processing. Through this approach, the effect of proportional and differential coefficients on the robot's line tracer motion could be analyzed effectively. In addition, by displaying robot simulation results using various tools of ROS, an efficient development for control nodes could be established in ROS.

In this study, We conducted a survey for improvement about disaster in multiple casualties. Results, It was checked out many problems that Triage is inconvenience in using and damaging. And it was turned out that firefighting resources are not being put efficiently in the right place. Therefore, We are proposed that expansion of education and training opportunities, Location system of emergency activity resource in using App, Cope with a multiple casualties in using QR Code.

In this study, We analyzed that organization of fire service agencies, personnel management and firefighting activities. As a results, Many problems were found out, about ratio of administrative to firefighting personnel, retirement age, promotion, employment, Etc. T herefore, In order to carry out there mission faithful in disasters scene, We proposed that reduction of the number of administrative firefighter, abolition of the employment system candidates for fire executive positions, reducing of the retirement age and changing of the promotion system.

In this paper, in order to secure the safety and productivity of pine cone harvest, modeling and structural analysis of the hammering system for pine cone harvest drone that can easily access pine cone of Pinus koraiensis and collide with them to harvest them was performed. It calculate the equivalent stress for the structure of the hammering system and the yield strength of the applied material by applying the shear force of the stalk at which the pine cone is separated from the branch, and it is to verify the safety of the structure and propose an optimal design through appropriate factor of safety and design change. The shear force of the stalk at which the pine cone was separated from the branch was 468 N, and was applied to both ends of the hammering system. The yield strength of SS400 steel used in the hammering system is 245 ㎫, and the design change and structural analysis were performed so that the Von Mises stress could be less than 122.5 ㎫ by applying the factor of safety of 2.0 or more. As a result of the structural analysis of the frist modeling, the Von Mises stress was 220.3 ㎫, the factor of safety was 1.12, and the stress was concentrated in the screw fastening holes. As a result of the design change of the screw fastening holes, the Von Mises stress was 169.4 ㎫, the factor of safety was 1.45, and the stress was concentrated on the side part. As a result of the design change by changing screw fastening holes and adding ribs, the Von Mises stress was 121.6 ㎫, and the factor of safety was 2.02. The safety of the hammering system was secured with an optimal design with little change in mass. There was no deformation or damage as a result of experimenting on pine cone harvest by manufacturing the hammering system with an optimal design.

The purpose of this study is a descriptive research study to analyze the factors that affect Christians' COVID-19 preventive behavior. The subjects of the study were 262 adult Christians, and the data collected were using SPSS 25.0 and AMOS 21.0 programs. As a result of the study, the subject's religious maturity level was 4.21 ± .55 points out of 5 points, COVID-19 stress was 2.86 ± .73 points out of 5 points, optimism bias was 2.94 ± 1.26 points out of 7 points, and COVID-19 preventive health behavior was 4 points. The total score was 3. 54 ± . 44 points. As a result of the correlation analysis of the subject's religious maturity, COVID-19 stress, optimistic bias, and COVID-19 preventive health behaviors, COVID-19 preventive health behaviors were faith maturity (r=.156, p=.012), COVID-19 stress (r=.216, There was a positive correlation with optimism bias (r=174, p=.005). In conclusion, it can be said that the higher the religious maturity, the higher the COVID-19 stress, and the higher the optimistic bias, the better the preventive health behavior of COVID-19, and the explanatory power of the overall model was 9.4%. In the post-COVID-19 era, it is necessary to develop educational programs that can prevent infectious diseases and promote health in the community.

This study conducts the flow analysis on the basis of the impeller RPM of water metering valve. The software used for the flow analysis is STAR-CCM+. In terms of the structure of the metering valve, it has an impeller installed inside, and a metering chamber has inlet and outlet holes. The flow analysis on the water metering valve drew the following conclusions: Regarding the flow field in the valve, the impeller had the highest velocity distribution, and complex flow field was generated in the metering chamber. In particular, since the path between the inlet and outlet holes in the metering chamber and the valve body was narrow, there was a section that had flow field interference. The flow rate and flow coefficient distribution according to the impeller RPM were on the linear increase. Given that, it showed the feature of the valve used for water metering on the basis of the impeller RPM.

Recently, various dynamic risk analysis methods have been suggested for estimating the risk index by predicting the possibility of accidents and damage. It is necessary to maintain and support the safety system for responding to accidents by continuously updating the probability of accidents and the results of accidents, which are quantitative standards of ship risk. In this study, when a LNG leakage that may occur in the LN G Fuel Gas Supply System (FGSS) room during LN G bunkering operation, a reliability physical model was prepared by the change in monitoring data as physical parameters to estimate the accident probability. The scenario in which LNG leakage occur were configured with FT (Fault Tree), and the coefficient of the covariate model and Weibull distribution was estimated based on the monitoring data. The possibility of an LNG leakage, which is the top event of FT, was confirmed by changes in time and monitoring data. A method for estimating the LNG leakage based on the reliability physical analysis is proposed, which supports fast decision-making by identifying the potential LNG leakage at the accident.

As interest in eco-friendly and fuel-efficient electric vehicles has increased globally, there has also been a growing interest in the efficiency, vibration, and noise of motors for electric vehicles Electric vehicles generally have significantly lower driving ranges per charge compared to the maximum driving range per fueling of internal combustion engine vehicles. Additionally, there are issues with various vibrations and noise generated by the motor that can cause discomfort for passengers. Therefore, research is necessary to reduce losses, vibration, and noise of the motor to improve the driving range of electric vehicles. IPMSM with a purchased design can obtain additional reluctance torque by utilizing the difference in inductance between the d and q axes. However, due to this reluctance torque, torque ripple occurs larger than other motors. The increase in torque ripple also increases noise and vibration. Since the reluctance torque, which is the main cause of torque ripple, is determined by the shape of the motor components, torque ripple can be reduced through shape optimization. In this paper, a rotor shape for reducing torque ripple and core loss that causes vibration, noise, and efficiency to decrease of IPMSM for electric vehicles was proposed. Optimization design was carried out by changing the shape of the q-axis path of the rotor to reduce the difference in inductance of the d and q-axis of the rotor. Finally, in order to verify the validity of the design variables derived through the optimal design, the original model and the improved model were compared through the FEM. Compared to the original model, the improved model's torque verifying ripple was reduced by about 62% and core loss was reduced by about 29%, the superiority of the improved model.

Environmental regulations are being strengthened worldwide to solve global warming. For this reason, interest in eco-friendly gas fuels such as LNG and hydrogen is continuously increasing. However, when adopting eco-friendly gas fuel, liquefying at a cryogenic temperature is essential to ensure economic feasibility in storage and transportation. Although austenitic stainless steel is typically applied to store cryogenic liquefied gas, structural steel can experience sudden heat shrinkage in the case of leakage in the loading and unloading process of LNG. In severe cases, the phase of the steel may change, so care is required. This study conducted Charpy impact tests on steel material in nine different temperature ranges, from room to cryogenic temperatures, to analyze the effects of cryogenic liquefied gas leaks. As a result of the study, it was not easy to find variations in ductile to brittle transition temperature (DBTT) due to the leakage of cryogenic liquefied gas. Still, the overall impact toughness tended to decrease, and these results were verified through fracture surface analysis. In summary, brittle fracture of the steel plate may occur when a secondary load is applied to steel for hull structural use exposed to a cryogenic environment of -40 ℃ or lower. Therefore, it needs to be considered in the ship design and operating conditions.

The subway is one of the most common and important means of transportation in modern society. In order to use the subway safely, tracks are necessary, but trains are prone to derailment and collisions. In order for the train to run safely on the track, the fishplate that connects the line connection is used. The damaged railway was a fishplate for connecting subway lines used for 11 years, and damage analysis and countermeasures were presented. Beach marks were observed on both fracture surfaces, and striations appeared at the range of crack propagation. The damaged part is Cr carbide, which has a higher hardness than the base metal, and is judged to be embrittled and destroyed by fatigue. The SM50C fishplate was subjected to a cyclic stress of about 59% of the upper limit of tensile-compression fatigue limit, but inclusions were the cause of failure. In order to prevent fatigue failure of the SM50C steel fishplate, the occurrence of inclusions should be minimized and processed to have a homogeneous structure when manufacturing the fishplate. In addition, compressive residual stress is given through surface modification such as peening to control crack generation. It is necessary to minimize the change in shape that can become a stress concentration part along with accurate fastening of the bolt, and to design the stress distribution to be as uniform as possible.

This study aimed to identify factors influencing awareness and interest in male nail care and nail art among people in their 20s and 30s, using a survey that included 390 men and women. The survey consisted of sub-factors, including awareness of appearance management, interest in nails, perception of male nail care and nail art, behavioral factors in nail care, and image factors in nail care. The results showed that the overall average interest in male nail care and nail art was 3.76, which fell between "average" and "yes". Women showed higher interest in male nail care than men did. While there was no statistically significant difference in the average value, interest in male nail care and nail art was higher among those in their 30s than those in their 20s. Unmarried individuals showed more interest in male nail care than married ones, and higher levels of education were associated with higher interest. In terms of occupation, service workers showed the highest interest in male nail care and nail art. In conclusion, the findings suggest the need for marketing research that caters to the development of services and programs targeting the male nail industry. The study also highlights the importance of segmenting and differentiating marketing strategies that target male and female customers with a high interest in male nail care and nail art. Based on these findings, this study aims to provide direction for the male nail care industry and serve as a basis for the development of customized programs. Additionally, it aims to provide basic data to aid in the development of the nail industry in Gyeongnam.

For a vehicle to follow a reference path accurately, its position must be estimated accurately and reliably. In this paper, we propose a lateral control algorithm for autonomous navigation of a vehicle via USAT(Ultrasonic Satellite System), which is an absolute position measurement system using an ultrasonic wave and INS(Inertial Navigation System) integration. In order to estimate the vehicle's parameters, a J-turn test is used. And the autonomous navigation performances of proposed lateral control algorithm and validity of proposed lateral control algorithm are verified and evaluated by simulation and experiments.