• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.35 no.2
• /
• pp.196-200
• /
• 1999

In the case that erosion and corrosion occurs in machinery and structure at the same time, the synergy effect by erosion-corrosion affects fatal effect to durability of machinery and structure. Therefore, in machinery and structure which use corrosion liquid, the study of the synergy effect of erosion-corrosion which affects metal material is requested. In this paper. the flow corrosion experiment about the effect of temperature change and liquid velocity change in sea water was carried out to study the characteristics of erosion-corrosion for tube material Cu heat exchanger The main results obtained are as follows. (1) Damage appearance of tube outside by erosion-corrosion becomes dull because electrode potentials of Cu tube is higher than electrode potential of STPG38 shell. (2) In the cooling system by sea water, the weight loss rate of Cu at tube outside liquid temperature of $70^{\circ}C$ is higher than that of temperature of $20^{\circ}C$. (3) In cooling system by sea water, the weight loss rate of Cu at liquid velocity of 5.1m/s is higher than that of velocity of 1.47m/s. But as the testing time passed, the weight loss rate of Cu at velocity of 5.1m/s is almost steady and becomes dull at velocity of 1.47m/s.

• The Journal of Korea Robotics Society
• /
• v.11 no.4
• /
• pp.285-292
• /
• 2016

For articulated swimming robots, there have been no researches about controlling the motion or trajectory following. A control method for articulated swimming robot is suggested by extending a previous algorithm, ESPG (Extended Swimming Pattern Generator). The control method focuses on the situation that continuous pre-determined swimming pattern is applied for long range travelling. In previous studies, there has not been a way to control the propulsive force when a swimming pattern created by ESPG was in progress. Hence, no control could be made unless the swimming pattern was completed even though an error occurred while the swimming pattern was in progress. In order to solve this problem, this study analyzes swimming patterns and suggests a method to control the propulsive force even while the swimming pattern was in progress. The angular velocity of each link is influenced and this eventually modifies the propulsive force. However, The angular velocity is changed, a number of problems can occur. In order to resolve this issue, phase compensation method and synchronization method were suggested. A simple controller was designed to confirm whether the suggested methods are able to control and a simulation has affirmed it. Moreover, it was applied to CALEB 10 (a biomimetic underwater articulated robot) and the result was verified.

• The Journal of Korea Robotics Society
• /
• v.15 no.3
• /
• pp.212-220
• /
• 2020

This paper deals with a strategy of gain optimization for the kinematic control algorithm of a wire-driven surgical robot. The proposed controller consists of the closed-loop inverse kinematics with the back-calculation method. The closed-loop inverse kinematics has 18 PID control gains, and the back-calculation method has 6 gains. An efficient strategy is designed to optimize 18 values first and then the remaining 6 values. The optimal gain sets are searched under the step input with performance indices. In this gain optimization, the objective function is defined as the minimum value of signal-to-noise ratio of the performance indices for 6 DoF (Degree-of-Freedom) motion that is based on the Taguchi method, and the constraints are applied to obtain stable responses for each motion evenly. The gain sets obtained are verified by simulations using the test trajectories. In comparative results, the optimal gain value based on the performance index combined with ISE (integral of square error) and settling time showed the best control performance.

• The Journal of Korea Robotics Society
• /
• v.5 no.2
• /
• pp.102-109
• /
• 2010

In this study, an anthropomorphic robot Hand, called "SKKU Hand III" is presented. The hand has thirteen DOF(Degree-Of-Freedom) and is designed based on the skeletal structure of the human hand. Each finger module(except thumb module) has three DOF and four joints with a saddle joint mechanism which has two DOF at the base joint. Two distal joints of the finger module are mechanically coupled by a timing belt and pulleys. The thumb module is composed of a finger module and an additional actuator, which makes it possible to realize the opposition between the thumb and the other fingers. In addition, the palm DOF of the human hand is mimicked with a spatial link mechanism between the index finger and the thumb. Thus, it can grasp objects more stably and more strongly. For the modularization of the robotic hand all the driving circuits are embedded in the hand, and only the communication lines supporting CAN protocol with DC power cable are given as an interface. Therefore, it is possible to apply it to any robot system the interface. To validate the feasibility of the SKKU Hand III, a series of the representative grasp experiments such as power, precision, intermediate grasp etc. are carried out with the object around us and its operation is demonstrated.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2010.05a
• /
• pp.569-571
• /
• 2010

In this paper, we develop a vision inspection system for inspecting flaws on plastic products such as insufficient moldings, spots, scratches. The inspection algorithm for this system consist of image binarization for curved structure of plastic products, image noise removal using morphology operation, labeling methods for candidate regions and image filtering and calibration method for flaw inspection. In order to improve its performance, we also develop fast image processing algorithm based on GUI. To verify the effectiveness of this system, we conducted evaluation for the system accuracy and the inspection algorithm processing time.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.28 no.11
• /
• pp.1384-1389
• /
• 2004

As operating time of heat exchangers progresses, fouling generated by water-borne deposits and the number of plugged tubes increase and thermal performance decreases. Both fouling and tube plugging are known to interfere with normal flow characteristics and to reduce thermal efficiencies of heat exchangers. The heat exchangers of domestic nuclear power plants have been analyzed in terms of the heat flux and heat transfer coefficient at test conditions as a means of heat exchanger management. Except for the fouling level generated in operation of heat exchangers, also, all of the tubes of heat exchangers have been replaced when the number of plugged tubes exceeds the plugging criteria based on design performance sheet. This paper describes the plugging margin evaluation mettled reflected the fouling of shell-and-tube heat exchangers, which can evaluate the thermal performance for heat exchangers, estimate the future fouling variations, and reflect the current fouling level. To identify the effectiveness of the developed method, the fouling and plugging margin evaluations were performed for a component cooling heat exchanger in a nuclear power plant.

• Journal of Adhesion and Interface
• /
• v.3 no.3
• /
• pp.22-29
• /
• 2002

UV curable coating system described here consists of double layers, namely under layer and top laser coatings. The former consists of organic-inorganic conductive materials and the latter consists of multifunctional acrylates. Transparent double layer coatings were prepared on the transparent substrates i.e. PMMA, PC, PET etc. by the wet and wet coating procedure. Their surface resistances and film properties were measured as a function of the top layer thickness and relative humidity. As the thickness of the top layer was less than $10{\mu}m$, the surface resistance in the range of $10^8{\sim}10^{10}{\Omega}/cm^2$ was obtained. The surface properties of the two-layer coating were remarkably improved compared with the single layer coating. The effects of migration of conducting materials on the film properties of multilayer coating were investigated by using contact angle and Fourier transform infrared/attenuated total reflection(FT-IR/ATR). It was found that the migration of dopant(dodecyl benzenesulfonic acid, DBSA) molecules were occurred from film-substrate interface to film-air interface in the organic conductive coating system but not in the inorganic one.

• The Journal of Korean Academy of Sensory Integration
• /
• v.15 no.2
• /
• pp.46-65
• /
• 2017

Objective : The purpose of this research is to find clinical effects of application of weighted vest during task-oriented training focused on gross motor performance and balance abilities of children with spastic diplegia. Methods : 34 subjects were divided by simple random sampling into two groups; experimental group (male : 9, female : 8, average age : 8.12) and placebo group (male : 9, female : 9, average age : 7.53). Both two groups underwent to 40 minute intervention, twice a week for 12 weeks. The intervention was task-oriented training focused on facilitating closed kinematic chain and multi-joint functional movement pattern. During the training, the experimental group received loaded-resistance weighted vest and placebo group also received weighted vest but without loaded-resistance. Participants in both groups underwent 8 to 10 reps of the task-oriented training and there were 3 minutes break time between tasks. There were pre-test of gross motor performance and balance abilities, and two times of post-tests were performed upon 6 weeks and 12 weeks after the intervention completed. And in final, an additional follow-up test was performed 12 weeks after the evaluation was finished in order to find any difference between the two groups over time. Results : There was significant difference in Gross Motor Performance Measure (GMPM) between two groups. It is found that average score of the experimental group increased more than the placebo group after 6 weeks and 12 weeks intervention (p<.05). There was significant difference in Pediatric Berg's Balance Scale (PBS) between two groups. It is found that average score of the experimental group increased more than the placebo group after 6 weeks and 12 weeks intervention (p<.05). Conclusion : Based on the results in this study, it is proposed that application of weighted vest into task-oriented training to facilitating closed kinematic chain and multi-joint movement can improve gross motor performance and balance abilities of children with cerebral palsy.

• Applied Chemistry for Engineering
• /
• v.30 no.1
• /
• pp.62-67
• /
• 2019

This study was focused on the design and the performance analysis of integral Hot BoP for recovering waste heat from high-temperature exhaust gas in 2 kW class solid oxide fuel cell (SOFC). The hot BoP system was consisted of a catalytic combustor, air preheater and steam generator for burning the stack exhaust gas and for recovering waste heat. In the design of the system, the maximum possible heat transfer was calculated to analyze the heat distribution processes. The detail design of the air preheater and steam generator was carried out by solving the heat transfer equation. The hot BoP was fabricated as a single unit to reduce the heat loss. The simulated stack exhaust gas which considered SOFC operation was used to the performance test. In the hot BoP performance test, the heat transfer rate and system efficiency were measured under various heat loads. The combustibility with the equivalent ratio was analyzed by measuring CO emission of the exhaust gas. As a result, the thermal efficiency of the hot BoP was about 60% based on the standard heat load of 2 kW SOFC. CO emission of the exhaust gas rapidly decreased at an equivalent ratio of 0.25 or more.

• Journal of Energy Engineering
• /
• v.12 no.3
• /
• pp.223-230
• /
• 2003

A study was performed to measure and analyze the gas-side fouling of heat exchanger to cool the exhaust gas from sludge incinerator at ironworks. The incinerator gas passes through inside of the vertical tubes of heat exchanger to preheat the combustion air. This kind of fouling occurs at the entrance region of the heat exchanger and thus the perforated fouling plate was designed to measure the gas-side fouling and to analyze the particulate deposit. As a result of analysis, the particulate deposition rate was influenced by temperature, particulate composition and size and also the deposition patterns were different according to the location of perforated fouling plate. The computational analysis was performed to obtain the deposition rates at the perforated fouling plate and the calculation showed that the deposition rate was varied with the hole size and particulate size. It was proved that the fouling at the entrance region of heat exchanger could be measured by the perforated fouling plate designed in this study.