• Journal of Drive and Control
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• v.19 no.2
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• pp.1-10
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• 2022

Field robots operate in various areas, including construction, agriculture, forestry and manufacturing. Typical tasks of field robots used in various areas include excavation, flattening, and demolition. Such tasks are often accomplished in narrow alleys or indoors. In the case of field robots, there is a limit to working in a small space. Thus, to compensate for these shortcomings, many field robots equipped with Tiltrotators have recently been observed. The advantages of Tiltrotator are improved task efficiency and reduced operating time by reducing unnecessary behavior. We need simulation models that can improve the ability of new people to work and simulate tasks in advance. Thus, in this paper, we developed a simscape-based simulation model and modeling of 6DOF systems for field robots equipped with Tiltrotator. Dynamic modeling of field robot 3D models using Simcape multibody and hydraulic systems of field robots using Simcape Hydraulics were modeled. We applied a PID controller to create a control system that operates along the input angle. Simulation results show that errors occur when comparing input and output angles, but overall, they move along input angles.

• Journal of Drive and Control
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• v.20 no.4
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• pp.92-99
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• 2023

Autonomous vehicles should recognize and respond to the specified speed to drive in compliance with regulations. To recognize the specified speed, the most representative method is to read the numbers of the signs by recognizing the speed signs in the front camera image. This study proposes a method that utilizes YOLO-Labeling-Labeling-EfficientNet. The sign box is first recognized with YOLO, and the numeric digit is extracted according to the pixel value from the recognized box through two labeling stages. After that, the number of each digit is recognized using EfficientNet (CNN) learned with the virtual environment dataset produced directly. In addition, we estimated the depth of information from the height value of the recognized sign through regression analysis. We verified the proposed algorithm using the virtual racing environment and GTSRB, and proved its real-time performance and efficient recognition performance.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.4
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• pp.118-124
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• 2017

In this study, a numerical simulation was performed using commercial code Fluent(v.17.1). The underground Combined Cycle Power Plant (CCPP) was simplified to analyze the methane gas leakage with the crack size and position. In addition, extensive numerical simulations were carried out for different crack sizes from 10 mm to 20 mm. The crack position is the gas leakage, which is assumed to be near the pipe elbow and the gas turbine. A total of 4 cases were compared and analyzed. To analyze the gas leakage, the concept of the Lower Flammable Limit (LFL) was applied. The leakage distance was defined in the longitudinal direction, and the transverse direction was estimated and quantitatively analyzed. As a result, the leakage distance in the longitudinal direction varies by 52.3 % depending on the crack size at the same crack position. Moreover, the maximum difference was 34.8 % according to the crack position when the crack sizes are identical. As jet flow impacts on the obstacle and changes its direction, the recirculation flows are formed. These results are expected to provide useful data to optimize the location and number of gas detections in confined spaces, such as underground CCPP.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.25 no.3
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• pp.301-311
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• 2015

Objectives: Operators of overhead traveling crane in a ship assembly factory perform work to transmit large vessel blocks to an appropriate working process. Hazardous matters such as metal dusts, carbon monoxide, carbon dioxide, ozone, loud noise and fine particles are generated by variable working activities in the factory. The operators could be exposed to the hazardous matters during the work. In particular, welding fumes comprised of ultra fine particles and heavy metals is extremely hazardous for humans when exposing a pulmonary through respiratory pathway. Occupational lung diseases related to welding fumes are increasingly on an upward tendency. Therefore, the objective of this study is to assess properly unknown occupational exposure to the welding fumes among the operators. Methods: This study intended to clearly determine an equivalence check whether or not chemical constituents and composition of the dusts, which existed in the driver's cab, matched up with generally known welding fumes. Furthermore, computational fluid dynamics program(CFD) was used to identify a ventilation assessment in respect of a contamination distribution of welding fumes in the air. The operators were investigated to assess personal exposure levels of welding fumes and respirable particulate. Results: The dust in an operation room were the same constituents and composition as welding fumes. Welding fumes, which caused by the welding in a floor of the factory, arose with an ascending air current up to a roof and then stayed for a long time. They were considered to be exposed to the welding fumes in the operation room. The personal exposure levels of welding fumes and respirable particulate were 0.159(n=8, range=0.073-0.410) $mg/m^3$ and 0.138(n=8, range=0.087-0.178) $mg/m^3$, respectively. They were lower than a threshold limit value level($5mg/m^3$) of welding fumes. Conclusions: These findings indicate that an occupational exposure to welding fumes can exist among the operators. Consequently, we need to be keeping the operators under a constant assessment in the operator process of overhead traveling crane.

• Analytical Science and Technology
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• v.16 no.5
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• pp.349-357
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• 2003

The universality of low molecular weight metabolites (i.e. amino acids, steroid hormones) allows rapid and straightforward investigation of biochemistry of genetically un-characterized species. Thus in vivo metabolic profiling of amino acid in combination with multivariate data analysis (metabolomics) offers great potential in comparative biology. In this paper, amino acid profiles in biological fluid (media) were studied by using HPLC/FLD. HPLC procedure for amino acids require the formation of derivatives due to the low absorption of the free compounds. o-Phthalaldehyde (OPA) used in association with a thiol, such as 3-mercaptopropionic acid (3-MPA), is one of the most popular and sensitive reagents, which yield quickly fluorescent iso-indoles at room temperature. To improve unstability of OPA/3-MPA derivatization, we optimized injector programs for fixed injection times. Linear regressions for the standard curves were linear in the range 0.5 - 100.0 ppb, giving correlation coefficents above 0.99. The detection limit were 1.70 pmol(GLU) - 23.81 pmol(SER). It is practically useful when the amount of sample is very low on single cells.

• Journal of The Korean Astronomical Society
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• v.36 no.3
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• pp.89-95
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• 2003

Observations of dark matter dominated dwarf and low surface brightness disk galaxies favor density profiles with a flat-density core, while cold dark matter (CDM) N-body simulations form halos with central cusps, instead. This apparent discrepancy has motivated a re-examination of the microscopic nature of the dark matter in order to explain the observed halo profiles, including the suggestion that CDM has a non-gravitational self-interaction. We study the formation and evolution of self-interacting dark matter (SIDM) halos. We find analytical, fully cosmological similarity solutions for their dynamics, which take proper account of the collisional interaction of SIDM particles, based on a fluid approximation derived from the Boltzmann equation. The SIDM particles scatter each other elastically, which results in an effective thermal conductivity that heats the halo core and flattens its density profile. These similarity solutions are relevant to galactic and cluster halo formation in the CDM model. We assume that the local density maximum which serves as the progenitor of the halo has an initial mass profile ${\delta}M / M {\propto} M^{-{\epsilon}$, as in the familiar secondary infall model. If $\epsilon$ = 1/6, SIDM halos will evolve self-similarly, with a cold, supersonic infall which is terminated by a strong accretion shock. Different solutions arise for different values of the dimensionless collisionality parameter, $Q {\equiv}{\sigma}p_br_s$, where $\sigma$ is the SIDM particle scattering cross section per unit mass, $p_b$ is the cosmic mean density, and $r_s$ is the shock radius. For all these solutions, a flat-density, isothermal core is present which grows in size as a fixed fraction of $r_s$. We find two different regimes for these solutions: 1) for $Q < Q_{th}({\simeq} 7.35{\times} 10^{-4}$), the core density decreases and core size increases as Q increases; 2) for $Q > Q_{th}$, the core density increases and core size decreases as Q increases. Our similarity solutions are in good agreement with previous results of N-body simulation of SIDM halos, which correspond to the low-Q regime, for which SIDM halo profiles match the observed galactic rotation curves if $Q {\~} [8.4 {\times}10^{-4} - 4.9 {\times} 10^{-2}]Q_{th}$, or ${\sigma}{\~} [0.56 - 5.6] cm^2g{-1}$. These similarity solutions also show that, as $Q {\to}{\infty}$, the central density acquires a singular profile, in agreement with some earlier simulation results which approximated the effects of SIDM collisionality by considering an ordinary fluid without conductivity, i.e. the limit of mean free path ${\lambda}_{mfp}{\to} 0$. The intermediate regime where $Q {\~} [18.6 - 231]Q_{th}$ or ${\sigma}{\~} [1.2{\times}10^4 - 2.7{\times}10^4] cm^2g{-1}$, for which we find flat-density cores comparable to those of the low-Q solutions preferred to make SIDM halos match halo observations, has not previously been identified. Further study of this regime is warranted.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.7 no.2
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• pp.184-195
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• 1995

A theoretical one-dimensional model for the charging process in stratified thermal storage tanks is established presuming that the fluid ensuing from the tank inlet creates a perfectly mixed, layer above the thermocline. Both the generic and asymptotic closed-form solutions are obtained via the Laplace transformation. The asymptotic solution describes the nature of the charging pertaining to the case of no thermal diffusion, whereas the generic solution is of practical importance to understand the role of operating parameters on the stratification. The present model is validated through comparison with available experimental data, where they agree well with each other within a reasonable limit. An interpretation of the exact solution entails two important features associated with the charging process. The first is that an in-crease in the mixing depth $h_m$ causes a relatively slow temperature rise in the perfectly mixed region, but on the other hand it results in a faster decay of the overall temperature gradient across the thermocline. Next is the predominance of the mixing depth in the presence of the prefectly mixed region. In such a case the effect of the Peclet number is marginal and there-fore the thermal characteristics are solely dependent on the mixing depth paticularly for large $h_m$. The Peclet number affects significantly only for the case without mixing. Variation of the storage efficiency in response to the change in the mass flow rate agrees favorably with the published experimental results, which confirms the utility of the present study.

• Journal of the Korean Solar Energy Society
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• v.21 no.4
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• pp.37-46
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• 2001

This study describes the experimental study that focuses on the effects that distributor shapes and flow rate variations have an influence on the stratification in a rectangular thermal storage tank. Experiments were carried out under the conditions that the flow rates of working fluid are 20, 10 and $5\ell$/min. The storage tank is initially filled with chilled water of $1^{\circ}C$, and is extracted through the bottom at the same rate as the return warm water from load is entered through the distributor at the top of the tank. The thermo-cline forms at the top of the storage tank as the warm water enters the tank from the load through the distributor and the thermo-cline thickness increases with time. Emphasis is given to the effects of mixing at the inlet that increases the thermo-cline decay Flow rate variation and inlet distributor shapes are the important parameters in deciding the performance of a storage system. Stratification degree increases with decreasing in inlet flow rate under $10\ell$/min. Experiments shows that better thermal stratification can be obtain using the distributor to limit momentum mixing at the inlets and outlets. Also, 12% of improvement in the thermal energy usage has been achieved using the modified distributor discharging same flow rate in each lateral ports.

• 한국신재생에너지학회:학술대회논문집
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• 2009.06a
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• pp.353-356
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• 2009

A pivotal mechanical balance of plant for 75kW class molten carbonate fuel cells comprise of a catalytic burner and an ejector which has been designed and tested in KEPRI(Korea Electric Power Research Institute). The catalytic burner, which oxidizes residual fuel in the anode tail gas, was operated at several conditions. Some problems arose due to local overheating or auto-ignition, which could limit the catalyst life. The catalytic burner was designed by considering both gas mixing and gas velocity. Test results showed that the temperature distribution is very uniform. In addition, an ejector is a fluid machinery to be utilized for mixing fluids, maintaining vacuum, and transporting them. The ejector is placed at mixing point between the anode off gas and the cathode off gas or the fresh air Several ejectors were designed and tested to form a suction on the fuel tail gas and balance the differential pressures between anode and cathode over a range of operating conditions. The tests showed that the design of the nozzle and throat played an important role in balancing the anode tail and cathode inlet gas pressures. The 75kW MCFC system built in our ejector and catalytic burner was successfully operated from Novembe, 2008 to April, 2009. It recorded the voltage of 104V at the current of 754A and reached the maximum generating power of 78.5kW DC. The results for both stand-alone and integration into another balance of plant are discussed.

• Asian-Australasian Journal of Animal Sciences
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• v.18 no.10
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• pp.1498-1504
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• 2005

Competitive direct ELISA was developed to detect gentamicin residues. Mice immunized with gentamicin-keyhole limpet hemocyanin (KLH) conjugate developed good antiserum titers, which gradually increased with booster injections, indicating immunization was successfully processed. Monoclonal antibody against gentamicin was prepared using hybridoma cells cloned by limit dilution of fused cells. IgG was purified from ascites fluid of hybridoma cell-injected mice through ammonium sulfate precipitation and Sephadex G-25 gel filtration. After the gel filtration, fractions of high antibody titer were further purified through affinity chromatography on protein A/G column. Monoclonal antibody against gentamicin was confirmed as IgG1, which has kappa light chain. Cross-reactivities ($CR_{50}$) of gentamicin monoclonal antibody to other aminoglycosides (kanamycin, neomycin, and streptomycin) were less than 0.005%, indicating the monoclonal antibody was highly specific for gentamicin. Standard curve constructed through competitive direct ELISA showed measurement range (from 80 to 20% of B/$B_0$ ratio) of gentamicin was between 1 and 40 ng/ml, and 50% of B/$B_0$ ratio was about 4 ng/ml. The gentamicin concentration rapidly increased to 1,300 ng/ml after the intramuscular administration up to 2 h, then sharply decreased to less than 300 ng/ml after 4 h of withdrawal, during which the elimination half-life ($t_{1/2}$) of gentamicin in the rabbit plasma was estimated to be 1.8 h. Competitive direct ELISA method developed in this study using the prepared monoclonal antibody is highly sensitive for gentamicin, and could be useful for detecting gentamicin residues in plasma of live animals.