• 로봇학회논문지
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• 제18권3호
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• pp.251-259
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• 2023

In the path traveling of differential-drive robots, the steering controller plays an important role in determining the path-following performance. When a robot with a pure-pursuit algorithm is used to continuously drive a right-angled driving path in an unstructured environment without turning in place, the robot cannot accurately follow the right-angled path and stops driving due to the ground and motor load caused by turning. In the case of pure-pursuit, only the current robot position and the steering angle to the current target path point are generated, and the steering component does not reflect the speed plan, which requires improvement for precise path following. In this study, we propose a driving algorithm for differentially driven robots that enables precise path following by planning the driving speed using the radius of curvature and fusing the planned speed with the steering angle of the existing pure-pursuit controller, similar to the Model Predict Control control that reflects speed planning. When speed planning is applied, the robot slows down before entering a right-angle path and returns to the input speed when leaving the right-angle path. The pure-pursuit controller then fuses the steering angle calculated at each path point with the accelerated and decelerated velocity to achieve more precise following of the orthogonal path.

• 한국수산과학회지
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• 제56권4호
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• pp.473-483
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• 2023

This study was conducted to better understand the impact of marine fish farming by estimating mass balances of carbon and nitrogen. According to the results, 94.55% of carbon and 95.66% of nitrogen inputs were from the feed supplied in the farm. Of the total carbon emissions in the farm, 47.28% was due to fish respiration, which was subsequently released into seawater. Advection and diffusion in the farm contributed to 30.29% of the carbon released. In the case of nitrogen, 50.70% of the nitrogen released into the seawater was produced by fish excreta, and 31.37% was advected and diffused into the system. The sedimentary environment received 3.82% and 3.10% of the carbon and nitrogen released from the farm, respectively. The fish feed used for healthy growth contained 11.64% carbon and 9.17% nitrogen. Since the feed type was floating pellets, the load released into the sedimentary environment was relatively lower than that released into the marine environment. These findings suggest that the identification of an optimal fish feed that respects fish physiology and preserves a healthy ecology is critical for the future of aquaculture. Furthermore, ecosystem-based aquaculture systems that decrease environmental burden, while endeavoring to improve environmental health, are required.

• Nuclear Engineering and Technology
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• 제55권8호
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• pp.3017-3029
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• 2023

In the late in-vessel phase of a nuclear reactor severe accident, the internal heat transfer and crust evolution during the debris bed melting process have important effects on the thermal load distribution along the vessel wall, and further affect the reactor pressure vessel (RPV) failure mode and the state of melt during leakage. This study coupled the phase change model and large eddy simulation to investigate the variations of the temperature, melt liquid fraction, crust and heat flux distributions during the debris bed melting process in the hypothetical severe accident of HPR1000. The results indicated that the heat flow towards the vessel wall and upper surface were similar at the beginning stage of debris melting, but the upward heat flow increased significantly as the development of the molten pool. The maximum heat flux towards the vessel wall reached 0.4 MW/m². The thickness of lower crust decreased as the debris melting. It was much thicker at the bottom region with the azimuthal angle below 20° and decreased rapidly at the azimuthal angle around 20-50°. The maximum and minimum thicknesses were 2 and 90 mm, respectively. By contrast, the distribution of upper crust was uniform and reached stable state much earlier than the lower crust, with the thickness of about 10 mm. Moreover, the sensitivity analysis of initial condition indicated that as the decrease of time interval from reactor scram to debris bed dried-out, the maximum debris temperature and melt fraction became larger, the lower crust thickness became thinner, but the upper crust had no significant change. The sensitivity analysis of in-vessel retention (IVR) strategies indicated that the passive and active external reactor vessel cooling (ERVC) had little effect on the internal heat transfer and crust evolution. In the case not considering the internal reactor vessel cooling (IRVC), the upper crust was not obvious.

• 한국공간구조학회논문집
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• 제23권2호
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• pp.37-44
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• 2023

In the case of a school building, even though it is a regular structure in terms of plan shape, if the masonry infill wall acts as a lateral load resisting element, it can be determined as a torsionally irregular building. As a result, the strength and ductility of the structure are reduced, which may cause additional earthquake damage to the structure. Therefore, in this study, a structure similar to a school building with torsional irregularity was selected as an example structure and the damping performance of the PC-BRB was analyzed by adjusting the eccentricity according to the amount of masonry infilled wall. As a result of nonlinear dynamic analysis after seismic reinforcement, the torsional irregularity of each floor was reduced compared to before reinforcement, and the beams and column members of the collapse level satisfied the performance level due to the reduction of shear force and the reinforcement of stiffness. The energy dissipation of PC-BRB was similar in the REC-10 ~ REC-20 analytical models with an eccentricity of 20% or less. REC-25 with an eccentricity of 25% was the largest, and it is judged that it is effective to combine and apply PC-BRB when it has an eccentricity of 25% or more to control the torsional behavior.

• 한국생활환경학회지
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• 제21권6호
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• pp.959-964
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• 2014

Energy performance of building envelope components, including external walls, floors, roofs, windows and doors, is crutial for determining how much energy is required for heating and cooling in a building. Among various building technologies, a green roof system can be a good option for reducing heat gain and loss in new buildings as well as existing buildings for green remodeling. This paper evaluates the performance of green roof systems according to soil depth and Leaf Area Index (LAI) for existing buildings. It also attempts to quantify the energy saving effects on new and existing buildings with different insulation levels. Thermal performance of green roofs is mainly dependent on soil thickness and LAI. Installation of green roofs in deteriorated existing buildings can lead to improvements in roof insulation, due to the soil layer. An increase in soil depth leads to a decrease in heating load, regardless of conditions of vegetation on the green roof. Larger LAI values may reduce cooling loads in the cooling season. Installation of green roof in deteriorated existing buildings showed bigger energy saving effect in comparison to a case in new buildings. A simulation study showed that the installation of green roof systems in deteriorated existing buildings with low insulation levels, due to low thermal performance requirements when constructed, could improve the energy performance of the buildings similar or better to the peformance on new buildings with the most updated insulation standard. Thus, when remodeling a deteriorated building, green roofs could be a good option to meet the most recent energy requirements.

• 한국정밀공학회지
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• 제12권9호
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• pp.74-85
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• 1995

The purpose of this paper is to evaluate the grade of WA vitrified and resinoid bond grinding wheels by the sue of AE measuring system. When the manufactured 48 kinds of specimens were scratched by the method of OKOSHI'S grade test, the relationship between the amount of bit scratch depth of grinding wheel specimens and the character- istics of AE signals, and the relationship of AE counts and grade were considered as fololws; (1) The higher the grades are AE cumlulative event counts N and AE event count rate n, the smaller the values tend to be. But A $E_{rms}$is in reverse. (2) In the case of same grade, the smaller the grain size is, the higher the value of AE cumulative event counts N and A $E_{rms}$is results of comparison and observation. The grinding wheel with lower elasticity and with higher percentage of pore detected higher value of AE cumula- tive event counts N than with higher elasticity and lower percentage of pore. But A $E_{rms}$ is in reverse. (3) AE cumulative event counts N and bit scratch depth h have normally one to one correspondence. (4) It can be expected that quantitative evaluations of grade by using AE have been carried out by the wave observation of AE signal in line with the relationship between load speed of bit and AE cumulative event counts N & AE event count rate n.' AE event count rate n.ate n.

• 문화기술의 융합
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• 제9권1호
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• pp.711-716
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• 2023

건축물 신축공사 및 리모델링 공사의 고급화 전략으로 많은 양의 석재가 필요하며 콘크리트의 생산에 필요한 강모래 강자갈의 부족으로 많은 석산에서 골재를 채취하여야 하는 실정이다. 본 연구는 건축용 석재개발의 사례를 살펴보고 지역의 주민 의식조사를 실시하고 분석하여 주민들의 석산개발에 대한 생각을 알아보고 석산개발에 따른 황폐화의 대안으로 그 지역을 개발하여 효율적인 자원으로 재활용할 수 있는 방안을 제시하는데 기초 연구를 진행하였다. 그 결과. 지역주민들은 채석장 사용에 대하여 많은 반감을 가지고 있으므로, 거주민의 지역과는 거리가 있는 지역을 채석장으로 활용할 필요가 있으며, 기존에 황폐화된 지역은 포천 아트벨리와 같이 그 지역을 잘 연구하여 그 지역 특성에 맞는 방향으로 복원 및 개발을 추진하는 것이 바람직하다는 결론을 얻었다.

• 플랜트 저널
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• 제18권4호
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• pp.66-72
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• 2023

신재생에너지 비중 증가에 따른 전력계통 불안정성과 탈원전, 노후 석탄화력 폐쇄로 인한 안정적인 발전자원 감소에 대한 대응 방안으로 터빈제어밸브 4개중 2~3개를 교축하여 발전기 출력 증·감발과 주파수를 추종하는 복합 변압 운전 방식을 터빈제어밸브를 전개하여 교축손실을 줄임으로서 발전 효율을 극대화하는 순 변압운전 방식으로 대체하고, 계통 주파수 변동에 신속하게 대응하기 위해 ESS를 연계하여 주파수 추종 및 자동발전운전을 하는 제어로직을 500MW 석탄화력인 태안 5호기를 대상으로 개발하였다. ESS 운전(신속한 응답, 용량 한계)과 발전소 터빈제어밸브 교축 운전(느린 응답, 지속적인 운전)의 장·단점을 보완하는 협조제어 알고리즘이 실제 발전소에 적용시 발전 효율 향상은 물론 전력 수요에 신속하고 유연하여 대응하여 계통 안정성에 기여할 것으로 확신한다.

• 한국산업융합학회 논문집
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• 제26권2_2호
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• pp.333-340
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• 2023

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.

• 한국지반공학회논문집
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• 제22권10호
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• pp.47-54
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• 2006

H pile은 원형말뚝에 비해 항타에 의해 쉽게 관입이 되며, 높은 주면마찰력과 폐색효과를 나타내는 특징을 가지고 있다. 본 연구에서는 실내시험을 통한 화강풍화토 지반에 관입된 H형강 무리말뚝의 주면마찰력 분포특성을 관찰하는데 목적이 있다. 말뚝의 배열$(1{\times}2,\;1{\times}3,\;2{\times}2,\;2{\times}3,\;3{\times}3)$, 말뚝설치간격(2D, 4D, 6D)과 지반밀도(40%, 80%)에 따른 재하시험을 실시하였다. 실험결과 전체 재하중에 대한 주면마찰력의 분포비율은 $3{\times}3$ 무리말뚝의 경우 말뚝간격비가 증가할수록 조밀한 지반의 경우 $48{\sim}39%$, 느슨한 지반의 경우에는 $32{\sim}27%$로 각각 감소하였다 그리고 말뚝침하량에 따른 주면마찰력 분포비율은 느슨한 지반조건에서 $2{\times}2$무리말뚝의 경우 $58{\sim}33.2%$, $3{\times}3$무리말뚝의 경우 $65{\sim}38%$로 각각 감소되었다.