• Wind and Structures
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• v.20 no.3
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• pp.405-422
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• 2015

In previous model- and full-scale studies, high-amplitude vertical vibrations of mast-arm traffic signal structures have been shown to be due to vortex shedding, a phenomenon in which alternatingly shed, low-pressure vortices induce oscillating forces onto the mast-arm causing a cross-wind response. When the frequency of vortices being shed from the mast-arm corresponds to the natural frequency of the structure, a resonant condition is created causing long-lasting, high-amplitude vibrations which may lead to the fatigue failure of these structures. Turbulence in the approach flow is known to affect the cohesiveness of vortex shedding. Results from this full-scale investigation indicate that the surrounding terrain conditions, which affect the turbulence intensity of the wind, greatly influence the likelihood of occurrence of long-lasting, high-amplitude vibrations and also impact whether reduced service life due to fatigue is likely to be of concern.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.9
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• pp.24-31
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• 2006

This study developed a human robot mast arm, which has a structure similar to the human arm, with the objective of taking over human works. The robot arm was structured to reproduce human actions using three axes on each of the shoulder and the wrist based on mechanics, and the actuator of each axis adopted an ordinary DC motor. The servo system of the actuator is a one body type employing an amp for electric power, and it was designed to be small and lightweight for easy installation. We examined the posture control characteristics of the developed robot mast arm in order to test its interlocking, continuous motions and reliability.

• Wind and Structures
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• v.17 no.1
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• pp.21-41
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• 2013

Wind-induced vibrations of mast arms of cantilever traffic signal structures can lead to fatigue failure. Two such structures were instrumented each with a sonic anemometer and a camera that records the motions of the tip of the arm. It was observed throughout this experiment that large amplitude vertical vibrations of mast arms with signals with backplates occur for the most part at low wind speed ranges, between 2 to 7 m/s, and as the wind speed increases the amplitude of the vertical vibrations decreases. The results of these experiments contradict the generally accepted belief that vortex shedding does not cause significant vibrations of mast arms that could lead to fatigue failure, which have been attributed to galloping in the past. Two damping devices were tested with mixed results.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.803-807
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• 2003

Tele-operation and remote monitoring techniques are essential and important technologies for performing the inspection and repair tasks effectively in nuclear power plants. This paper presents the application of a mobile robot for the remote monitoring and inspection of the Calandria faces, where human access is limited because of the high-level radioactive environments during full power operation. The mobile robot was designed with reconfigurable crawler type of wheels attached on the front and rear side in order to pass through the ditch. The extendable mast, mounted on the mobile robot, can be extended up to 8 m vertically. This robot was also equipped a visible CCD/thermal infrared inspection head module and a stereo camera module for the enhancement of visual inspection.

• Journal of Magnetics
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• v.8 no.2
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• pp.79-84
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• 2003

Finite element analysis showed that strong magnetic fields were distributed around the arc furnace where the strongest magnetic fields were generated around the three phase cables. The second and third strongest fields near the arc furnace were found to be generated around the electrodes and the mast-arms, respectively. The generated field intensities were greatly influenced by the mast arm structure of the arc furnace as well as the phase differences and operation currents of the supplied power, Magnetic field decay patterns around the arc furnace could be smoothly fitted by this equation of exponential formula, H=H$0_$+Ae$^{\frac{r}{t}}$. These results revealed that magnetic field intensities around the arc furnace could be estimated at any 3-dimensional position using finite element method (FEM).

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.10
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• pp.151-157
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• 2006

As people's living standard is being improved, human works are being replaced by robots. However, because most robots are used in process industry, fixed on the ground, we need to develop human robots that have wide applications. Currently many researches are being conducted on human robots with the object of replacing human works, but because of lack of relevant hardware, such robots are being applied limitedly to very simple tasks. To overcome the limitation, the present study developed a kinematical mechanism and a controller. Based on human kinematics, the shoulders and the arms were composed of master arms with 3 degree of freedom, and we reproduced motions similar to human ones through the characteristics of joint variables and experiment on the trajectory of the end effector.

• Korean Journal of Materials Research
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• v.11 no.12
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• pp.1091-1095
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• 2001

Finite element analysis showed that strong magnetic fields were distributed around the arc furnace where the strongest magnetic field was generated around the three phase cables, and followed by the electrodes and the mast arm in decreasing order. Magnetic field decay patterns around the arc furnace could be fitted by introducing exponential formula,$Y=Y_0+Ae^{\frac-{x}{t}}$. These results showed that magnetic field intensities around the arc furnace could be estimated at any 3-dimensional positions using the finite element method (FEM).

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2007.05a
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• pp.295-299
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• 2007

Biped robot requires that an energy source and a control part should be installed on the body to realize active system. So, we choose the DC motor having high torque in compact size in this study. In the DC motor serve system, we choose power amplifier with analog configuration, developed the module combined the controller and the driver. We applied this module to robot actuator and studied the response characteristics in an action and a return. Main controller with serve system, loading PIC micro controller, can be load on the robot with light weight.

• Nuclear Engineering and Technology
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• v.50 no.4
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• pp.613-618
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• 2018

We are developing a shared remote control mobile robot for aerial work in nuclear power plants (NPPs); a robot consists of a mobile platform, a telescopic mast, and a dual-arm slave with a working tool. It is used at a high location operating the manual operation mechanism of a fuel changer of a heavy water NPP. The robot system can cut/weld a pipe remotely in the case of an emergency or during the dismantling of the NPP. Owing to the challenging control mission considering limited human operator cognitive capability, some remote tasks require a shared control scheme, which demands systematic software design and integration. Therefore, we designed the architecture of the software systematically.

• Proceedings of the IEEK Conference
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• 2002.06e
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• pp.193-196
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• 2002

In this paper, we presents the remote inspection activity with a mobile robot at the calandria face areas of the PHWR (pressurized heavy water reactor) nuclear power plants during full power plant operation.. The tele-operated mobile robot has been developed for this task. A 4 wheeled mechanism with the dual reconfigurable crawler arm has been adopted for the ease access to the high radiation area of calandria face. A specially designed extendable long reach mast attached on the mobile platform and the thermal image monitoring system enable human eyes to look into the calandria face. Application of robot will keep human workers from high radiation exposure and enhance the reliability of nuclear power plants.