• 대한환경공학회지
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• 제35권10호
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• pp.710-716
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• 2013

대기 오염, 기후 변화 등 환경 문제와 자원 고갈로 인해 화석 연료를 대체할 에너지에 많은 관심이 집중되고 있다. 폐바이오매스의 에너지화 분야에서도 다양한 연구가 이루어지고 있다. 폐목질계 바이오매스의 급속열분해는 바이오매스 에너지화 기술 중 하나로 액상 연료를 생산할 수 있다. 바이오매스의 급속열분해에는 주로 기포유동층 반응기가 쓰이고 있으며, 기포유동층 급속열분해 반응기에서는 반응물에 열을 효과적으로 전달하기 위하여 고체입자의 유동매체를 이용한다. 이러한 기포유동층 반응기에서 유동층 내 고체 입자의 움직임과 혼합은 기포의 거동에 영향을 받는다. 이로 인해 열전달 현상이 달라지고 결과적으로는 폐목질계 바이오매스의 급속열분해 반응 속도가 변한다. 따라서 본 연구에서는 기포유동층 반응기 내부의 수력학적 특성과 폐목질계 바이오매스 급속열분해 반응에 관한 연구를 수행하였다. 반응기내의 기체-고체 유동에 대해 Eulerian-Granular 방법을 사용하여 반응기를 시뮬레이션 하였으며, two-stage semi-global reaction model로 폐바이오매스의 급속 열분해반응을 모사하였다. 결과를 살펴보면, 유동층 내에서 기포들이 생성되고 상승하면서 크기가 증가한다. 이러한 기포의 거동에 의해 기포 주위의 고체 입자는 여러 방향으로 움직이게 된다. 고체 입자상의 활발한 움직임으로 바이오매스 입자가 유동층에 골고루 퍼져 일차 반응이 유동층 전반에서 일어난다. 그리고 일차 반응 중 타르가 생성되는 반응 속도가 가장 높게 나타난다. 그 결과 기체상 생성물 중 타르가 약 66 wt.%로 가장 많이 발생한다. 반면 이차 반응은 유동층에서보다 freeboard에서 더 많이 일어난다. 따라서 기포의 거동이나 입자의 움직임에 의한 영향은 일차 반응보다 상대적으로 적을 것으로 판단된다.

• 한국해양공학회지
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• 제17권1호
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• pp.1-7
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• 2003

Autonomous underwater vehicles (AUVs) are unmanned, underwater vessels that are used to investigate sea environments in the study of oceanography. Docking systems are required to increase the capability of the AUVs, to recharge the batteries, and to transmit data in real time for specific underwater works, such as repented jobs at sea bed. This paper presents a visual :em control system used to dock an AUV into an underwater station. A camera mounted at the now center of the AUV is used to guide the AUV into dock. To create the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and deriver a state equation for the visual servo AUV. Further, this paper proposes a discrete-time MIMO controller, minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servo AUV simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• 한국해양공학회지
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• 제7권1호
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• pp.13-24
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• 1993

해양오염은 환경파괴의 주요 인자이다. 해양바닥에 가라않은 오염물질을 근본적으로 제거하는 문제와는 별도로, 파동(wave)에 의해 그것이 자동적으로확산될 수가 있다. 파문(ripple)으로 덮혀진 해저(sea bottom)에서 표면의 중력파에 의한 물의 수평방향 요동운동은 와류(vrotices)를 발생시칸다. 이런한 유동장은 해저 침전물을 부유시켜 멀리까지 화가신시키는 작용을 한다.파문주위의 유동장을 살펴보면 모서리(crest)에서 발생된 와류로 인해 정상유동성분이 존재하며 이런한 정상유동은 파문의 주기적 형상으로인해 다분히 순환적이다. 이ㅔ 파동에 의한 요동운동이 가세하면 Taylor 와류와 같은 효과를 보여 줄 것이다. 해저부근에서의 이러한 확산효과를 보기 위하여, 해양유동을 단순화하여 최근 널리 이용되고 있는 혼돈이론을 가미시켰다. 아주 단순한 유동이라도 복잡한 입자의 궤적을 나타내며 입자의 확산과 연관됨을 수치해석을 이용하여 보여준다.

• 전자공학회논문지SC
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• 제49권4호
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• pp.55-60
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• 2012

해상환경에서 감시장비의 운용시 원치 않는 외란 운동으로 장비의 안정화 성능이 저하된다. 본 논문에서는 선상 2축 감시장비의 정밀한 목표물 지향를 위해 자세정보의 좌표변환을 통해 움직임을 보상해주는 기구적 안정화를 적용하였다. 적용 결과, MEMS 센서의 떨어지는 정밀도와 기구적인 제약에 의해 오차를 더 줄일 없어 보완적인 기능으로 영상 안정화를 도입하였다. 또한 본 이중 안정화 방식의 실시간 실행을 위해 6축 운동 시뮬레이터를 포함한 테스트 베드를 구축하였으며, 하드웨어 포함 시뮬레이션 수행을 통해 본 방식의 유용성을 검증하였다.

• 한국멀티미디어학회논문지
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• 제24권3호
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• pp.355-372
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• 2021

Recently, high-performance HMDs (Head-Mounted Display) are becoming wireless due to the growth of virtual reality technology. Accordingly, environmental constraints on the hardware usage are reduced, enabling multiple users to experience virtual reality within a single space simultaneously. Existing multi-user virtual reality platforms use the user's location tracking and motion sensing technology based on vision sensors and active markers. However, there is a decrease in immersion due to the problem of overlapping markers or frequent matching errors due to the reflected light. Goal of this study is to develop a multi-user virtual reality moving platform in a single space that can resolve sensing errors and user immersion decrease. In order to achieve this goal hybrid sensing technology was developed, which is the convergence of vision sensor technology for position tracking, IMU (Inertial Measurement Unit) sensor motion capture technology and gesture recognition technology based on smart gloves. In addition, integrated safety operation system was developed which does not decrease the immersion but ensures the safety of the users and supports multimodal feedback. A 6 m×6 m×2.4 m test bed was configured to verify the effectiveness of the multi-user virtual reality moving platform for four users.

• International Journal of Naval Architecture and Ocean Engineering
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• 제13권1호
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• pp.650-658
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• 2021

Flexible risers are usually used as conveying systems to bring ocean resources from sea bed up to onshore. Under ocean environments, risers need to bear complex loads and it is crucial to comprehensively examine riser's configurations and to analyze structural dynamic performances under excitation of bottom vehicle motions, to guarantee structural safe operation and required service lives. In this study, considering a saddle-shaped riser, the influences of some important design parameters, including installation position of buoyancy modules, buoyancy ratio and motion of mining vehicle, on riser's configuration and response are carefully examined. Through our FEM simulations, the spatial distributions of structural tensions and curvatures along of riser length, under different configurations, are compared. Then, the impacts of mining vehicle motion on riser dynamic response are discussed, and structural tolerance performance is assessed. The results show that modules installation position and buoyancy ratio have significant impacts on riser configurations. And, an appropriate riser configuration is obtained through comprehensive analysis on the modules positions and buoyancy ratios. Under this proposed configuration, the structural tension and curvature could moderately change with buoyancy modules and bottom-end conditions, in other words, the proposed saddle-shaped riser has a good tolerance performance to various load excitations.

• 한국항행학회논문지
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• 제21권4호
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• pp.332-338
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• 2017

무인수상정에서 수중탐색임무를 수행하기 위해서는 자동으로 수중탐색장비 진수 및 회수를 할 수 있는 진회수시스템(LARS; launch and recovery system)이 필수적이다. 수중탐색 운용시나리오에 따른 LARS 요구사항 분석을 통하여 기본적인 구동 메커니즘 및 기구부 개념설계를 수행하였다. 또한 해상에서 무인수상정은 파도와 같은 환경적인 외란에 의해 동요하게 되므로, 이러한 해상상태에 의한 외란을 고려하여 안정적으로 수중탐색장비를 회수하기 위한 상세설계와 제작을 수행하였고, 설계된 LARS에 대하여 수조시험을 통해 진회수 성능을 검증하였다.

• 설비공학논문집
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• 제19권6호
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• pp.447-456
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• 2007

Suspended particles behavior when they go through a vertical riser with heat transfer is of significant concern to system designers and operators in pneumatic transport, various processes such as in chemical, pharmaceutical and food industries. When it comes with the energy system, that knowledge is critical to the reliable design practices of related equipment as heat exchangers, especially in the phase of system scale-up. Without haying a good understanding of the related physics, many scale-up practices based on their pilot plant experience suffer from unexpected behaviors and problems of unstable fluidization typically associated with excessive pressure drop, pressure fluctuation and even unsuccessful particle circulation. In the present study, we try to explain the observed phenomena with related physics, which may help understanding of our unanswered experiences and to provide the designers with more reliable resources for their work. We selected hot exhaust gas with solid particle that goes through a heat exchanger riser as our model to be considered. The effect of temperature change on the gas velocity, thermodynamic properties, and eventually on the particles motion behavior is reviewed along with some heat transfer analyses. The present study presents an optimal riser length at full scale under given conditions, and also defines the theoretical limiting length of the riser. The field data from the numerical analysis was validated against our experimental results.

• 한국해양공학회지
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• 제19권2호
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• pp.67-73
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• 2005

This paper describes depth, heading and speed control of an underwater vehicle that has four stern thrusters of which forces are coupled in the diving and, steering motion, as well as the speed of the vehicle. The optimal linear quadratic controller is designed based on a linearized- state space model, developed by combining the dynamic equations of speed, steering and diving motion. The designed controller gives provides an optimal thrust distribution, minimizing the given performance index to control speed, depth and heading simultaneously. To validate the performance of the controller, a simulation and tank-test are carried out with DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), developed by KORDI as a test-bed for testing new underwater technologies. Optimal gains of the controller are tuned, using a computer simulation environment with a nonlinear 6-DOF numerical DUSAUV model, developed by PMM (Planner Motion Mechanism) test. To verify the performance of the presented controller in experiment, a tank-test with DUSAUV is carried out in the ocean engineering basin in KORDI. The experimental results are also compared with the simulation results to investigate the accordance of the numerical and the real mode.

• 보건교육건강증진학회지
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• 제19권1호
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• pp.185-197
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• 2002

This study was conducted to analyze the factors affected morbidity for beauty artists of the limited range of motion about cerviacl, shoulder and wrist, from July 15 through August 30, 2000. Questionnaires were distributed to 373 beauty artists working in beauty shops of Taegu city. The factors included general characteristics, working conditions, life style and regular diagnosis of subject. The data collected were analyzed by SPSS program and the results of this study are summarized as follows; By the marital status, 224(86.5%) out of 259 unmarried beauty artists had the complaint of a neck(P〉0.05), and by the status of education, the complaint rate of a shoulder of beauty artists who graduated university(92.9%) is the highest(P〈0.01). In survey of complaint rates of symptom by the sleeping place, 324(86.7) out of 373 subjects had the pain in shoulder(P〈0.01), specially, beauty artists who are sleeping in bed complained the pain in shoulder more the others, in survey of complaint rates of symptom by sleeping pose, there was the significant different in neck(P〈0.01) and shoulder(P〈0.001). In survey of complaint rates of symptom by regular diagnosis, 61(85.9%) out of 71 beauty artists who took regular diagnosis and 263(87.4%) out of 302 beauty artists who didn't take regular diagnosis(P〈0.05). In conclusion, beauty artists who are on their feet for long time by official trait complaint the pain in neck and shoulder mainly. This result occurs from complex action of general characteristics and work condition and so on. In order to promote the health of beauty artists, there are needs for moderate exercise and regular diagnosis.