• Journal of the Korean Society for Precision Engineering
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• v.18 no.10
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• pp.116-126
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• 2001

This paper suggests a numerical method to find optimal geometric path and minimum-time motion for a spatial 6-link manipulator arm (PUMA 560 type). To find a minimum-time motion, the optimal geometric paths minimizing 2 different dynamic performance indices are searched first, and the minimum-time motions are searched on these optimal paths. In the algorithm to find optimal geometric paths, the objective functions (performance indices) are selected to minimize joint velocities, actuator forces or the combinations of them as well as to avoid one static obstacle. In the minimum-time algorithm the traveling time is expressed by the power series including 21 terms. The coefficients of the series are obtained using nonlinear programming to minimize the total traveling time subject to the constraints of velocity-dependent actuator forces.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.3
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• pp.269-273
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• 2015

The study investigated the effect of the distance between two collinear circumferential surface cracks on the primary stress corrosion crack (PWSCC) growth in alloy 600TT steam generator tubes using a finite element damage analysis based on the PWSCC initiation model and macroscopic phenomenological damage mechanics approach. The damage analysis method was verified by comparing the results to the previous study results. The verified method was applied to collinear circumferential surface PWSCCs. As a result, it was found that the collinear cracks showed earlier coalescence and penetration times than the a single crack, and the times increased with the distance. In addition, it is expected that penetration may occur before coalescence of two cracks if they are more than a specific distance apart.

• Journal of Biosystems Engineering
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• v.10 no.1
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• pp.13-23
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• 1985

Spraying method from the paddy-field levee is known to give insufficient penetration of the spray droplets to the rice stem of the densely grown plants, which is generally encountered at the last stage of rice growth. This study was intended to investigate the spraying system to solve this existing problem. As an approach, it was attempted to develop the boom-with-nozzle, between-the-row application system. Several types of nozzles and their different arrangements in the boom were tested in the field to measure the penetration-reaching distance and the uniformity of spray droplet distribution. The results of the study are summarized as follows: 1. Field experiments by the spraying method from the paddy-field levee showed to have practically no penetration of the spray droplets to the portion of the plant stem with the normal flow volume generally applied and thus need for improving present spraying method. 2. It was found that, considering both the uniformity of the spray droplet distribution and performance rate, the most efficient type of nozzle in the between-the-row boom-type spraying system was one that has core-insert hollow-cone with some clearance between the cone and tip. 3. When tested by applying the spraying method of between-the-row, the nozzle pressure did not affect the uniformity of spray droplet distribution. However, the nozzle pressure had a positive effect on the penetrating-reaching distance of the facing side of the rice stem and did not affect much on that of the opposite face of the stem. It was also found that the maximum pressure to affect the penetration-reaching distance was about $10kg/cm^2$. 4. The uniformity of the spray droplet distribution in the between-the-row system was greatly affected by the height and orientation of the nozzles in the boom. Based on experimental work for the different type of the boom-with-nozzle arrangements, it is recommended that the position of nozzle is set at about 0.45 m above the ground and two nozzles in the boom are oriented to be faced with each other with some angle such that the droplet stream from the nozzle would not directly face with each other.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1133-1137
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• 1995

This paper presents a numerical method of the global search for an optimal geometric path for a manipulator arm amid obstacles. Finite term quintic B-splines are used to describe an arbitrary point-to-point manipulator motion with fixed moving time. The coefficients of the splines span a linear vector space, a point in which uniquely represents the manipulator motion. All feasible geometric paths are searched by adjusting the seed points of the obstacle models in the penetration growth distances. In the numerical implementation using nonlinear programming, the globally optimal geometric path is obtained for a spatial 3-link(3-revolute joints) manipulator amid several hexahedral obstacles without simplifying any dynamic or geometric models.

• Journal of the Korean Crystal Growth and Crystal Technology
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• v.13 no.3
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• pp.99-104
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• 2003

Alumina/zirconia-glass composites prepared by melt-infiltration were investigated to evaluate the influence of zirconia addition on mechanical and optical properties of the composites and glass penetration kinetics. The infiltration distance was parabolic with respect to time as described by the Washburn equation and the penetration rate constant, K, decreased due to the reduction In pore size as the amount of zirconia rose. The zirconia addition increased lightness ($L^*$) but reduced K, transmittance and color sharpness ($C^*$) It can be concluded that the zirconia addition was not effective to the mechanical properties of the composites due to the increase in porosity even though the toughness of the composites increased when zirconia was added up to 15 wt%.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.12
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• pp.204-213
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• 1999

This paper suggests a numerical method of finding optimal geometric path and minimum-time motion for a manipulator arm. To find the minimum-time motion, the optimal geometric path is searched first, and the minimum-time motion is searched on this optimal path. In the algorithm finding optimal geometric path, the objective function is minimizing the combination of joint velocities, joint-jerks, and actuator forces as well as avoiding several static obstacles, where global search is performed by adjusting the seed points of the obstacle models. In the minimum-time algorithm, the traveling time is expressed by the linear combinations of finite-term quintic B-splines and the coefficients of the splines are obtained by nonlinear programming to minimize the total traveling time subject to the constraints of the velocity-dependent actuator forces. These two search algorithms are basically similar and their convergences are quite stable.

• Journal of Microbiology and Biotechnology
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• v.14 no.3
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• pp.442-449
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• 2004

Improving the light utilization efficiency of photosynthetic cells in photobioreactors (PBRs) is a major topic in algal biotechnology. Accordingly, in the current study we investigated the effect and suitability of photosynthetic pigment reduction for improving light utilization efficiency. The light-harvesting complex II (LH-II) genes of Rhodobacter sphaeroides were removed to construct a mutant strain with less pigment content. The mutant strain exhibited a slower growth rate than the wild-type under a low light intensity, while the mutant grew faster under a high light intensity. In addition, the specific absorption coefficient was lower in the mutant due to its reduced pigment content, thus it seemed that light penetrated deeper into its culture broth. However, the distance (light penetration depth) from the surface of the PBR to the compensation point did not increase, due to an increase in the compensation irradiance of the mutant strain. Experimental data showed that a reduced photosynthetic pigment content, which lessened the photoinhibition under high-intensity light, helped the volumetric productivity of photosynthetic microorganisms.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.78-86
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• 1998

This paper presents a numerical method of the minimum-time trajectory planning for a robot manipulator amid obstacles. Each joint displacement is represented by the linear combination of the finite-term quintic B-splines which are the known functions of the path parameter. The time is represented by the linear function of the same path parameter. Since the geometric path is not fixed and the time is linear to the path parameter, the coefficients of the splines and the time-scale factor span a finite-dimensional vector space, a point in which uniquely represents the manipulator motion. The displacement, the velocity and the acceleration conditions at the starting and the goal positions are transformed into the linear equality constraints on the coefficients of the splines, which reduce the dimension of the vector space. The optimization is performed in the reduced vector space using nonlinear programming. The total moving time is the main performance index which should be minimized. The constraints on the actuator forces and that of the obstacle-avoidance, together with sufficiently large weighting coefficients, are included in the augmented performance index. In the numerical implementation, the minimum-time motion is obtained for a planar 3-1ink manipulator amid several rectangular obstacles without simplifying any dynamic or geometric models.

• Journal of the Korean Crystal Growth and Crystal Technology
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• v.12 no.1
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• pp.31-35
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• 2002

Abstract Spinel powder having a particle size of 0.9$\mu$m was calcined for 30 min at $1300^{\circ}C$, followed by ball milling for 4h, to obtain the spinel particle size of 3.29$\mu$m. The die-pressed spinel was presintered at $1100^{\circ}C$ for 2h and then lanthanum aluminosilicate glass was infiltrated at $1080^{\circ}C$ for 0~2 h to investigate the penetration kinetics in glass-spinel composite. The infiltration distance is parabolic in time due to capillarity. The strength and the fracture toughness of glassspinel composites were 317 MPa and 3.56 MPa $m^{1/2}$ respectively and dual microstructure of column (needle) and polygonal shapes as a result of recrystallization was observed due to the high calcination temperature.

• Proceedings of the Korean Society of Crop Science Conference
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• 2017.06a
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• pp.338-338
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• 2017

One of the problems in increasing rice production is getting lines or varieties that have high adaptability so that able to produce maximum production in a variety of environmental conditions. One strategy that can be done to get adaptive varieties is through the improvement of native varieties. This research was conducted in rain fed paddy field, Aceh province, Indonesia from June to September 2014. The texture of the soil was clay-loam with the soil pH ranged from 6.5-6.7. Five potential progenies of rice from crossing between native Indonesian rice with introduced rice varieties consist of C3, C4, S3, S5, S6 were used in this study. Besides that, one national rice variety Ciherang also used as a comparison. The plants were growth in the plot with the size of $2m{\times}1.4m$ with plant distance was $20cm{\times}20cm$. The fertilizers used in this study were Urea, NPK, and KCl. Randomized block design with 6 rice progenies/variety and 3 replications were used in this study. There were 18 experimental units and each experimental unit had 10 samples for the sources of data. The variables that were observed in this study including plant height at harvesting time, number of productive tiller, the percentage of empty grains and filled grain per panicle, weight of filled grains per hill, weight of filled grain per plot and yield potential per hectare. Analyzed were also conducted for the depth of root penetration, dry-root weight, dry-shoot weight, shoot-root weight ratio and its correlation with the weight of filled grain per hill. The research results show that there was significant difference on plant height at harvesting time, number of productive tillers, the percentage of empty grains and filled grain per panicle, weight of filled grains per hill, weight of filled grain per plot and yield potential per ha (p>0.01) among the treatments. In addition, depth root penetration, dry-root weight, dry-shoot weight, shoot-root weight ratio also had significant difference (p>0.01) among the treatment. The highest plant at harvesting time was found in S6, reaching 129.8 cm and the shortest plants was found in C3 reaching 107.5 cm. The largest number of productive tillers and the highest percentage of filled grains per panicle were found in Ciherang reaching 10.5 tillers and 80.7% respectively. Ciherang also had the heaviest weight of filled grains per hill and per plot reaching 21.1 g and 2.18 kg respectively. Whereas, S6 had the lowest number of tillers and the lowest percentage of filled grain per panicle.. The highest yield potential per ha was found in Ciherang reaching 7.79 tons. Among the progenies, S5 had the highest yield potential reaching 5 tons/Ha. The result also showed significant relationship between shoot-root weight ratio with weight of filled grains per hill. The highest value of shoot-root weight ratio (1.57) in Ciherang is thought had closed relationship with its yield potential.