• 한국정밀공학회지
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• 제18권10호
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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.

• 대한기계학회논문집A
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• 제39권3호
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• pp.269-273
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• 2015

일차수응력부식균열 개시 모델과 거시적 현상학적인 손상역학 접근론에 기반한 유한요소 손상해석을 수행하여 Alloy 600TT 로 제작된 원전 증기발생기 전열관에 발생하는 일렬 원주방향 표면 일차수응력부식균열의 성장에 미치는 균열 간격의 영향을 고찰하였다. 기존 연구 결과와의 비교를 통해 손상해석 방법의 타당성을 검증하였다. 검증된 방법을 일렬 원주방향 표면 일차수응력부식균열에 적용하였다. 적용한 결과, 단일 균열에 비하여 일렬 균열의 경우 보다 빠른 합체시간과 관통시간을 보이며 균열 간격이 증가할수록 합체시간과 관통시간은 증가함을 확인하였다. 또한 일정 간격이상으로 두 균열이 떨어지면 합체 이전에 관통될 수 있음을 확인하였다.

• Journal of Biosystems Engineering
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• 제10권1호
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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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.

• 한국결정성장학회지
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• 제13권3호
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• pp.99-104
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• 2003

용융침투법으로 알루미나/지르코니아-유리 복합체를 제조하여 지르코니아 첨가가 복합체의 기계적 및 광학적 특성과 유리 침투 kinetic에 미치는 영향을 조사하였다. 유리 침투시간이 증가할수록 침투깊이는 Washburn식에 의한 포물선관계로 증가하였으며 침투 상수인 K는 기공 크기의 함수로 지르코니아 첨가량이 증가할수록 기공 크기의 감소로 감소하였다. 지르코니아 양이 증가함에 따라 명도($L^*$)는 증가하지만 유리 침투 상수(K), 투과율(transmittance), 채도($C^*$)가 감소하였다. 지르코니아가 15 wt% 첨가될 때까지 알루미나/지르코니아-유리 복합체의 인성값 증가를 보였지만 기공률의 증가로 인하여 기계적 특성 향상에는 크게 기여하지 않았다.

• 한국정밀공학회지
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• 제16권12호
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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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• 제14권3호
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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.

• 한국정밀공학회지
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• 제15권1호
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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.

• 한국결정성장학회지
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• 제12권1호
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• pp.31-35
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• 2002

상용 스피넬 분말(0.94$\mu$m)을 $1300^{\circ}C$ 2시간 열처리한 후 30분 동안 습식혼합하여 3.29$\mu$m의 최종분말을 제조하여 die-press법을 이용하여 $1100^{\circ}C$에서 2시간 1차 소결하여 다공성 전성형체를 제조하고 $1080^{\circ}C$에서 0~2시간가지 $La_2O_3-A1_2O_3-SiO_2$계 유리를 용응 침투시켜 유리 침투 깊이와 시간간의 kinetic을 조사하였다 유리 침투시간이 증가할수록 침투깊이는 모세관압에 의하여 parabolic하게 증가하였다. 유리-스피넬 복합체의 강도와 인성값은 각각 317MPa, 3.56MPa . $m^{1/2}$이 었으며 $1300^{\circ}C$의 높은 하소온도로 인한 재결정에 의하여 스피넬은 침상과 다각형 조직이 동시에 존재하는 이중 미세조직 이 관찰되었다.

• 한국작물학회:학술대회논문집
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• 한국작물학회 2017년도 9th Asian Crop Science Association conference
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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.