• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.963-968
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• 2005

For worm robots applied to pipe inspection and colonoscopy, earthworm-like robots that have a locomotion pattern in backward wave or green caterpillar-like robots that have a locomotion pattern in forward wave have been studied widely. Note however that a method using a single and fixed locomotion pattern is not desirable in the sense of mobility cost, if there are various changes in pipe diameter. In this paper, locomotion patterns are considered for a semi-looper-like robot, which adopts a locomotion pattern of green caterpillars as the basic motion and sometimes can realize a locomotion pattern of looper, whose motion approximately consists of two rhythms or relatively low rhythm.

• 한국시뮬레이션학회논문지
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• 제7권2호
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• pp.105-114
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• 1998

Using finite elements, a simulation is prformed for the pipe systems to investigate free vibrational characteristics, that is natural frequencies, considering the intial tension due to the velocity and the pressure of the inside fluid flow. To confirm the program developed in this study, the results are compared with the results of commercial software ANSYS. When the initial tension is neglected in curved pipes, the natural frequencies are reduced as flow velocity increases, and the rapid decreases of the natural frequencies took place. However, when the initial tension is taken into account, the natural frequencies are not changed with the change of the flow velocity. In free vibrational simulation of pipe systems, it is necessary to calculate the initial state force due to the velocity and the pressure of the fluid flow from the equilibrium first, then the force should be included in the equation of motion of the systems to get more accurate natural frequencies.

• Journal of Welding and Joining
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• 제16권5호
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• pp.119-133
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• 1998

To implement full automation in pipe welding, it si most important to develop special sensors and their related systems which act like human operator when detecting irregular groove conditions. In this study, an automatic pipe Gas Metal Arc Welding (GMAW) system was proposed to full control pipe welding procedure with intelligent sensor systems. A five-axes manipulator was proposed for welding torch to automatically access to exact welding position when pipe size and welding angle were given. Pool status and torch position were measured by using a weld-pool image monitoring and processing technique in root-pass welding for weld seam tracking and weld pool control. To overcome the intensive arc light, pool image was captured at the instance of short circuit of welding power loop. Captured image was processed to determine weld pool shape. For weld seam tracking, the relative distance of a torch position from the pool center was calculated in the extracted pool shape to move torch just onto the groove center. To control penetration of root pas, gap was calculated in the extracted pool image, and then weld conditions were controlled for obtaining appropriate penetration. welding speed was determined with a fuzzy logic, and welding current and voltage were determined from a data base to correspond to the gap. For automatic fill-pass welding, the function of human operator of real time weld seam control can be substituted by a sensor system. In this study, an arc sensor system was proposed based on a fuzzy control logic. Using the proposed automatic system, root-pass welding of pipe which had gap variation was assured to be appropriately controlled in welding conditions and in torch position by showing sound welding result and good seam tracking capability. Fill-pass welding by the proposed system also showed very successful result by tracking along the offset welding line without any control of human operator.

• 한국가스학회지
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• 제20권6호
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• pp.58-64
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• 2016

본 연구에서는 굴곡진 배관에서 내부 유체의 유동속도의 변화에 따른 진동특성을 고찰 하였다. 해밀톤의 원리에 근거하여 운동방정식을 유도하고 굽어진 배관계의 유한요소 방정식을 구성한 후, 진동수 방정식을 풀이하여 고유 진동수를 구하였다. 곡관부에 가해지는 초기 인장력을 무시하였을 경우에는 내부 유체의 유동속도가 증가함에 따라 파이프의 고유진동수의 값은 감소하였다. 초기 인장력을 고려할 경우에는 내부 유동속도의 변화에 상관없이 파이프의 고유진동수가 변하지 않았다. 배관의 자유진동 평가 시, 정확한 고유진동수를 구하기 위해서는 시스템 운동방정식을 구성할 때, 초기인장력을 반드시 고려하여야한다. 공진을 회피하기 위해서는 파이프의 강성 및 지지점의 위치를 변화시킴으로써 시스템의 기계적 성질을 조절해야 한다. 고유진동수는 가진 진동수 범위로부터 이격시켜야 한다. 엘보우의 각도는 제1차 고유진동수에 영향을 미치지 않음이 고찰되었으나, 3차 모드나 그 이상의 고주파 모드에서는 영향을 미쳤다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.346-351
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• 2005

The outlet feeder pipe thinning in a PHWR (Pressurized Heavy Water Reactor) is caused by high pressure steam flow inside the pipe, which is a well known degradation mechanism called FAC (Flow Assisted Corrosion). In order to monitor the degradation, the thickness of the outlet bends closed to the exit of the pressure tube should be measured and analyzed at every official overhaul. This paper develops a mobile feeder pipe inspection robot that can minimize the irradiation dose of human workers by automating the measurement process. The robot can move by itself on the feeder pipe by using an inch worm mechanism, which is constructed by two gripper bodies that can fix the robot body on the pipe, one extendable and contractable actuator, and a rotation actuator connected the two gripper bodies to move forward and backward, and to rotate in the circumferential direction

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.31.3-31
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• 2001

In this paper, an automatic pipe-cutting machine that uses magnet to attach itself to pipe and performs unmanned cutting process is proposed. The machine uses magnetic force to prevent slip and to attach the machine to the pipe against gravity. The magnetic force is adjustable by changing the gap between the magnet and the pipe. During pipe cutting process, the gravity acting on the pipe-cutting machine widely varies nonlinearly where the gravity is function of climbing angle of the cutting machine along the pipe. The cutting quality is deteriorated with irregular cutting speed. It is necessary to maintain constant cutting speed to obtain good cutting quality ...

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2000년도 봄 학술발표회 논문집
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• pp.297-302
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• 2000

Pipe cooling method is widely used for reduction of hydration heat and control of cracking in mass concrete structures. However, in order to effectively apply pipe cooling systems to concrete structure, the coefficient of flow convection relating the thermal transfer between inner stream of pipe and concrete must be estimated. In this study, a device measuring the coefficient of flow convection is developed. Since a variation of thermal distribution caused by pipe cooling has a direct effect in internal forced flows, the developed testing device is based on the internal forced flow concept. Influencing factors on the coefficient of flow convection are mainly flow velocity, pipe diameter and thickness, and pipe material. finally a prediction model of the coefficient of flow convection is proposed using experimental results from the developed device. According to the proposed prediction model, the coefficient of flow convection increases with increase in flow velocity and decreases with increase in pipe diameter and thickness. Also, the coefficient of flow convection is largely affected by the type of pipe materials.

• 한국농공학회지
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• 제39권2호
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• pp.9-18
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• 1997

Abstract This paper presents a heuristic method for optimal design of water distribution system with multiple sources and potential links. In multiple source pipe network, supply rate at each source node affects the total cost of the system because supply rates are not uniquely determined. The Linear Minimum Cost Flow (LMCF) model may be used to a large scale pipe network with multiple sources to determine supply rate at each source node. In this study the heuristic method based on the LMCF is suggested to determine supply rate at each source node and then to optimize the given layout. The heuristic method in turn perturbs links in the longest path of the network to obtain the supply rates which make the optimal design of the pipe network. Once the best tree network is obtained, the frequency count of reconnecting links by considering link failure is in turn applied to form loop to enhance the reliability of the best tree network. A sample pipe network is employed to test the proposed method. The results show that the proposed method can yield a lower cost design than the LMCF alone and that the proposed method can be efficiently used to design irrigation systems or rural water distribution systems.

• 수산해양교육연구
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• 제27권6호
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• pp.1727-1733
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• 2015

In the present study, the heat transfer performance of dimpled double-pipe heat exchangers for fuel cells that are utilized as cooling systems of fuel cells was studied. In addition, to comparatively analyze the heat transfer performance of dimpled double-pipe heat exchanger for fuel cells, plain double-pipe heat exchangers were also studied. Experimental results were derived on changes in the Reynolds numbers of the cooling water flowing in dimpled and plain double-pipe heat exchangers and changes in the heat flux of the air. Thereafter, to verify the reliability of the experimental results, the theoretical overall heat transfer coefficients and the experimental overall heat transfer coefficients were comparatively analyzed and the following results were derived. The heat transfer rate lost by the hot air and that of the heat transfer rate obtained by the cooling water were well balanced. The experiments of plain double-pipe heat exchangers and dimpled double-pipe heat exchangers were conducted under normal conditions and the theoretical overall heat transfer coefficient and the experimental overall heat transfer coefficient coincided well with each other. In both plain double-pipe heat exchangers and dimpled double-pipe heat exchangers, heat transfer rates increased as the cooling water flow velocity increased. Under the same experimental conditions, the heat transfer performance of dimpled double-pipe heat exchangers was shown to be higher by 1.2 times than that of plain double-pipe heat exchangers.

• Structural Engineering and Mechanics
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• 제64권5호
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• pp.671-681
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• 2017

This study investigates the structural performance of 3D steel pipe rack suspended scaffolding systems. For the purpose, a standard full scale 3D steel pipe rack suspended scaffolding system considering two frames, two plane trusses, purlins and wooden floor is constructed in the laboratory. A developed load transmission system was placed in these experimental systems to distribute single loads to the center of a specific area in a step-by-step manner using a load jack. After each load increment, the displacements are measured by means of linear variable differential transducers placed in several critical points of the system. The tests are repeated for five different system conditions to determine the structural performance. The means of system conditions is the numbers of the tie bars which are used to connect plane trusses under level. Finite elements models of the 3D steel pipe rack suspended scaffolding systems considering different systems conditions are constituted using SAP2000 software to support the experimental tests and to use the models in future studies. Each of models including load transmission platform is analyzed under a single loading and the displacements are obtained. In addition, to calibrate the numerical models some uncertain parameters such as elasticity modulus of wooden floor and connection rigidity of purlins to plane trusses are assessed experimentally. The results of this work demonstrate that when increasing numbers of tie bars the displacement values are decreased. Also the results obtained from developed numerical models have harmony with those of experimental. In addition, the scaffolding system with two tie bars at the beginning and at the end of the plane truss has the optimum structural performance compared the results obtained for other scaffolding system conditions.