• Journal of Mechanical Science and Technology
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• v.15 no.3
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• pp.291-299
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• 2001

Recently, severe wear on the shutdown rod cladding of Ulchin Nuclear Power Plant #1, #2 were observed by the Eddy Current Test(E.C.T.). In particular, the wear at the sixth card location was up to 75%. The test results indicated that the Flow Induced Vibration(F.I.V.) might be the cause of the fretting wear resulting from the contact between Rod Cluster Control Assemblies(RCCAs) and their spacing cards(guide plates) arranged in the guide tube. From reviewing RCCAs fretting wear repots and analyzing the general characteristics of F.I.V. mechanism in the reactor, geometric layout and flow conditions around the control rod, it is concluded that the turbulence excitation is the most probable vibration mechanism of RCCA. To identify the governing mechanism of RCCA vibration, an experiment was performed for a representative rod position in which the most serious fretting wear experienced among the six rod positions. The experimental rig was designed and set up to satisfy the governing nondimensional numbers which are Reynolds number and mass damping parameter. The vibration amplitude measurement by the non-contact laser displacement sensor showed good agreements in the frequency and the maximum wearing(vibration) location with Ulchin E.C.T. results and Framatome report, respectively. The sudden increase in the vibration amplitude was sensed around the 6th guide plate with mass flow rate variation. Comparing the similitude rod behaviour with the idealized response of a cylinder in flow induced vibration, it was found that he dominant mechanism of vibration was transferred from turbulence excitation to periodic shedding at the mass flow ate 90ι/min. Also the critical velocity of the vibration in RCCAs was determined and the vibration can be prevented by reducing the bypass flow rate below the critical velocity.

• Journal of Advanced Navigation Technology
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• v.19 no.4
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• pp.311-317
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• 2015

This paper is a study on how to develop service robots can easily complex software development services robot control system. User created contents based on the robot control system developed in this study is a robot drive control circuit, a sensor data processing, the status, the monitoring systems and modular system to configure the service robot operation screen from a user perspective and that can control the service robot operation As in the text-based features that can be operated to have freedom to the robot control service content. In addition, the user has the advantage that changes position by the development as well as user created contents desired by the user operating the robot control GUI (graphic user interface) also changes are possible. As a result, the service robot operator to offer a way to make the service robot can be conveniently presented in a user's point of view how to enable the development of the service robot.

• Journal of Advanced Navigation Technology
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• v.24 no.1
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• pp.16-27
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• 2020

This paper investigates the applicability of optical flow information for unmanned aerial vehicle (UAV) navigation under environments where global navigation satellite system (GNSS) is unavailable. Since the optical flow information is one of important measurements to estimate horizontal velocity and position, accuracy of the optical flow information must be guaranteed. So a navigation algorithm, which can estimate and cancel biases that the optical flow information may have, is suggested to improve the estimation performance. In order to apply and verify the proposed algorithm, an integrated simulation environment is built by designing a guidance, navigation, and control (GNC) system. Numerical simulations are implemented to analyze the navigation performance using this environment.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.10
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• pp.1950-1956
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• 2017

In food-printing field, precise positioning technique for a printing object is very important. In this paper, we propose cup positioning method for a latte-art printer through image processing. A camera sensor is installed on the upper side of the printer, and the image obtained from this is projected and converted into a top-view image. Then, the edge lines of the image is detected first, and then the coordinate of the center and the radius of the cup are detected through a Circular Hough transformation. The performance evaluation results show that the image processing time is 0.1 ~ 0.125 sec and the cup detection rate is 92.26%. This means that a cup is detected almost perfectly without affecting the whole latte-art printing time. The center point coordinates and radius values of cups detected by the proposed method show very small errors less than an average of 1.5 mm. Therefore, it seems that the problem of the printing position error is solved.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2001.05a
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• pp.516-519
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• 2001

To diagnose a patient's blood vessel disease, apoplexy, hypertension, arteriosclerosis, the blood velocity is very important. Determining the blood velocity methods using ultrasound are Continuous Doppler System and Pulse Doppler System. In using the Pulse Doppler System, we can obtain the position of blood velocity. But it is more complex hardware than Continuous Doppler System and it has low SNR(signal-noise ratio). So in this study, to obtain a believable information we use the Continuous Pulse Doppler System. Thus system have analog part and digital part. In analog part is composed of ultrasound generating part, the amplifying part to amplify the received signal from ultrasound sensor, the demodulation part to detect blood velocity and the filtering part to remove the noise. In digital part is composed of the A/D conversion part, digital signal processing part, and the communication part to communicate the PC. In this study to implement efficient ultrasound blood velocity measurement system, we can get the patient's blood velocity information in realtime. Thus, It is a useful in the accurate diagnosis with C.T(computered tomography), M.R.I(magnetic resonance imaging).

• Journal of the Institute of Convergence Signal Processing
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• v.11 no.1
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• pp.88-91
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• 2010

In this paper, We are composed the position recognition and speed control using the moving robot in the shield Room with a RF Module and Ultrasonic Sensors. Double look up tables are selected a reference value/duty ratio. The moving robot with the dual fuzzy rules which can decrease a Conversion time than basic fuzzy control rules at start point and curve region. Also, a changing times of double look up table are rise at specific points b1,c1,d1 in the e-${\Delta}e$ phase plane and the one of the look up table is used which for increase rising time at transition area, the other used for rapidly conversion to the reference value. We verified that a dual fuzzy control rules get the good response compare with the basic fuzzy control rule.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.451-456
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• 2009

In this paper, a virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and an uncertain remote environment as a form of an impedance. In general, for the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and the robot and the approaching velocity of the obstacle w.r.t the collision vector based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of obstacle at the remote site. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this collision vector based haptic reflection improves the performance of teleoperated mobile robot significantly.

• Analytical Science and Technology
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• v.13 no.2
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• pp.222-228
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• 2000

A detector for monitoring carbon monoxide (CO) in ambient air by nondispersive infrared (NDIR) spectroscopy has been developed and investigated its sensitivity and stability. The essential parts of the absorption cell are three spherical concave mirrors so as to improve the sensitivity by increasing the light path length in the cell. The radius and center of curvature of mirrors and position in the cell was calculated by computer simulation in order that the light path length may be 16m into the 50cm cell. The number of traversals and optical path properties were confirmed by laser beam alignment in transparent absorption cell. The photoconductive type lead selenide (PbSe) was used as CO sensing material, which was cooled to increase the responsibility by thermoelectric cooling method. The detection limit and span drift of the developed CO detector was 0.24ppm and 0.03ppm(v/v) respectively.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.289-290
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• 2006

In general, atomic force microscope (AFM) used for metrological purpose has measuring range less than a few hundred micrometers. We design and fabricate an AFM with long measuring range of $200mm{\times}200mm$ in X and Y axes. The whole stage system is composed of surface plate, global stage, microstage. By combining global stage and microstage, the fine and long movement can be provided. We measure the position of the stage and angular motions of the stage by laser interferometer. A piezoresistive type cantilever is used for compact and long term stability and a flexure structure with PZT and capacitive sensor is used for Z axis feedback control. Since the system is composed of various actuators and sensors, a real time control program is required for the implementation of AFM. Therefore, in this work, we designed a multi-axis control program using a FPGA module, which has various functions such as interferometer signal converting, PID control and data acquisition with triggering. The control program achieves a loop rate more than 500 kHz and will be applied for the measurement of grating pitch and step height.

• International Journal of Highway Engineering
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• v.10 no.3
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• pp.87-96
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• 2008

Wandering, variation of wheel tracks, has not been considered as an important factor for pavement designs and maintenance due to measuring difficulties. In order to investigate vehicle lateral displacements on roadways, this study measured wheel tracks on two-lane and four-lane National highways with lane widths 3.25m and 3.5m. The results showed that the tracks of left and right wheels were distributed into different forms, and those of left wheels were more concentrated. In the mean of the left distributions, 59.5cm and 80.7cm were obtained on lane widths 3.25m and 3.5m respectively by cars, and 58.4cm and 73.6cm were obtained by trucks. These mean differences seem to be generated from those between the lane widths. It is recommended to apply the distribution of left wheel tracks for pavement designs.