• 한국생산제조학회지
• /
• 제22권2호
• /
• pp.318-323
• /
• 2013

For fast and accurate motion of 6-axis articulated robot, more noble motion control strategy is needed. In general, the movement strategy of industrial robots can be divided into two kinds, PTP (Point to Point) and CP (Continuous Path). Recently, industrial robots which should be co-worked with machine tools are increasingly needed for performing various jobs, as well as simple handling or welding. Therefore, in order to cope with high-speed handling of the cooperation of industrial robots with machine tools or other devices, CP should be implemented so as to reduce vibration and noise, as well as decreasing operation time. This paper will realize CP motion (especially joint-linear) blending in 3-dimensional space for a 6-axis articulated (lab-manufactured) robot (called as "RS2") by using LabVIEW$^{(R)}$ (6) programming, based on a parametric interpolation. Another small contribution of this paper is the proposal of motion blending simulation technique based on Recurdyn$^{(R)}$ V7 and Solidworks$^{(R)}$, in order to figure out whether the joint-linear blending motion can generate the stable motion of robot in the sense of velocity magnitude at the end-effector of robot or not. In order to evaluate the performance of joint-linear motion blending, simple PTP (i.e., linear-linear) is also physically implemented on RS2. The implementation results of joint-linear motion blending and PTP are compared in terms of vibration magnitude and travel time by using the vibration testing equipment of Medallion of Zonic$^{(R)}$. It can be confirmed verified that the vibration peak of joint-linear motion blending has been reduced to 1/10, compared to that of PTP.

• 한국물환경학회지
• /
• 제37권1호
• /
• pp.47-54
• /
• 2021

Aerobic granular sludge (AGS) can be classified as a type of self-immobilized microbial aggregates measuring more than 0.2 mm. It offers the option to simultaneously remove COD, N, and P that occur in different zones inside a granule. Also, AGS is characterized by high precipitability, treatability with high organic loading, and high tolerance to low temperature. In this study, a sequencing batch reactor inoculated with AGS (AGS-SBR) is a new advanced wastewater treatment process that was proven to grow AGS with integrated nutrient removal and low C/N ratio. A pilot plant, AGS-SBR with a capacity of 225 ㎥/d was installed at an S sewage treatment plant in Gyeonggi-do. The results of the operation showed that the water quality of the effluent indicated that the value of BOD5 was 1.5 mg/L, CODMn was 11.4 mg/L, SS was 6.2 mg/L, T-N was 13.2 mg/L, and T-P was 0.197 mg/L, and all of these values reliably satisfied an effluent standard (I Area). In winter, the T-N treatment efficiency at a lower temperature of less than 11℃ also showed reliability to meet the effluent standard of the I Area (20 mg/L or less). Analysis of microbial community in AGS showed a higher preponderance of beneficial microorganisms involved in denitrification and phosphorus accumulation compared with activated sludge. The power consumption and sludge disposal cost were reduced by 34.7% and 54.9%, respectively, compared to the domestic SBR type sewage treatment plant with a processing capacity of 1,000 ㎥/d or less.

• Corrosion Science and Technology
• /
• 제5권1호
• /
• pp.5-14
• /
• 2006

A lot of parts in FGD (Flue Gas Desulphurization) systems of fossil-fuel power plants show the environments in which are highly changeable and extremely acidic corrosive medium according to time and locations, e.g. in duct works, coolers and re-heaters etc.. These conditions are formed when system materials are immersed in fluid that flows on them or when exhausted gas is condensed into thin layered medium to contact materials of the system walls and roofs. The environments make troublesome corrosion and air pollution problems that are occurred from the leakage of the condensed solution. The frequent shut-down and repairing works of FGD systems also demand costs and low efficiencies of those facilities. In general, high corrosion resistant materials have been used to solve this problem. However, even the super alloys and Teflon linings sometimes have not been good enough to preventing corrosion. Further more, they are expensive and not easily repairable in short periods of operation stops. In this work, new technology that is effective, economical and easily repairable has proposed to solve the corrosion problems in FGD facilities. This technology contains cathodic protection, coatings and remote monitoring-controlling systems.

• Nuclear Engineering and Technology
• /
• 제56권2호
• /
• pp.526-535
• /
• 2024

This paper proposes a safety-critical standby component unavailability model that contains aging effects caused by the elapsed time from installation, component degradation due to surveillance tests, and imperfect maintenance actions. An application of the model to a Motor-Operated Valve and a Motor-Driven Pump involved in the HPIS of a VVER/1000-V446 nuclear power plant is demonstrated and compared with other existing models at component and system levels. In addition, the effects of different unavailability models are reflected in the NPP's risk criterion, i.e., core damage frequency, over five maintenance periods. The results show that, compared with other models that do not simultaneously consider the full effects of degradation and maintenance impacts, the proposed model realistically evaluates the unavailabilities of the safety-related components and the involved systems as a plant age function. Therefore, it can effectively reflect the age-dependent CDF impact of a given testing and maintenance policy in a specified time horizon.

• Journal of Biosystems Engineering
• /
• 제33권3호
• /
• pp.186-195
• /
• 2008

In this paper, a prototype tele-operative system with a mobile base was developed in order to automate cultivation of house melon. A man-machine interactive hybrid decision-making system via tele-operative task interface was proposed to overcome limitations of computer image recognition. Identifying house melon including position data from the field image was critical to automate cultivation. And it was not simple especially when melon is covered partly by leaves and stems. The developed system was composed of 5 major modules: (a) main remote monitoring and task control module, (b) wireless remote image acquisition and data transmission module, (c) three-wheel mobile base mounted with a 4 dof articulated type robot manipulator (d) exchangeable modular type end tools, and (e) melon storage module. The system was operated through the graphic user interface using touch screen monitor and wireless data communication among operator, computer, and machine. Once task was selected from the task control and monitoring module, the analog signal of the color image of the field was captured and transmitted to the host computer using R.F. module by wireless. A sequence of algorithms to identify location and size of a melon was performed based on the local image processing. Laboratory experiment showed the developed prototype system showed the practical feasibility of automating various cultivating tasks of house melon.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.626-630
• /
• 2005

This paper presents a novel Intelligent-Welding-Carriage (IWC) for automation of curved block in shipbuilding. The curved block is usually used in both front and back side of the ship. In curved block root gap is big, $1{\sim}7$ [mm] and inclination, $0{\sim}30$ [deg]. Since available conventional carriage type is limited to use below root gap of 3 [mm], only manual welding is employed in curved block. To adopt an IWC in curved block, it requires control of the welding conditions, i.e., voltage, current and travel speed, with respect to root gap and inclination to achieve good welding quality. In this paper, an IWC is developed for automization of welding operation to accommodate gap and inclination. Kinematics model and dynamics using Lagrangian formulation of the manipulator is introduced. IWC utilizes a database to perform accurate welding. The database is programmed based on numerous experimental test results with respect to gap, inclination, material, travel speed, weaving condition, voltage, and current. Finally, experimental result using PID control is addressed for verify the trajectory tracking accuracy of end-effector.

• Nuclear Engineering and Technology
• /
• 제55권8호
• /
• pp.2977-2983
• /
• 2023

During normal operation, some parts of the fission product in the defective fuel rods can release into the primary loops in PWR and the escape rate coefficients are widely used to assess quantitatively the release behaviors of fission products in the industry. The escape rate coefficients have been standardized and have been validated by some drilling experiments before the 1970s. In the paper, the model to determine the escape rate coefficients of fission products has been established and the typical escape rate coefficients of noble gas and iodine have been deduced based on the measured radiochemical data in one operating PWR. The result shows that the apparent escape rate coefficients vary with the release-to-birth and decay constants for different fission products of the same element. In addition, it is found that the escape rate coefficients from the defective rod with large defects are much higher than the standard escape rate coefficients, i.e., averagely 4.4 times and 1.8 times for noble gas and iodine respectively. The enhanced release of fission products from the severe secondary hydriding of several defective fuel rods in one cycle may lead to the potential risk of the temporary shutdown of the operating reactors.

• 한국산학기술학회논문지
• /
• 제12권12호
• /
• pp.5838-5842
• /
• 2011

본 연구는 고용량의 모터를 구동하기 위한 모터컨트롤센터(MCC)의 내부 구조 중 각 상(R,S,T)의 BUS BAR의 온도와 BUS BAR 볼트 체결부의 온도변화가 모터컨트롤센터의 노후화 및 진동에 따라 어떠한 차이가 있는지를 적외선 온도센서가 설치된 온도측정용 2차원 기구부를 설계 제작하고 모터컨트롤센터의 내부에 설치하여 BUS BAR의 온도 및 전류 변화량을 상시 모니터링 하였다. 실험을 통하여 부하에 따른 BUS BAR의 온도 변화를 BUS BAR 나사 체결부위를 중심으로 측정하였으며, BUS BAR의 온도변화와 소모 전류에 대한 비례관계를 확인할 수 있었다. 또한 이러한 비접촉식 2차원 온도측정 시스템을 모터컨트롤센터 내부에 장착하면 부하의 과전류로 인한 온도 상승이나 접촉 불량 등으로 발생될 수 있는 정전이나 화재 사고를 예방할 수 있을 것으로 기대된다.

• International Journal of Automotive Technology
• /
• 제4권2호
• /
• pp.65-75
• /
• 2003

A HEV evaluation program, funded by ADEME, was carried out by a group of Laboratories of different specialties in order to evaluate and compare consumption, emission and component technologies of the three first HEVs put on the market (Toyota Prius, Nissan Tino and Honda Insight). This paper presents the results obtained until now. These results show good consumption and emission performance of the tested vehicles compared to conventional ones. The energy management seems to be globally the same for the three vehicles excepting for cold stans where the Insight allows a very earlier stop of the engine compared to the Tino and especially to the Prius. A mapping of the engine consumption of the Prius and the Insight was performed in order to furnish data for the simulation models. The Permanent Magnet motors of the Prius and Tino have different number of pair poles and then different emf at a given speed. The low emf values of the Prius allow operation at high speed with less field weakening control than for the Tino. The inverters of the Prius and the Tino, controlled by a PWM at respectively 5 kHz and 7 kHz switching frequency, are made of IGBTs with high commutation performances.

• Nuclear Engineering and Technology
• /
• 제55권7호
• /
• pp.2349-2355
• /
• 2023

In the TRITIUM project, an on-site monitoring system is being developed to measure tritium (³H) levels in water near nuclear power plants. The quite low-energy betas emitted by ³H have a very short average path in water (5 ㎛ as shown by simulations for 18 keV electrons). This path would be further reduced by impurities present in the water, resulting in a significant reduction of the detection efficiency. Therefore, one of the essential requirements of the project is the elimination of these impurities through a filtration process and the removal of salts in solution. This paper describes a water treatment system developed for the project that meets the following requirements: the water produced should be of near-pure water quality according to ISO 3696 grade 3 standard (conductivity < 10 µS/cm); the system should operate autonomously and be remotely monitored.