• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.8
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• pp.1374-1380
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• 2002

Recently, the use of Robot increase little by little for the purpose of developing a welding quality and productivity in the welding part. It is more important to contact the seam for arc welding before moving a welding robot. There are two types of method to contact the seam namely contact and non-contact type largely. In this paper, image processing sensor(a kind of non-contact sensor) is concerned to track the seam by using laser diode and CCD camera. A structured laser diode's light illuminated on the weld groove and the reflected shape is introduced by CCD camera. The image board captures this image and software analyzes this image. The robot is moved and welded exactly as acquired image X-Y data is changed with robot's X-Y value. Also, most of seam tracking are considered by changing the program simply in case of the different weld groove of plane surface.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2001.05a
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• pp.460-464
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• 2001

Recently, the use of Robot increase little by little for the purpose of developing a welding quality and productivity in the arc welding part. It is more important to contact the seam for arc welding before moving a welding robot. There are two types of method to contact the seam namely contact and noncontact type largely In this paper, image processing sensor(a kind of non-contact sensor) is concerned to track the seam by using laser diode and CCD camera. A structured laser diode's light illuminated on the weld groove and the reflected shape is introduced by CCD camera. The image board captures this image and software analyzes this image. The robot is moved and welded exactly as acquired image X-Y data is changed with robot's X-Y value. Also, most of seam tracking are considered by changing the program simply in case of the different weld prove of plane surface.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.14 no.4
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• pp.321-329
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• 2016

Based on the results of groundwater flow system modeling for a hypothetical deep geological repository site, quantitative and spatial distributions of groundwater flow rates at the positions of deposition holes, groundwater travel length and time from the positions to the surface environment were analyzed and used to suggest a method for determining locations of deposition holes. The hydraulic head values at the depth of the deposition holes and a particle tracking method were used to calculate the ground-water flow rates and groundwater travel length and time, respectively. From the results, an approach to designing a layout of deposition holes was suggested by selecting relatively favorable positions for maintaining performance of the disposal facility and screening some positions of deposition holes that did not comply with specific constraints for the groundwater flow rates, travel length and time. In addition, a method for determining a geometrical direction for extension of the disposal facility was discussed. Designing the layout of deposition holes with the information of groundwater flow at the disposal depth can contribute to secure performance and safety of the disposal facility.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.35 no.11
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• pp.1169-1176
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• 2011

Liquid film flows are classified into waveless laminar, wavy laminar, and turbulent flows depending on the Reynolds number or the flow stability. Since the wavy motions of the film flows are so intricate and nonlinear, studies on them have largely been experimental. Most numerical approaches have been limited to the waveless flow regime. The various free surface-tracking schemes adopted for this problem were used to more accurately estimate the average film thickness, rather than to capture the unsteady wavy motion. In this study, the wavy motions in laminar wavy liquid film flows with Reynolds numbers of 200-1000 were simulated with various numerical schemes based on the volume of fluid (VOF) method for interface tracking. The results from each numerical scheme were compared with the experimental results in terms of the average film thickness, the wave velocity, and the wave amplitude.

• Physical Therapy Korea
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• v.16 no.3
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• pp.42-49
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• 2009

This study examined the vastus medialis oblique (VMO) and the vastus lateralis (VL) onset time differences (OTD) during quadriceps contraction in different hip positions. Twelve healthy subjects were recruited (four men, eight women). Surface EMG activities of the VMO and VL were measured during a quadriceps strengthening exercise in a long sitting condition and in a sitting at a chair with feet hanging condition. For each condition, subjects were tested in two hip positions (neutral and adduction). The OTD between the two muscles was calculated for each condition, by subtracting the onset time of the VL from the VMO. Therefore, the negative value of OTD represent earlier EMG onset of the VMO compared to the VL. The OTD was not significantly different between the hip neutral and the hip adduction position in the long sitting condition (p=.064). However, the OTD was significantly different between the hip neutral position ($15.83{\pm}109.51$ ms) and hip adduction position ($-5.58{\pm}121.08$ ms) during the sitting at a chair with feet hanging condition (p=.047). The negative OTD value in the hip adduction condition during quadriceps strengthening exercises is the result of earlier onset of the VMO than VL. Therefore, quadriceps contraction in the hip adduction position can prevent the risk of patella lateral tracking. We expect that quadriceps strengthening exercise in the hip adduction position will be a safe way to prevent patellofemoral pain syndrome resulting from abnormal patella lateral tracking.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2004.05b
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• pp.25-29
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• 2004

Corona on polymer materials causes deterioration by the combined action of the discharge striking the surface and the action of certain chemical compounds that are formed by the discharges. In the design and manufacture of polymer insulators must be sufficiently large to avoid corona discharges, otherwise a shielding or corona ring (grading ring) needs to be installed on the insulator. To conduct this purpose, many researchers have investigated end-fitting of polymer insulator by voltage distribution simulation and electrical test. Grading rings are used to improve the performance of the insulator in multiple ways. They can reduce corona and associated audible noise and radio influence and television interference. The factors determining the uses of a grading ring are line voltage, geometry and dimensions of end fittings, geometry and dimensions of line hardware, and environmental conditions. In this paper, electrical property of polymer insulator with end-fitting design have been investigated by electrical field analysis, various end-fitting design, tracking wheel test, corona inception voltage and extinction voltage. Electrical field analysis is conducted by FEM program and various end-fitting is designed through this result. Designed end-fittings are manufactured and their performance is conducted by electrical performance test.

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.5
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• pp.295-301
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• 2017

Recently, autonomous navigation technology, obstacle recognition, and obstacle collision avoidance technology are actively being developed for an unmanned surface vehicle (USV). The path to move from the current location to the destination should be planned, in order for an USV to autonomously operate safely to its destination. The dynamic window approach (DWA) is a well-known navigation scheme as a local path planning. The DWA algorithm derives the linear velocity and angular velocity by evaluating the destination direction, velocity, and distance from the obstacle. However, because DWA algorithm does not consider tracking the path, when using only the DWA algorithm, the ship may navigate away from the path line after avoiding obstacles. In this paper, we propose an improved DWA algorithm that can follow path line. And we implemented the simulation and compared the existing DWA algorithm with the improved DWA algorithm proposed in this paper. As a result, it is confirmed that the proposed DWA algorithm follows the path line better.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.36 no.6
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• pp.1037-1048
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• 2016

In this study, nonlinear wave interaction in the presence of a uniform current is studied using numerical model, named CADMAS-SURF which is based on the Navier-Stokes equations coupled with Volume of Fluid for tracking free surface deformation. The original CADMAS-SURF developed for interaction of wave with structure is modified/extended to simulate nonlinear fluid dynamic motions within wave-current coexisting field. The capability of Numerical Wave-Current Tank (NWCT) in this study is validated by comparing with available existing laboratory experiments for both wave-following and wave-opposing current. The numerical results for interaction between wave and current are shown to be in good agreement with experimental data. Then, this study focused on the dynamic motions of the water velocity, surface elevation and vorticity within combined wave-current field in demonstrating complex nonlinear physical phenomena due to interaction between wave and current. In addition, NWCT is applied to simulate a more complex wave-current-structure field for wave propagating over a submerged breakwater associated with current. Detailed discussion including characteristics of velocity and vorticity fields and the relation between free surface and vorticity are given.

• The Journal of Korea Robotics Society
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• v.8 no.1
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• pp.51-57
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• 2013

Recently, the number of jellyfish has been rapidly grown because of the global warming, the increase of marine structures, pollution, and etc. The increased jellyfish is a threat to the marine ecosystem and induces a huge damage to fishery industries, seaside power plants, and beach industries. To overcome this problem, a manual jellyfish dissecting device and pump system for jellyfish removal have been developed by researchers. However, the systems need too many human operators and their benefit to cost is not so good. Thus, in this paper, the design, implementation, and experiments of autonomous jellyfish removal robot system, named JEROS, have been presented. The JEROS consists of an unmanned surface vehicle (USV), a device for jellyfish removal, an electrical control system, an autonomous navigation system, and a vision-based jellyfish detection system. The USV was designed as a twin hull-type ship, and a jellyfish removal device consists of a net for gathering jellyfish and a blades-equipped propeller for dissecting jellyfish. The autonomous navigation system starts by generating an efficient path for jellyfish removal when the location of jellyfish is received from a remote server or recognized by a vision system. The location of JEROS is estimated by IMU (Inertial Measurement Unit) and GPS, and jellyfish is eliminated while tracking the path. The performance of the vision-based jellyfish recognition, navigation, and jellyfish removal was demonstrated through field tests in the Masan and Jindong harbors in the southern coast of Korea.

• Journal of Korean Society of Water and Wastewater
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• v.30 no.5
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• pp.501-509
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• 2016

In this study, a flat-type photocatalytic reactor is applied under solar irradiation for simultaneous treatment of target pollutants: reduction of Cr(VI) to Cr(III) and oxidation of EDCs (BPA, EE2, E2). An immobilized type of photocatalyst was fabricated to have self-grown nanotubes on its surface in order to overcome limitations of powdery photocatalyst. Moreover, Ti mesh form was chosen as substrate and modified to have both larger surface area and photocatalyst content. Ti mesh was anodized at 50V and $25^{\circ}C$ for 30min in the mixed electrolytes ($NH_4F-H_2O-C_2H_6O_2$) and annealed at $450^{\circ}C$ for 2 hours in ambient oxygen to have anatase structure. Surface characterization was done with SEM and XRD methodologies. Fabricated NTT was applied to water treatment, and coexisting Cr(VI) and organics (EDCs) enhanced each other's reactions by scavenging holes and electrons and thus impeding recombination. Also, several experiments were conducted outdoor under direct sunlight and it was observed that both solar-tracking and applying modified photocatalyst were proven to enhance reaction efficiency.