• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.48-57
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• 2014

It is suggested that the curvature trajectory be used to estimate the real-time moving sound sources and efficiently the robot estimating the sound sources. Since the target points of the real-time moving sound sources change, the mobile robot continuously estimates the changed target points. In such a case, the robot experiences a slip phenomenon due to the abnormal velocity and the changes of the navigating state. By selecting an appropriate curvature and navigating the robot gradually by using it, it is possible to enable the robot to reach the target points without having much trouble. In order to recognize the sound sources in real time, three microphones need to be organized in a straight form. Also, by applying the cross-correlation algorithm to the TDOA base, the signals can be analyzed. By using the analyzed data, the locations of the sound sources can be recognized. Based on such findings, the sound sources can be estimated. Even if the mobile robot is navigated by selecting the gradual curvature based on the changed target points, there could be errors caused by the inertia and the centrifugal force related to the velocity. As a result, it is possible to control the velocity of both wheels of the robot through the velocity PID controller in order to compensate for the slip phenomenon and minimize the estimated errors. In order to examine whether the suggested curvature trajectory is appropriate for estimating the sound sources, two mobile robots are arranged to carry out an actual experiment. The first robot is moved by discharging the sound sources, while the second robot recognizes and estimates the locations of the discharged sound sources in real time.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.3
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• pp.1-11
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• 2014

The aim of this study is to investigate the effect of SCR reactor on the exhaust emissions characteristics in order to develop a urea-SCR aftertreatment system for reducing $NO_x$ emissions. The experiments are conducted by using a flue tube LPG steam boiler with the urea-SCR aftertreatment system. The urea-SCR aftertreatment system utilizes the ammonia converted from 17% aqueous urea solution injected in front of SCR catalyst as a reducing agent for reducing $NO_x$ emissions. The equivalence ratio, urea injection amount, ammonia slip and $NO_x$ conversion efficiency relative to boiler load are applied to discuss the experimental results. In this experiment, the average equivalence ratio is calculated by changing only the fuel consumption rate while the intake air amount is constantly fixed at $25,957.11cm^3/sec$. The average equivalence ratios are 1.38, 1.11, 0.81 and 0.57 when boiler loads are 100, 80, 60 and 40%. The $NO_x$ conversion efficiency is raised with increasing urea injection amount, and $NH_3$ slip is also boosted at the same time. Consequently, the $NO_x$ conversion efficiency relative to boiler load should be examined in combination with urea injection amount and $NH_3$ slip. The results are calculated by 89, 85, 77 and 79% for the boiler loads of 100, 80, 60 and 40%. The appropriate amount of urea injection for the respective boiler load can be not discussed by only $NO_x$ emissions, and should be determined by considering the $NO_x$ conversion efficiency, $NH_3$ slip and reactive activation temperature simultaneously. In this study, the urea amounts of 230, 235, 233 and 231 mg/min are injected at the boiler loads of 100, 80, 60 and 40%, and the final $NH_3$ slips are measured by 8.48, 5.58, 11.97 and 11.34 ppm at the same conditions. THC emission is affected by the SCR reactor under other experimental conditions except 100% engine load, and CO emission at only 40% engine load. The rest of exhaust emissions are not affected by the SCR reactor under all experimental conditions.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2009.06a
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• pp.187-187
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• 2009

Opening of fractures induced by shear dilation or normal deformation can be a significant source of fracture permeability change in fractured rock, which is important for the performance assessment of geological repositories for spent nuclear fuel. As the repository generates heat and later cools the fluid-carrying ability of the rocks becomes a dynamic variable during the lifespan of the repository. Heating causes expansion of the rock close to the repository and, at the same time, contraction close to the surface. During the cooling phase of the repository, the opposite takes place. Heating and cooling together with the, virgin stress can induce shear dilation of fractures and deformation zones and change the flow field around the repository. The objectives of this work are to examine the contribution of thermal stress to the shear slip of fracture in mid- and far-field around a KBS-3 type of repository and to investigate the effect of evolution of stress on the rock mass permeability. In the first part of this study, zones of fracture shear slip were examined by conducting a three-dimensional, thermo-mechanical analysis of a spent fuel repository model in the size of 2 km $\times$ 2 km $\times$ 800 m. Stress evolutions of importance for fracture shear slip are: (1) comparatively high horizontal compressive thermal stress at the repository level, (2) generation of vertical tensile thermal stress right above the repository, (3) horizontal tensile stress near the surface, which can induce tensile failure, and generation of shear stresses at the comers of the repository. In the second part of the study, fracture data from Forsmark, Sweden is used to establish fracture network models (DFN). Stress paths obtained from the thermo-mechanical analysis were used as boundary conditions in DFN-DEM (Discrete Element Method) analysis of six DFN models at the repository level. Increases of permeability up to a factor of four were observed during thermal loading history and shear dilation of fractures was not recovered after cooling of the repository. An understanding of the stress path and potential areas of slip induced shear dilation and related permeability changes during the lifetime of a repository for spent nuclear fuel is of utmost importance for analysing long-term safety. The result of this study will assist in identifying critical areas around a repository where fracture shear slip is likely to develop. The presentation also includes a brief introduction to the ongoing site investigation on two candidate sites for geological repository in Sweden.

• Journal of Korean Society for Geospatial Information Science
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• v.8 no.2 s.16
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• pp.101-108
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• 2000

Kinematic GPS surveying which can be obtained many three-dimensional topographical informations through a short-time measurement is being utilized mainly in the short base line of a few km and below The coordinate for the long base line depends on Static GPS surveying But it needs long time measurement. Therefore, the method which can decide a position of the long base line for a short time is being needed. To examine a possibility of an efficient use of kinematic GPS surveying of the long base line, this research has analysed an accuracy of the base line by static GPS surveying according to baseline distance, ephmeris, and observation time. As the results of research, I could see that accuracy was very low in case of the occurrence of cycle slip. When we use of precise ephmeris, we obtained 1ppm and less of accuracy with one-minute kinematic GPS surveying within 70km. If a lot of studies about the long baseline kinematic GPS surveying are processed, a topographical information necessary for each kind of construction field including land development could be utilized more efficiently.

• Communications of the Korean Mathematical Society
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• v.34 no.3
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• pp.819-839
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• 2019

We study the stabilization of 2D g-Navier-Stokes equations in bounded domains with no-slip boundary conditions. First, we stabilize an unstable stationary solution by using finite-dimensional feedback controls, where the designed feedback control scheme is based on the finite number of determining parameters such as determining Fourier modes or volume elements. Second, we stabilize the long-time behavior of solutions to 2D g-Navier-Stokes equations under action of fast oscillating-in-time external forces by showing that in this case there exists a unique time-periodic solution and every solution tends to this periodic solution as time goes to infinity.

• International Journal of Industrial Entomology and Biomaterials
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• v.27 no.1
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• pp.180-184
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• 2013

Recently, silk sericin has attracted the attention of researchers owing to its useful properties as a biomaterial including 1) good wound healing and cell activities, 2) fast gelation character, and 3) high water retention property. In the present study, silk sericin was prepared using different extraction times in hot water and the effect of extraction time on the rheological properties of sericin solutions and gels was examined. It was found that the production yield of sericin increased with extraction time. The shear viscosity of sericin solutions and gels decreased with increasing extraction time due to a decrease in sericin molecular weight. When the sericin solution transformed to a gel, the viscosity increased and the shear thinning behavior was more evident. In addition, the shear stress measurements indicated that the slip between the sericin samples and the measuring plate of the rheometer was increased by the gelation of sericin. The compression strength of sericin gel could be increased remarkably (by more than 100 fold) by preparation using the freezing and thawing method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.11
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• pp.1779-1784
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• 2010

Net washing in a fishery involves considerable labor and is a time-consuming process; it also causes severe environmental pollution. In this study, we developed a net hauler for washing fishing nets. This hauler can be used to simultaneously haul and wash the net. We devised the revolver structure of the net hauler in order to resolve the net slip problem. The net hauler can be used by itself for washing small-sized nets, or it can be used in an auxiliary washing step in case of a large-sized net. Further, the component installed in the net hauler for unraveling the net improves the net washing performance of an automatic net washer. During the experiments conducted using the prototypes of the new net hauler, the net did not slip and the desired washing performance could be achieved.

• Journal of Drive and Control
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• v.13 no.1
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• pp.1-9
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• 2016

Nowadays automatic transmission equipped vehicles prevail in construction and agricultural equipment due to their convenience in driving and operation. Though domestic vehicle manufacturers install imported electronic controlled transmissions at present, overseas products will be replaced by domestic ones in the near future owing to development efforts over the past 10 years. For passenger cars, there are many kinds of shift control algorithms that enhance the shift quality such as feedback and learning control. However, since shift control technologies for heavy duty vehicles are not highly developed, it is possible to improve the shift quality with an organized control method. A feedback control algorithm for neutral-into-gear shift, which is enabled during the inertia phase for the master clutch slip speed to track the slip speed reference, is proposed based on the power transmission structure of TH100. The performance of the feedback shift control is verified by a vehicle test which is implemented with firmware embedded TCU. As the master clutch engages along the predetermined speed trajectory, it can be concluded that the shift quality can be managed by a shift time control parameter. By extending the proposed feedback algorithm for neutral-into-gear shift to gear change and shuttle shift, it is expected that the quality of the shift can be improved.

• Plant Journal
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• v.17 no.1
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• pp.58-66
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• 2021

The government has recently come up with a policy to tighten regulations on air pollutant emissions due to public concerns over the emission of pollutants such as fine dust. The coal-fired power plant is speeding up the improvement of the performance of environmental facilities, and this paper deals with the cases of performance improvement by adding a catalyst to the 500 MW standard coal-fired power DeNox system, and examines the change in the performance factors according to the addition of catalysts and the efficiency of NOx removal. The DeNOx efficiency before and after improvement increased from 80% to 88%, and the conversion rate of SO2/SO3, ammonia slip which are performance factors satisfied the design assurance value, but exceeded the design assurance value for differential pressure. At the same time, the ammonia slip concentration and differential pressure items increased as the NOx removal efficiency increased, resulting in the need for management and improvement.

• Earthquakes and Structures
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• v.20 no.1
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• pp.1-12
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• 2021

The occurrence of progressive collapse induced by the removal of the vertical load-bearing element in the structure, because of fire or earthquake, has been a significant challenge between structural engineers. Progressive collapse is defined as the complete failure or failure of a part of the structure, initiating with a local rupture in a part of the building and can threaten the stability of the structure. In the current study, the behavior of the structures equipped with a cylindrical friction damper, when the vertical load-bearing elements are eliminated, is considered in two cases: 1-The load-bearing element is removed under the gravity load, and 2-The load-bearing element is removed due to the earthquake lateral forces. In order to obtain a generalized result in the seismic case, 22 pair motions presented in FEMA p 695 are applied to the structures. The study has been conducted using the vertical push down analysis for the case (1), and the nonlinear time-history analysis for the second case using OpenSEES software for 5,10, and 15-story steel frames. Results indicate that, in the first case, the load coefficient, and accordingly the strength of the structure equipped with cylindrical friction dampers are increased considerably. Furthermore, the results from the second case demonstrate that the displacements, and consequently the forces imposed to the structure in the buildings equipped with the cylindrical friction damper substantially was reduced. An optimum slip load is defined in the friction dampers, which permits the damper to start its frictional damping from this threshold load. Therefore, the optimum slip load of the damper is calculated and discussed for both cases.