• Nuclear Engineering and Technology
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• v.55 no.11
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• pp.4191-4203
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• 2023

Robotics applications are greatly needed in hazardous locations, e.g., fusion and fission reactors, where robots must perform delicate and complex tasks under ionizing radiation conditions. The drawback is that some robotic parts, such as active electronics, are susceptible to radiation. It can lead to unexpected failures and early termination of the robotic operation. This paper analyses the ionizing radiation effect from 0.09 to 1.5 Gy/s in robotic components (microcontrollers, servo motors and temperature sensors). The first experiment compares the performance of various microcontroller types and their actuators and sensors, where different mitigation strategies are applied, such as using Radiation-Hardened (Rad-Hard) microcontrollers or shielding. The second and third experiments analyze the performance of a 3-Degrees of Freedom (DoF) robotic arm, evaluating its components' responses and trajectory. This study enhances our understanding and expands our knowledge regarding radiation's impact on robotic arms and components, which is useful for defining the best strategies for extending the robots' operational lifespan, especially when performing maintenance or inspection tasks in radiation environments.

• Journal of Korean Society for Quality Management
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• v.51 no.4
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• pp.735-749
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• 2023

Purpose: The purpose of this study is to derive solutions and prevent similar cases from occurring by analyzing the causes of cracks found in temperature cycling tests of rocket motor. Methods: By combining the results of the current state confirmation test, non-destructive test, domestic and foreign rocket motor comparison test, cutting test, and adhesion test according to the number of times to apply mold release agent, a Cause and Effect Diagram analysis was performed to derive the cause of cracks. Results: Through this study, 26 factors that could cause cracking in rocket motors during temperature cycling tests were identified. Through various additional test results, a total of five causes were identified, including chemical and structural design of the joint between the propellant and stress relief insert, omission of procedure in the manufacturing procedures, natural aging due to temperature, and load accumulation due to temperature changes. The fundamental cause was confirmed to be insufficient consideration of the release properties of the propellant and stress relief insert. Conclusion: During the design process, it was confirmed that this could be solved by structurally or chemically designing the insert so that it does not combine with the propellant, or by applying a mold release agent during the manufacturing process.

• Journal of the Korean Society of Industry Convergence
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• v.27 no.4_2
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• pp.991-999
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• 2024

This study is based on research on a magnetic induction amplification power generation system using quantum fluctuations, and aims to confirm the similarity to the meissner effect through quantum analysis using magnets and suggest the possibility of utilizing alternative energy. Research was conducted on increasing the efficiency of motors based on the similarity between magnetic quantum array experimental devices and the superconductor phenomenon. It was confirmed that the experimental device that arranged the quantum of magnetism rotated by canceling out the magnetism by having a resistance value of "0", which is not a general characteristic of magnetism that generates attractive force. This is an observation of the similarity between the superconductor phenomenon and the meissner effect, and it was confirmed that material synthesis or temperature had little effect. This study confirmed that the efficiency is more than 20 times that of existing power on average. Therefore, this study suggests that there is a possibility of commercialization of an Energy Harvesting System (EHS) that can produce and store energy.

• Archives of Metallurgy and Materials
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• v.64 no.2
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• pp.613-616
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• 2019

The objective of the present research is to develop the novel multi-compaction technology to produce hybrid structure in powder metallurgy (P/M) components using dissimilar Fe-based alloys. Two distinct powder alloys with different compositions were are used in this study: Fe-Cr-Mo-C pre-alloyed powder for high strength and Fe-Cu-C mixed powder for enhanced machinability and lower material cost. Initially, Fe-Cu-C was pre-compacted using a bar-shaped die with lower compaction pressure. The green compact of Fe-Cu-C alloy was inserted into a die residing a half of the die, and another half of the die was filled with the Fe-Cr-Mo-C powder. Then they subsequently underwent re-compaction with higher pressure. The final compact was sintered at 1120℃ for 60 min. In order to determine the mechanical behavior, transverse rupture strength (TRS) and Vickers hardness of sintered materials were measured and correlated with density variations. The microstructure was characterized using optical microscope and scanning electron microscope to investigate the interfacial characteristics between dissimilar P/M alloys.

• The Journal of Korea Robotics Society
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• v.19 no.3
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• pp.244-253
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• 2024

This paper presents a novel stem-cutting device using a twisted string actuation system combined with the cinch bag-typed gripper proposed in previous research. The suggested cutting device was developed to cut the stem of a tomato using two motors. The relationship between contact time and motor angle was mathematically induced, and the contacting time was verified through the experiments. The contact time has decreased as the offset of each pair of strings at the disk increases. The contact time and its deviation were reduced by increasing the radius of the twisted string bundle, and the motor torque to exert an equivalent cutting force was surged at the same time. The proposed cutting mechanism with 16 strands of twisted string bundle and 40 mm of offset can cut the given tomato stems and stalks, exerting up to 132.4 N of cutting force in 4.6 to 6.5seconds.

• Journal of Drive and Control
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• v.21 no.3
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• pp.28-35
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• 2024

This study compared performances of PID (Proportional Integral Derivative), SMC (Sliding Mode Control), and MPC (Model Predictive Control) strategies applied to a 2DOF (Degree Of Freedom) drone tracking robot. The developed 2DOF robot utilized a depth camera with an IMU (Inertial Measurement Unit), laser pointers, and servo motors to rapidly detect and track objects. Image processing was conducted using the YOLO deep learning model. Through this setup, controllers were attached to the robot to track random drone movements, comparing performances in terms of accuracy and energy consumption. This study revealed that while SMC demonstrated precise tracking without deviating from the path, both PID and MPC controllers showed deviations. Performance-wise, SMC is superior. However, considering economic aspects, PID is more advantageous due to its lower power consumption and relatively minor tracking errors.

• IEMEK Journal of Embedded Systems and Applications
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• v.19 no.4
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• pp.203-210
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• 2024

The automotive industry is transitioning from traditional internal combustion engines to systems powered by motors, batteries, and various electronic control units. Central to this shift is the micro-controller unit, which processes data from various sensors for real-time environmental awareness and control. This paper explores using non-contact magnetic sensors for sensing vehicle inclination as part of a digital twin implementation. Unlike optical or contact sensors, non-contact magnetic sensors offer robust performance in challenging environments, providing consistent and reliable data under varying conditions. To optimize real-time data processing, we propose a double buffer structure to enhance digital signal processing performance in embedded systems. Experiments using a custom sensor-integrated board demonstrate that the double buffer structure with direct memory access-enabled serial peripheral interface significantly reduces data processing time and improves noise reduction filtering. Our results show that the proposed system can greatly enhance the reliability and accuracy of sensor data, crucial for real-time vehicle control systems. In particular, by using the double buffer structure proposed in this paper, it was possible to secure 8.27 times more data compared to raw data, despite performing additional filtering. The techniques outlined have potential applications in various fields, offering enhanced monitoring and optimization capabilities, thus paving the way for more advanced and efficient vehicle control technologies.

• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.4
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• pp.357-367
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• 1999

When traction system of 2-motor driven electric vehicle(EV) is consisted of two motors (IPMSM) . two inverters. and one traction controller, control performances of IPMSM for an electric vehicle is affected by parameter variation b because of large current magnitude and wide current phase angle. To solve this problem, new parameter estimator for L Ld and Lq is constructed by neu때 network technique. And new vector control algorithm with parameter estimator by n neural network is proposed for IPMSM.And also. an advanced traction control algorithm is proposed using fuzzy c controller in order to enhance the driveability oftwo-wheel drive EVs with fitted with a traction control system Performances of the proposed algorithm are examined by simulations and the experimental resul않 with respect to t the prototype IPMSM and EV.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.5
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• pp.519-525
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• 2010

The finite element (FE) method is generally used to model and simulate the physical behavior of large structures, such as passenger vehicles or aircraft. However, FE analysis involves a very large computation time and cost for developing the analysis model. Therefore, the vibration characteristics of large structural systems are often analyzed using the component mode synthesis (CMS) method, which is one of the substructure synthesis methods. In this study, the vibration characteristics of passenger vehicles are analyzed by using the substructure synthesis method. A passenger vehicle model, which includes a vehicle body, suspension systems, and a sub-frame, is presented. The physical components of the vehicle system are modeled as equivalent substructures using the Craig-Bampton method of CMS. The vibration characteristics, such as the natural frequencies and mode shapes and frequency response, of the vehicle system are determined. The effects of variations in some design parameters on the vibration characteristics of the full vehicle model are also investigated.

• Journal of the Korean Solar Energy Society
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• v.30 no.3
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• pp.98-107
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• 2010

This paper introduces step by step procedures for the design, fabrication and operation of a solar tracking system. The system presented in this study consists of motion controllers, motor drives, step-motors, feedback devices and other accessories to support its functional stability. CdS sensors are used to constantly generate feedback signals to the controller, which assures a high-precision solar tracking even under adverse conditions. It enables instant correction if the system goes off track by strong winds causing gear backlash. A parabolic dish concentrator is mounted on the tracking system whose diameter was 30cm. The solar position data, in terms of azimuth and elevation, sunrise and sunset times were compared with those of the Astronomical Applications Department of the U.S. Naval Observatory. The results presented here clearly demonstrate the high-accuracy of the present system in solar tracking, which are applicable to many existing solar systems.