• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.61 no.12
• /
• pp.1911-1919
• /
• 2012

In this paper, we focus on a robotic sealing process in which three robots are used. Each robot can be considered as a 7 axis redundant robot of which the first joint is prismatic and the last 6 joints are revolute. In the factory floor, robot path planning is not a simple problem and is not automated. They need experienced operators who can operate robots by teaching and playing back fashion. However, the robotic sealing process is well organized so the relative positions and orientations of the objects in the floor and robot paths are all pre-determined. Therefore by adopting robotic theory, we can optimally plan robot pathes without using teaching. In this paper, we analyze the sealing robot by using redundant manipulator theory and propose three different methods for path planning. For sealing paths outside of a car body, we propose two methods. The first one is resolving redundancy by using pseudo-inverse of Jacobian and the second one is by using weighted pseudo-inverse of Jacobian. The former is optimal in the sense of energy and the latter is optimal in the sense of manipulability. For sealing paths inside of a car body, we must consider collision avoidance so we propose a performance index for that purpose and a method for optimizing that performance index. We show by simulation that the proposed method can avoid collision with faithfully following the given end effector path.

• Computers and Concrete
• /
• v.19 no.2
• /
• pp.153-159
• /
• 2017

In this study, the strength properties of alkali-activated silica fume (SF) mortars were investigated. The crushed limestone sand with maximum size of 0-5 mm and the sodium meta silicate ($Na_2SiO_3$) used to activate the binders were kept constant in the mortar mixtures. The mortar specimens using the replacement ratios of 0, 25, 50, 75 and 100% SF by weight of cement together with $Na_2SiO_3$ at a constant rate were produced in addition to the control mortar produced by only cement. Moreover, the mortar specimens using the replacement ratio of 4% titanium dioxide ($TiO_2$) by weight of cement in the same mixture proportions were produced. The prismatic specimens produced from eleven different mixtures were de-moulded after a day, and the wet or dry cure was applied on the produced specimens at laboratory condition until the specimens were used for flexural strength ($f_{fs}$) and compressive strength ($f_c$) measurement at the ages of 7, 28 and 56 days. The $f_{fs}$ and $f_c$ values of mortars applied the wet or dry cure were compared with the results of control mortar. The findings revealed that the $f_c$ results of the alkali activated 50% SF mortars were higher than that of mortar produced with Portland cement only. It was found that the $f_{fs}$ and $f_c$ of alkali-activated SF mortars cured in dry condition was averagely 4% lower than that of alkali-activated SF mortars cured in wet condition.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.38 no.3
• /
• pp.227-234
• /
• 2014

Fuel consumption rates of electric vehicles strongly depend on their battery performance. Because the battery performance is sensitive to the operating temperature, temperature management of the battery ensures its performance and durability. In particular, the temperature distribution among modules in the battery pack affects the cooling characteristics. This study focuses on the thermal modeling of a battery pack to observe the temperature distribution among the modules. The battery model is a prismatic model of 10 NiMH battery modules. The thermal model of the battery consists of heat generation, convective heat transfer through the channel and conduction heat transfer among modules. The heat generation is calculated by the electric resistance heat during the charge/discharge state. The model is used to determine a strategy for proper thermal management in Electric vehicles.

• Journal of Environmental Science International
• /
• v.23 no.4
• /
• pp.561-569
• /
• 2014

The water resources system of Jeju-do Island entirely depends on groundwater. This study is making a precision observation of baseflow, surface water, water shortage that might be vulnerable to climate change and drought in future. The field observation of baseflow discharges in Akgeuncheon stream has regularly been made with ADCP and ADC and Flowmate every two weeks for twenty-two (22) months (July 8, 2011 to April 27, 2013). This paper represent the results of calculating discharge of a number of hydraulic structures (broad-crested weirs) with comparing and has been calculated more accurate discharges with suitability of different observation methods. The average discharge has been observed 0.851 $m^3/s$, whereas the average ADC and Flowmate is 0.709 $m^3/s$. Meanwhile, stream discharge has been calculated 0.709 $m^3/s$ through the broad-crested weir equation. The discharge has calculated with the weir equation greatly changed according to even a small change in the water level. However, it showed a similar trend to one of the observed discharge. Although, in past there were generating errors caused by observers' strides, vertical and horizontal flow velocity distribution when the average flow velocity had been measured, non-prismatic flow, turbulent flow and others in ADC. This study comes up with the weir equation is more suitable for the characteristics of Jeju-do could be presented through an observations of baseflow discharge.

• Journal of the Korean Ceramic Society
• /
• v.26 no.3
• /
• pp.305-314
• /
• 1989

Effect of pH variation in starting solution for the making of hydroxyapatite powder was studied in relation to the sinterability of the powder and their mechanical properties of the sintered hydroxyapatite ceramics. The sinterability of hydroxyapatite powder prepared at different pH was found to be improved with increase in pH value of the starting solutions. Thus the powders prepared from the higher pH solutions including 10.5, 11.0 and 11.5 could be well densified almost upto theoretical density by firing for 1 hr at 1,00$0^{\circ}C$. But the powder based on pH 10 exhibited less sinterability even being fired at much higher temperature of 1,10$0^{\circ}C$, it gave only 90-95% of theoretical density. On the other hand the powder prepared on the lowest pH value 9.5 could not be well densified and it could obtain only 78% of theoretical density even by firing at 1,30$0^{\circ}C$ for 1hr. It was found that prismatic crystals of whitlockite were always included in the sintered bodies based on the lower pH values as a minority crystalline phase together with the major crystalline phase of hydroxyapatite and its inclusion might impair the sinterability of powder. However in the case of the higher pH, the powder contained only hydroxyapatite as a crystalline phase on sintering without any minorities. The sphere shape of crystals might help effectively the densification of the bodies. The best mechanical properties could be obtained from the body of pH 11 sintered at 1,10$0^{\circ}C$, which gave 99.5% of theoretical density, 662Kg/$\textrm{mm}^2$ of vickers hardness and 1,352Kg/$\textrm{cm}^2$ of diameteral compression strength.

• Journal of the Korean Ceramic Society
• /
• v.54 no.3
• /
• pp.211-216
• /
• 2017

ZnO nanopowder was synthesized using a relatively facile and convenient glycol process. ZnO nanopowder was successfully synthesized at temperatures as low as $125^{\circ}C$ using zinc acetate as the Zn source and 1,4-butanediol as the solvent. Then, the effects of water content on the growth process and morphological evolution of ZnO powders were investigated using 1,4-butanediol and water as binary solvent mixtures. Using pure 1,4-butanediol at a temperature above $125^{\circ}C$, the prepared hexagonal ZnO nanopowder exhibited a quasi-spherical shape with average crystalline size of approximately 30 - 50 nm. It is also demonstrated that the morphology of ZnO powders can be controlled by the addition of various water content in 1,4-butanediol. With increasing water content, the morphologies of the ZnO powders changed sequentially from quasi-spherical to hexagonal plate and pyramid, and finally to hexagonal prismatic with a pyramidal tip. A sharp peak centered at 384 nm in the UV region and a weak broad peak in the visible region between 450 and 700 nm were shown in the room temperature PL spectra of the ZnO synthesized using the glycol process, regardless of the addition of water, suggesting that ZnO nanopowders with the best crystallinity were obtained under these conditions.

• Journal of the Korean Vacuum Society
• /
• v.4 no.S2
• /
• pp.100-105
• /
• 1995

Nitrogen implantation process has been applied for improvement of wear resistance of Zircaloy-4 fuel cladding materials. Nitrogen was implanted at 120keV to a total dose range of $1\times 10^{17}$ions/$\textrm{cm}^2$ to $1\times 10^{18}$ions/$\textrm{cm}^2$ at various temperatures between $270^{\circ}C$ and $671^{\circ}C$. The microstructure changes by nitrogen implantation were analyzed by XRD and AES and wear behavior was evaluated by performing ball-on-disc type wear testing at various loads and sliding velocities under unlubricated condition. Nitrogen implantation produced ZrNx nitride above $3\times 10^{17}$ions/$\textrm{cm}^2$ as well as heavy dislocations, which resluted in an increase in microhardness of the implanted surface of up to 1400 $H_k$ from 200 $H_k$ of unimplanted substrate. Hardness was also found to be increased with increasing implantation temperature up to 1760 $H_k$ at $620^{\circ}C$. The wear resistance was greatly improved as total ion dose and implantation temperature increased. The effective enhancement of wear resistance at high dose and temperature is believed to be due to the significant hardening associated with high degree of precipitation of Zr nitrides and generation of prismatic dislocation loops.

• Bulletin of the Korean Chemical Society
• /
• v.19 no.9
• /
• pp.897-906
• /
• 1998

A new synthesis has been developed for 1-thia-4,7-diazacyclononane and the complexation behavior of a particular derivative has been explored. The pentadentate ligand 4,7-bis(2-pyridylmethyl)-l-thia-4,7-diazacyclononane ([9]$N_2SPY_2$) and its iron(Ⅱ) and manganese(Ⅱ) complexes were prepared and characterized. Magnetic moments of 5.17 and 5.90 μB respectively, indicate that the iron(Ⅱ) and manganese(Ⅱ) complexes are high spin. Charge transfer transitions (d-π*) occur for [Fe(Ⅱ)([9]$N_2SPY_2)(X)]^{n+}$at 27027, 25000, and 24390 cm-1 for X=$H_2O$, Cl-, and OH-, respectively. In acetonitrile solution, the cyclic voltammogram of the manganese(Ⅱ) complex exhibits a redox couple at 0.92 V vs. NHE while the redox potentials for [Fe(Il)([9]$N_2SPY_2)(X)]^{n+}$ are 0.70, 0.66, and 0.37 V vs. NHE for X=$H_2O$, Cl-, and OH-, respectively. The d-π* charge transfer energy and Fe(Ⅱ)/Fe(Ⅲ) redox potential for [Fe(Ⅱ)([9]$N_2SPY_2)(X)]^{n+}$ increase in the same order: $H_2O>Cl^- >OH^-$. The crystal structures of the iron(Ⅱ) and manganese(Ⅱ) complexes reveal that the metal ions are sixcoordinate, binding to four nitrogen atoms and a sulfur atom from the pentadentate ligand, as well as a chloride anion, with the chloride and sulfur atoms in cis positions. The two metals have similar coordination geometries, which are closer to trigonal prismatic than octahedral. In both iron and manganese complexes, the M-N($sp_3$) trans to Cl- is 0.07 Å longer than the one cis to Cl- , and M-N($sp^2$) trans to S is 0.05 longer than the one cis to S atom.

• Journal of the Korea institute for structural maintenance and inspection
• /
• v.23 no.3
• /
• pp.43-50
• /
• 2019

Effects of tensile strength and aspect ratio of steel fiber on compressive and flexural behavior of steel fiber-reinforced concrete (SFRC) with high- and normal-strength were investigated. Also, this study explores compressive behavior of SFRC with different loading rate. For this purpose, four types of steel fiber were used for SFRC with specified compressive strength of 35 and 60 MPa, respectively. Cylindrical specimens with a diameter of 150 mm and height of 300 mm were made for compression test, and prismatic specimens with a $150{\times}150mm$ cross-section and 450 mm span length were made for flexural test. Test results from compression and flexural tests indicated that the toughness of concrete significant increased with steel fibers. Especially, using steel fiber with high tensile strength and aspect ratio can be lead to performance improvement of high-strength SFRC. In this study, equations are suggested to predict compressive toughness ratio of SFRC from flexural toughness ratio.

• Journal of Convergence for Information Technology
• /
• v.11 no.6
• /
• pp.219-225
• /
• 2021

As for the battery package method, a prismatic package method is preferred for stability reasons, but it is rapidly expanding due to the stability verification of a pouch type package. The pouch type using the lamination process has an advantage of high battery energy density because it can reduce space waste, but has a disadvantage of low productivity. Therefore, in this paper, by extracting edge detection algorithm precision, pattern algorithm precision, and motion controller recall rate by improving backlight lighting fixtures to minimize light diffusion, securing standards for stereo camera position relationship displacement monitoring, and securing standards for lens release monitoring. We propose to implement a system that ensures accuracy and reliability in positioning. As a result of the experiment, the proposed system shows an average error range of 0.032mm for edge detection, 0.02mm for pattern algorithm, and 0.014mm for motion controller, thus ensuring the accuracy and reliability of the positioning mechanism.