Design Factor Analysis of End-Effector for Oriental Melon Harvesting Robot in Greenhouse Cultivation (시설재배 참외 수확 로봇용 엔드이펙터의 설계 요인 분석)
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- Journal of Bio-Environment Control
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- v.22 no.3
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- pp.284-290
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- 2013
This study analyzed the geometric, compressive, cutting and friction properties of oriental melons in order to design a gripper capable of soft handling and a cutter for cutting oriental melon vine among the end effector of oriental melon as a preliminary step for developing the end effector of the robot capable of harvesting oriental melons in protected cultivation. As a result, the average length, diameter at the midpoint, weight, volume and roundness of the oriental melons were 108 mm, 70 mm, 188 g, 333 mL and 3.8 mm. Nonlinear regression analysis was performed on the equation
The southeastern Korean Peninsula has experienced crustal multi-deformations according to changes of global tectonic setting during the Cenozoic. Characteristic features of the crustal deformations in relation to major Cenozoic tectonic events are summarized as follows. (1) Collision of Indian and Eurasian continents and abrupt change of movement direction of the Pacific plate (50
The quantitative measurement of interfacial adhesion energy (Gc) of multilayer thin films for Cu interconnects was investigated using a double cantilever beam (DCB) and 4-point bending (4-PB) test. In the case of a sample with Ta diffusion barrier applied, all Gc values measured by the DCB and 4-PB tests were higher than 5 J/㎡, which is the minimum criterion for Cu/low-k integration without delamination. However, in the case of the Ta/Cu sample, measured Gc value of the DCB test was lower than 5 J/㎡. All Gc values measured by the 4-PB test were higher than those of the DCB test. Measured Gc values increase with increasing phase angle, that is, 4-PB test higher than DCB test due to increasing plastic energy dissipation and roughness-related shielding effects, which matches well interfacial fracture mechanics theory. As a result of the 4-PB test, Ta/Cu and Cu/Ta interfaces measured Gc values were higher than 5 J/㎡, suggesting that Ta is considered to be applicable as a diffusion barrier and a capping layer for Cu interconnects. The 4-PB test method is recommended for quantitative adhesion energy measurement of the Cu interconnect interface because the thermal stress due to the difference in coefficient of thermal expansion and the delamination due to chemical mechanical polishing have a large effect of the mixing mode including shear stress.
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70
In steel moment frames constructed of H-shapes, strong-axis moment connections should be used for maximum structural efficiency if possible. And most of cyclic seismic testing, domestic and international, has been conducted for strong-axis moment connections and cyclic test data for weak-axis connections is quite limited. However, when perpendicular moment frames meet, weak-axis moment connections are also needed at the intersecting locations. Especially, both strong- and weak-axis moment connections have been frequently used in domestic practice. In this study, cyclic seismic performance of RBS (reduced beam section) weak-axis welded moment connections was experimentally investigated. Test specimens, designed according to the procedure proposed by Gilton and Uang (2002), performed well and developed an excellent plastic rotation capacity of 0.03 rad or higher, although a simplified sizing procedure for attaching the beam web to the shear plate in the form of C-shaped fillet weld was used. The test results of this study showed that the sharp corner of C-shaped fillet weld tends to be the origin of crack propagation due to stress concentration there and needs to be trimmed for the better weld shape. Different from strong-axis moment connections, due to the presence of weld access hole, a kind of CJP butt joint is formed between the beam flange and the horizontal continuity plate in weak-axis moment connections. When weld access hole is large, this butt joint can experience cyclic local buckling and subsequent low cycle fatigue fracture as observed in this testing program. Thus the size of web access hole at the butt joint should be minimized if possible. The recommended seismic detailing such as stickout, trimming, and thicker continuity plate for construction tolerance should be followed for design and fabrication of weak-axis welded moment connections.
The bedform stability diagram indicates the shape and size of bedforms that will occur to a given grain size and flow velocity. The diagram has been constructed from experimental data which have been mostly acquired by flume experiments. Generally, the flume experiments have been performed on well sorted sediments with unimodal grain size distribution, in order to understand relationship between grain size and flow velocity. According to the diagram, a ripple structure initiates to be formed from lower flow regime flat bed, as the flow velocity increases on the surface of fine-sand or medium-sand sediments. This study aims to verify that the experimental result of bedform stability diagram will be reproduced in our flume experimental systems, and also to confirm that the result is consistent not only on well-sorted sand sediments but also on poorly-sorted sand sediments with bimodal grain size distribution. The experimental results in this study show that initiation of 2D or 3D ripple structure on poorly-sorted sand sediments requires higher flow velocity and shear stress than those for initiation of the structure on well-sorted sand sediments. In general, carbonate sediments are characterized by poor sorting due to inactive hydraulic sorting and bimodal grain size distribution with allochems and matrices. The results suggest that the carbonate depositional system possibly need a higher flow velocity for initial formation of 2D or 3D bedform structures. The reason might be the fact that pulling off and lifting of a grain in poorly sorted sediments require more energy due to sorting, friction, stabilization, armour effects, and their complex interaction. This preliminary study warrants additional experiments under various conditions and more accurate analysis on the relationship between formation of bedforms and grain size distribution.
The Inner Port Phase 2 area of the Pyeongtaek-Dangjin Port is enclosed by a total of three permeable sea-walls, and the disposal site to the east of the Inner Port Phase 2 is also enclosed by two permeable sea-walls. The maximum tidal range measured in the Inner Port Phase 2 and in the disposal site in May 2010 is 4.70 and 2.32 m, respectively. It reaches up to 54 and 27%, respectively of 8.74 m measured simultaneously in the exterior. Regression formulas between the difference of hydraulic head and the rate of interior water volume change, are induced. A three-dimensional numerical hydrodynamic model for the Asan Bay is constructed incorporating a module to compute water discharge through the permeable sea-walls at each computation time step by employing the formulas. Hydrodynamics for the period from 13th to 27th May, 2010 is simulated by driving forces of real-time reconstructed tide with major five constituents(
Interfacial and microfailure properties of the modified steel, carbon and glass fibers/cement composites were investigated using electro-pullout test under tensile and compressive tests with acoustic emission (AE). The hand-sanded steel composite exhibited higher interfacial shear strength (IFSS) than the untreated and even neoalkoxy zirconate (Zr) treated steel fiber composites. This might be due to the enhanced mechanical interlocking, compared to possible hydrogen or covalent bonds. During curing process, the contact resistivity decreased rapidly at the initial stage and then showed a level-off. Comparing to the untreated case, the contact resistivity of either Zr-treated or hand-sanded steel fiber composites increased to the infinity at latter stage. The number of AE signals of hand-sanded steel fiber composite was much more than those of the untreated and Zr-treated cases due to many interlayer failure signals. AE waveforms for pullout and frictional signals of the hand-sanded composite are larger than those of the untreated case. For dual matrix composite (DMC), AE energy and waveform under compressive loading were much higher and larger than those under tensile loading, due to brittle but well-enduring ceramic nature against compressive stress. Vertical multicrack exhibits fur glass fiber composite under tensile test, whereas buckling failure appeared under compressive loading. Electro-micromechanical technique with AE can be used as an efficient nondestructive (NDT) method to evaluate the interfacial and microfailure mechanisms for conductive fibers/brittle and nontransparent cement composites.
Paddlewheel-driven circulation in a culture pond has been simulated based on the depth integrated 2 dimensional hydrodynamic model. Acceleration by paddlewheel is expressed as shaft force divided by water mass discharged by paddlewheel blades. The model has been calibrated and applied to culture ponds as following steps:- i) The model predicted velocities at every 10 m along longitudinal direction from the paddlewheel. The model was calibrated comparing the results with the measured values at mass correction factor