Earticle

The role of QR Code robots in smart logistics is great. Cognitive robots, such as logistics robots, were mostly used to adjust routes and search for peripheral sensors, cameras, and recognition signs attached to walls. However, recently, the ease of making QR Codes and the convenience of producing and attaching a lot of information within QR Codes have been raised, and many of these reasons have made QR Codes recognizable as visions and others. In addition, there have been cases in developed countries and Korea that control several of these robots at the same time and operate logistics factories smartly. This representative case is the KIVA robot in Amazon. KIVA robots are only operated inside Amazon, but information about them is not exposed to the outside world, so a variety of similar robots are developed and operated in several places around the world. They are applied in various fields such as education, medical, silver, military, parking, construction, marine, and agriculture, creating a variety of application robots. In this work, we are developing a robot that can recognize its current position, move and control in the directed direction through two-dimensional QR Codes with the same horizontal and vertical sides, and the error is to create a QR Code robot with accuracy to reach within 3mm. This paper focuses a study on the speculative navigation using auxiliary encoder during the development of QR Code-aware indoor mobility robots.

Speaker is the converting device which change electric energy to sound energy, and we can easily see the speaker. They are widely used to home and car audio unit, home and industrial alarm device. Sometimes, the alarm sounds cause the environmental noise. Therefore it is important to design the appropriate speaker according to the installed device and position. In order to study the vibration and sound characteristics, the curvature of the cone paper is changed. Finite element method is used to compute the vibration characteristics and mode. Indoor and Vehicle teats are carried out to investigate the non-linear characteristics and the sound characteristics for some car speakers.

In this paper, it is suggested to the certification conditions for the vertically landing site installation regulations and the application of sandwich panels at landing sites with optical measuring skills. This method was presented as a way of supporting aircraft to make safe landings, and was presented with regulations for landing sites that have not yet been determined. In order to develop technologies such as ground systems and personal aircraft of urban air transportation, which are expected to be the core of the future aviation sector, certification regulations to secure stability will be established soon.

Due to the strengthening of domestic and international environmental regulations, the replacement of FRP ships with aluminum ships for small ships is continuously in progress. Domestic aluminum ships are being applied to various types of ships, mainly special ships, passenger ships and fishing ships. Gas metal arc welding(GMAW) is used as a welding method when manufacturing ships using aluminum materials for ships with a thickness of 5mm or more. However, it is carried out manually by the workers in the shipyard, and there is a limit to relying on the skills of the workers. In this study, basic research on high-efficiency tandem welding was performed as a basic study for the application of high-quality automatic welding equipment when working on aluminum ships. In this study, welding deformation according to constraint conditions was comparatively analyzed using tandem welding equipment and cross-sections of welds were evaluated for each experiment.

Due to stricter environmental regulations of the International Maritime Organization(IMO), the number of ships fueled by Liquefied Natural Gas(LNG) is rapidly increasing. The International Code of the Construction and Equipment of Ships Carrying Liquefied Gases in Bulk(IGC Code) limits the material of tanks that can store cryogenic substances such as LNG. Among the materials listed in the IGC Code, ASTM A553M-17 has been recently adopted as a material for LNG fuel tank projects because of its excellent mechanical properties at cryogenic temperatures. In shipyards, this material is being used to build tanks through Flux Cored Arc Welding (FCAW). However, there is a problem that magnetization occurs during welding and there is a big difference in welding quality depending on the welding position. In order to overcome this problem, this study intends to conduct basic research to apply laser welding to ASTM A553M-17 material. In this study, a study on penetration (HAZ depth, Penetration) and welding defects during fiber laser welding according to three types of shielding gases(nitrogen, argon, and helium) was conducted. To this end, a Bead on plate(BOP) experiment was performed under four fiber laser conditions(Power, Speed) for each shielding gas and welding defects caused by the use of the shielding gas were compared through cross-sectional observation, and the penetration depth was analyzed.

In the present paper, the natural fiber materials that can be replaced to reduce the weight of the vehicle are analyzed by bubble charts of - and - , and the possibility of alternative application of materials is investigated. For this purpose, the driving energy and fuel efficiency of the vehicle using the data of K model analyzed. In addition, the effect of vehicle weight on fuel efficiency was analyzed through the dynamic analysis approach of the vehicle. From the research results, the following results were obtained. Most of natural fibers have lower density and equal tensile strength and strain than metal materials. Therefore, the application rate of natural fiber materials should be increased in consideration of the application purpose and material characteristics of the vehicle. The major variables that greatly influence driving energy and fuel efficiency were fuel efficiency improvement of about 10% in order of speed, rolling resistance and mass. In addition, when steel is lightened by 10%, fuel efficiency improvement of up to maximum 4.5% is shown in the order of CFRP, Al, Ti.

This paper describes the conceptual design and performance evaluation of a personal air vehicle(PAV), which is selected as one of the major futuristic individual transportation. In this study, blade element theory(BET) was used to find a standard rotate speed, and a computational fluid dynamics (CFD) simulation was used to see the difference of the thrust performance in terms of rotor axis distance of quadcopter shape PAV in hover mode. The commercial ANSYS-FLUENT program was used to generate the CFD data. Modal analysis was used to calculate rotor dynamics and make Campbell diagram to find critical speed. The results showed that changes in the rotor axis distance clearly affect the aerodynamics thrust and critical speed of a quadcopter PAV.

This is the research report concerned with the new stability concept and designing the controller of the time periodic systems. The periodic systems which is governed by time is very common in various type of dynamic systems. For example, the satellite is the large scale and the experimental test equipment as pendulum is also time periodic systems. The motion of the systems during the time interval is running repeatedly. While this periodic systems is running, the dynamic stability is important to behave the appropriate motion of the system's function. This research propose the new stability approach based on Lyapunov theorem which is analyzing the system's stability adapting the specific energy function. And also this research introduces the developing numerical procedures to retain the stability of time periodic system. Finally, the result of this research is very useful to judge the stability and design the controller of time periodic system.

ROPS is a structure installed to protect drivers from tractor rollover accidents and is being tested for certification under the OECD code. Because this test requires a lot of cost and time to develop the ROPS and to produce test model, the OECD is discussing the introduction of virtual test using finite element analysis. In this study, the results were compared by conducting a strength test and finite element analysis applied with the OECD code to use it as a basic data for standardization of ROPS virtual test methods. It was confirmed that the results of the analysis of the bolts and plates of the coupling part and the folding part were more close to the physical test results than the rigid elements and constraints at the point of coupling the tractor and ROPS.

The enhancement of heat transfer in cooling system of cylindrical lithium-ion battery pack is numerically investigated by installing fins on the cooling plate. Battery Design StudioⓇ software is used for modeling electro-chemical heat generation in the battery and the conjugated heat transfer is analyzed with the commercial package STAR-CCM+. The result shows that installing fins on the cooling plate increases the convective heat transfer on the surface and thus lowers the maximum temperature of the battery pack. As the length and thickness of the fins increase, heat transfer in the battery pack improves. Considering the geometry and airflow of the battery pack, the optimal values for the length and thickness of the fin are both 2mm. As the convective heat transfer coefficient of the surface increases, the maximum temperature of the battery pack is greatly reduced and the temperature gradient is greatly improved.

The purpose of this study is to require countermeasures for alternative energy of diesel combustion engines, which has a serious impact on air pollution when using the quantitative limit of petroleum-based energy and transportation energy. This study attempted to study the usefulness of the oxygen component in fuel as a measure to reduce exhaust emissions from diesel engines used in reality. Dimethoxy methane (DMM), which contains about 42% oxygen in itself, was mixed with diesel and applied to a diesel engine. As a result of the study, it was confirmed that as the oxygen content in the fuel increased, smoke was greatly reduced and NOx increased.

Small-sized heater is usually used to make the hot water in resting place, factory, household affairs and so on. One of methods to obtain hot water in short time is known as using instantaneous electric water heater. In this study, numerical analysis for small-sized hot water heater with straight double tube-type was tried to achieve the basic design data. This study aims to investigate the characteristics of thermal flow, for instance, such as pressure difference, outlet mean temperature and velocity, due to clearance. As the clearance is decreased, outlet mean temperature and pressure difference(Pmax.-Pmin.) are increased. Therefore appropriate relations between area of heat source and pressure difference should be set up. Further small-sized hot water heater in this study must be equipped with electric device capable of heating over 90℃.

Friction damping is often used as a vibration isolation medium to protect large objects from vibration. In this paper, it is modeled and analyzed a basis-excited nonlinear vibration system with friction damping using the SCPA method, which is one of the averaging methods. The displacement transmissibility and the stability of the steady state response were analyzed seperately for the linear and the non-linear spring systems. The critical frequency at which the relative motion starts was obtained as a function of the friction ratio, and the characteristics of the displacement transmissibility according to the change of the design parameters were investigated. In the case of the nonlinear spring system, the displacement transmissibilities were divided into three types and the motion characteristics were considered. In particular, there was a peculiarity that the displacement transmissibilty curve was separated at specific parameter values.

Most sensors are affected by temperature, so they are tested in advance and used for temperature compensation. However, sensor affected by the temperature hysteresis is not compensated. This is because even if compensation is made in the form of a general n-th polynomial, the effect of hysteresis remains the same. In this paper, a method of compensating accelerometer biases with hysteresis using a new parameter C was studied. This technique goes beyond finding the appropriate variable for compensation and is a method of creating the parameter itself with a combination of new variables. As a result, most errors could be eliminated.

A Emergency Diesel Generator(EDG) in Nuclear Power Plant supplies electrical power to reactor cooling system when on/off site power is lost. So that protect the reactor from melting down. A Emergency Diesel Generator is required to reach ±2% of rated frequency(rotational speed) within 10 sec. To achieve prompt start, it is needed to find out affective factors and effect of that during starting period. This paper describes case of fail to achieve starting requirement and improvement of starting performance.

A program was written that calculates the contact point and rolling radius difference by considering the lateral displacement of the wheelset with respect to the rail. The characteristics of the equivalent conicity were analyzed according to the distribution characteristics of wheelset lateral displacement using the calculated rolling radius difference. The standard deviation value representing the characteristics of the wheelset lateral movement should be appropriately applied considering the range of the lateral wheelset displacement. If a small standard deviation value is applied when the lateral displacement increases during actual driving condition, the equivalent conicity could be underestimated, which may cause a problem in determining a reliable stability of the railway vehicle.

The role of QR Code robots in smart logistics is great. Cognitive robots, such as logistics robots, were mostly used to adjust routes and search for peripheral sensors, cameras, and recognition signs attached to walls. However, recently, the ease of making QR Codes and the convenience of producing and attaching a lot of information within QR Codes have been raised, and many of these reasons have made QR Codes recognizable as visions and others. In addition, there have been cases in developed countries and Korea that control several of these robots at the same time and operate logistics factories smartly. This representative case is the KIVA robot in Amazon. KIVA robots are only operated inside Amazon, but information about them is not exposed to the outside world, so a variety of similar robots are developed and operated in several places around the world. They are applied in various fields such as education, medical, silver, military, parking, construction, marine, and agriculture, creating a variety of application robots. In this work, we are developing a robot that can recognize its current position, move and control in the directed direction through two-dimensional QR Codes with the same horizontal and vertical sides, and the error is to create a QR Code robot with accuracy to reach within 3mm. This paper focuses a study on the application of QR Code recognition system during the development of QR Code-aware indoor mobility robots.

Due to global warming and environmental pollution, environmental regulations are getting stronger, and the International Maritime Organization announced regulations to reduce CO2 emissions in 2018. In order to respond to this, interest in hydrogen energy is growing, and research on liquid hydrogen is spotlighted for storage and transport of large amounts of hydrogen. Hydrogen reduces in volume to 1/800 when liquefied, but its boiling point is close to absolute zero(-253°C), and hydrogen embrittlement that penetrates other materials and weakens mechanical properties. In this study, the change of mechanical properties under cryogenic conditions (-196 degrees below zero) was confirmed after charging hydrogen into existing cryogenic materials (Stainless steel, High Manganese steel, 9% Nickel steel). In Part I, hydrogen was charged using an electrochemical method and quantitative evaluation was performed. In all four materials, as the changing time increased, the diffusible hydrogen concentration increased. After 24 hours charging, the hydrogen loading of 20 wppm in 9% Ni steel and 15 wppm in high-Mn steel was confirmed. In a follow-up study, we plan to study the effect of hydrogen charging by comparing the results of the mechanical properties test with the above results.

In this study, the AEB system evaluation simulation was conducted by applying a corrected TTC from 0s to 3s obtained by estimating the road-friction factor and slope applying two scenarios(CCRs and CCRm) that may occur in V2V situation using PC-CrashⓇ, a program used for traffic accident analysis. As a result of two scenarios : At 0.8 of road-friction factor and 0° slope which adapted default model of TTC had longer braking distance so that it crashed. At 0.2 of road-friction factor with corrected TTC slidingly crashed due to slope and braking condition. CCRs and CCRm scenario showed that the maximum slipped distance of the collision avoidance situation was 31.7m, 87.7m. And the collision speed was 35.7km/h at 50km/h and 66.1km/h at 80km/h.

In system design, it is not always possible that all decision makers can cooperate fully and thus avoid conflict. They each control a specified subset of design variables and seek to minimize their own cost functions subject to their individual constraints. However, a system management team makes every effort to coordinate multiple disciplines and overcome such noncooperative environment. Although full cooperation is difficult to achieve, noncooperation also should be avoided as possible. Our approach is to predict the results of their cooperation and generate approximate Pareto set for their multiple objectives. The Pareto set can be obtained according to the degree of one's conceding coupling variables in the other's favor. We employ approximation concept for modelling this coordination and the mutiobjective genetic algorithm for exploring the coupling variable space for obtaining an approximate Pareto set. The approximation management concept is also used for improving the accuracy of the Pareto set. The exploration for the coupling variable space is more efficient because of its smaller dimension than the design variable space. Also, our approach doesn't force the disciplines to change their own way of running analysis and synthesis tools. Since the decision making process is not sequential, the required time can be reduced comparing to the existing multidisciplinary design optimization. This approach is applied to some mathematical examples and structural optimization problems.

The emergency diesel generator of a nuclear power plant is a emergency AC power source that starts up within 10 seconds when a LOOP(Loss Of Off-site Power) occurs and supplies power to essential safety facilities. In this study, factors affecting start signal input time, engine rotation start time, 30% of engine rated speed, 80% of engine rated speed were studied to secure starting reliability. As a result, it was found that the section before the 30% of engine rated speed was affected by the mechanical management status from the start signal to the fuel oil linkage system. After the 30% of engine rated speed section, it was the maximum fuel supply section, and the time reduction effect through management improvement was insignificant.

Due to environmental pollution, regulations on existing petroleum-based fuels are increasing day by day. LNG is in the spotlight as an eco-friendly fuel that does not emit NOx or SOx, but its boiling point is -163°C, so it needs to be handled with care. Materials that can be used at the above temperature are defined by IMO through the IGC Code. Among them, 9% nickel steel has great advantages in yield strength and tensile strength under cryogenic conditions, but it is difficult to use in arc welding such as FCAW for various reasons. This study is a study to apply fiber laser welding to solve this problem. As a previous study, this study conducted a study to find a welding heat source. After performing bead on plate welding, the optimal heat source was derived by analyzing the shape of the bead and adjusting the parameters of the heat source model. In this case, by applying the multi-island genetic algorithm, which is a global optimization algorithm, not the intuition of the researcher, accurate results could be derived in a wide range.

Recently, traffic accidents have continued to occur due to the failure to secure a safe distance for trucks. Unlike passenger cars, freight cars have a large fluctuation in the weight of the vehicle's shaft depending on the load, and the fatality of accidents and the possibility of accidents are high. In this study, a braking distance prediction model according to the driving speed and loading weight of a three-axis truck was implemented to prevent a forward collision accident. Learning data was generated based on simulation, and a prediction model based on machine learning was implemented to finally verify accuracy. The extra trees algorithm was selected based on the most frequently used R2 Score among regression analyses, and the accuracy of the braking distance prediction model was 98.065% through 10 random scenarios.

This study deals with the design of the marine antenna stabilization for an efficient 6 Degrees of Freedom(DOF) motion of a ship. Marine antenna must have abilities to target center and at the same time to stabilize the antenna dish in order to maintain its orientation toward the communication center. In order to achieve such requirements, structure stability and dynamics analysis to role to set up the simulation model. Prototype model designed and implemented into the DMU(Digital Mock Up) and MBD(Multi Body Dynamics) analysis method. Those simulation method has been carried out to stabilize the antenna under the ship motion. Simulation results show that the verification of structural stability better performance for marine antenna

In this study, as part of the paradigm shift for manufacturing innovation, data from the multi-stage cold forging process was collected and based on this, a big data analysis technique was introduced to examine the possibility of quality prediction. In order for the analysis algorithm to be applied, the data collection infrastructure corresponding to the independent variable affecting the quality was built first. Similarly, an infrastructure for collecting data corresponding to the dependent variable was also built. In addition, a data set was created in the form of an independent variable-dependent variable, and the prediction accuracy of the quality prediction model according to the traditional statistical analysis and the tree-based regression model corresponding to the big data analysis technique was compared and analyzed. Lastly, the necessity of changing the manufacturing environment for the use of big data analysis in the manufacturing process was added.

This paper proposes a model predictive controller of robot manipulators using a genetic algorithm to secure the best performance by performing parameter optimization with the genetic algorithm. Genetic algorithm is a natural evolutionary process modeled as a computer algorithm and has excellent performance in global optimization, so it is useful for tuning control parameters. The sliding mode controller and inverse dynamics controller are included in the lower part of the model prediction controller to minimize the problems caused by non-linearity and uncertainty of the robot manipulator. The performance superiority of the proposed method as described above has been confirmed in detail through a simulation study.

Recently, with the development of ultra-precision technology, the quality improvement of optical parts and various products is emerging. The need for a difficult-to-cut material that is light and exhibits high hardness and high strength physical properties is being emphasized. Ultra-precision machining processing solutions for these difficult-to-cut materials are being actively developed. In this research, experiments were performed using a DTM machine equipped with a laser-assisted machining module for ultra-precision machining of CaF2 materials that are brittle but exhibit high transmittance in a wide range from ultraviolet to infrared.

This paper intends to consider the contents of the insufficient certification system of PAV and to propose the certification regulations. In other words, PAV is a combination of people and drones that should reflect commercial specifications among aviation certification specifications and civil aircraft regulations. However, the domestic PAV certification system is still lacking in clear detailed regulations, and the detailed certification system of PAV should be established as soon as possible. It is hoped that PAV certification system will be established first and applied in earnest in the future, and that the domestic PAV industry will be activated.

Recently, the expansion of the travel market and the increase in demand for leisure sports because of the weekend travel culture following the implementation of the five-day week system, leisure activities such as fields related to hobbies are becoming a major part. In this study, floating body analysis was performed according to the wave direction of the hull to analyze the effect of the wave cycle of the leisure boat. The research target boat is a 24ft-class leisure boat with a capacity of up to 6 passengers and operating at a maximum of 25 knots. Existing boats reduce the stern trim by installing interceptors, but in this study, they were not installed in order to evaluate the effect of waves. Floating body analysis was performed to evaluate the effect of waves, and the conditions necessary for the analysis were set based on the shipping environment, and the effect of the wave cycle was analyzed. this study verified the stability and stability of the leisure boat about waves, and Based on the result data, propose a management measure to efficiently reorganize the internal structural reinforcement.

Road surfaces and tires have a great influence on road noise in automobiles. Therefore, this study attempted to investigate the effect of changes in road surface and tire tread on road noise. For six road surfaces, road noise was measured and analyzed while changing two types of tire treads. In all frequency bands, the sound pressure of the road surface with a relatively large roughness was higher than that of other roads. And in the case of a road surface with relatively large pore, it was investigated that noise was reduced compared to other road surfaces due to the sound absorption effect in the low frequency area. On roads with irregular road roughness, the high sound pressure was exhibited in all frequency bands regardless of tire tread, indicating an increase in road noise due to irregular wear on roads. It was confirmed that the noise deviation due to the change in road surface was larger than the noise deviation due to the tire structure, and it is judged that noise research according to the structure and condition of the road surface.