http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
강건 제어를 통한 곤돌라 탑재형 외벽청소로봇의 수직 외란 제거 및 장애물 주변의 청소 성능 향상
서창국(Changkook Seo),김경민(Kyungmin Kim),김한봄(Hnabom Kim),김화수(Hwasoo Kim),서태원(TaeWon Seo) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
The number of high-rise buildings continues to increase in modern times, and as a result, various façade cleaning robots are being developed, and efforts are also being made to protect workers from dangerous work through automated façade cleaning robots. In order to clean the entire wall of such robots, it is essential to overcome obstacles such as outer wall structures and clean them. Robots currently developed are overcoming obstacles through instrumental or simple control. However, in most cases, it can be seen that uncleaned areas are not fully cleaned or disturbances arising from gondola operations cannot be eliminated, resulting from the disturbance on the gondola. In this paper, z-axis manipulation and H-infinite control based control allow us to overcome obstacles entirely while eliminating disturbances and minimizing uncleaned areas.
가스화 조건에서 슬래그 성분이 크롬계 내화재 미세구조 변화에 미치는 영향
오명숙(Oh, Myong-Sook),김한봄(Kim, Han-Bom),박우성(Park, Woo-Sung) 한국신재생에너지학회 2007 한국신재생에너지학회 학술대회논문집 Vol.2007 No.11
The inside wall of a coal gasifier is lined with refractory, and the corrosion of the refractory by coal sag is an important parameter affecting the refractory lifetime and the replacement period. This paper examines the changes in microstructure of a chromia refractory due to chemical reactions with penetrating slag as a function of slag composition. The effects of CaO and Fe₂O₃ concentrations were studied using Datong and KIDECO slag. Static corrosion experiments were carried out, the percent slag penetration and changes in the microstructure were determined by SEM/EDX analyses. FactSage equilibrium calculations were carried out to determine the equilibrium products and the predictions were compared with experimental observations.
석탄 슬래그 점도가 크롬계 내화물의 침식에 미치는 영향
오명숙,김한봄 한국공업화학회 2001 응용화학 Vol.5 No.2
Experiments were carried out to study the chemical interaction between coal slags and Zr-bearing chromia refractory. The results showed that the corrosion was related to the slag viscosity : the lower the slag viscosity was, the greater the amount of slag was penetrated under CO/CO₂ reducing gas mixture. Small refractory cores taken after corrosion experiments were polished and examined by scanning electron microscopy and X-ray diffraction. We observed fayalite crystals probably from the slag penetrated and Cr₂O₃ and ZrO₂ crystals of refractory.