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최근하(Keun Ha Choi),한상권(Sang Kwon Han),이진이(Jinyi Lee),이진우(Jin Woo Lee),안정도(Jung Do Ahn),김경수(Kyung-Soo Kim),김수현(Soohyun Kim) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.4
In this paper, we present a deployable bio-inspired robot called the Pillbot-light, which utilizes a safe autonomous navigation system. The Pillbot-light is mounted the station robot, and can be operated in a disaster relief operation or military operation. However, the Pilbot-light has a challenge to navigate autonomously because the Pilbot-light cannot be equipped with various sensors. As a result, we propose a new robot system for autonomous navigation that the station robot controls Pillbot-light equipped with vision camera and CPU of high performance. This system detects obstacles based on the edge extraction using vision camera. Also, it cannot only achieve path planning using the hazard cost function, but also localization using the Particle Filter. And this system is verified by simulation and experiment.
최근원(Keun Won Choi),유지희(Jihee Yoo),이영덕(Young Duk Lee),안국영(Kook Young Ahn),김한석(Han Seok Kim) 대한기계학회 2013 대한기계학회 춘추학술대회 Vol.2013 No.12
Experimental study has been carried out to investigate how the swirl intensity, in a swirl-stabilized premixed flame, affects on the flame structure and the emission characteristics for the application to the oxyfuel gas turbines. To analyze the flame structure, still images and OH radicals chemiluminescence images of oxyfuel flames have been collected using a digital camera and an ICCD camera, respectively. Gas concentrations, NO<SUB>x</SUB>, CO and O<SUB>2</SUB>, have also been measured and used in the analyses. Results reveals that the flame structure and the longitudinal distribution of CO within the combustor are strongly affected by the swirl intensity; at a higher swirl intensity, flames looked short and flat, consequently the CO disappeared rapidly to the down stream direction of the combustor; at a lower swirl intensity, flames are long-drawn and the CO remained longer to the down stream direction. Among various swirl intensities considered in this paper, 0.8 can be concluded as optimal design condition from the viewpoint of flame stability and emission characteristics; further investigation will be performed to justify the results of this paper.
최근원(Keun Won Choi),이영덕(Young Duk Lee),김한석(Han Seok Kim),안국영(Kook Young Ahn) 대한기계학회 2014 대한기계학회 춘추학술대회 Vol.2014 No.5-1
The experimental investigation on blowout characteristics have been made for a swirl-stabilized premixed oxyfuel flame at different swirl-conditions. Being compared to a conventional air-fuel flame, a CH₄/O₂/CO₂ oxyfuel flame is expected to easily blowout due to its slower chemical kinetics, mainly induced by high CO₂ concentration in the reactant gases. Experimental results, from this study, confirm the above theoretical expectation; blowout of oxyfuel flames occurred at higher flame temperature condition, being compared with the air-fuel flame results. From the experimental results, at different swirl condition, it can also be reveled that the swirl intensity has strong effect on the blowout characteristics; at higher swirl number, strong recirculation is introduced, consequently flame easily becomes unstable due to higher CO₂ concentration. The results has also been compared with the mathematical modeling data; the data are obtained from literature. As a result, the mathematical model can predicts the blowout characteristics of the oxyfuel flame with acceptable error range; however further consideration should be made to improve predictability.