연근해에서의 선박 전복사고는 소형 어선에서 많이 발생한다. 소형 어선의 전복사고를 예방하기 위해서는 초기설계 단계에서 부터 복원성을 평가하는 것이 매우 중요하다. 하지만 초기설계 단계에서 확보할 수 있는 정보는 제한적이어서 신뢰성 있는 복원성을 평 가하는 데 어려움이 있다. 이에 본 연구에서는 초기설계 단계에서 추정할 수 있는 KM, KG, 트림을 활용하여 소형 어선의 횡메타센터(GM) 를 추정하고, 표준어선형의 안전성 평가 기준에서 제시된 최소횡메타센터(GMmin)와의 차이를 비교하여 복원성을 평가하는 방안을 제안 하였다. 한국해양안전교통공단에서 제공하는 복원성 평가프로그램인 K-SHIP을 사용한 Hydrostatics 특성 계산에서 요구되는 트림을 도출하 기 위해 상용 CFD 프로그램인 STAR-CCM+를 이용하여 어선 선형에 따른 초기 상태 트림을 추정하였으며, K-SHIP을 사용하여 어선 선형 에 대한 Hydrostatics 특성을 계산하여 GM을 추정하였다. 그리고 GM과 GMmin의 비교를 통해 만재출항상태의 복원성을 비교하였다. 실적 선을 기준선으로 선정하여 본 연구에서 제안한 복원성 평가 방안을 적용해 복원성을 평가하고 그 타당성을 검증하였다. 결과적으로 4.99 톤 어선의 대표적인 선형과 이를 활용해 도출한 모듈 선형 9개의 복원성을 평가하였고, 이중 상대적으로 복원성이 우수한 선형을 선정하 였다.

We propose a transient evaluation scheme using a pressure measurement in a complicate pipeline systems. Conservation of mass and momentum equations in time domain can be transformed into a pressure head and flowrate relationship between upstream and downstream point in frequency domain. The impedance formulations were derived to address measured pressure at downstream to evaluate of flowrate or pressure head at any point of system. Both branched pipeline element and looped pipeline element can be generally addressed in the platform of the basic reservoir pipeline valve system. The convolution of time domain response function with measured pressure head from a downstream point provides flowrate or pressure head response in any point of the designated pipeline system. The proposed method was validated through comparison between traditional method of characteristics and the proposed method in several hypothetical systems.

The decommissioning of a nuclear power plant is a project that consists of several stages, and various technologies are applied when performing various tasks at each stage. And it is essential to secure safety and economic feasibility. As the paradigm has changed due to digital transformation in various industries, digitalization is applied to the life cycle of nuclear power plant from construction, operation and decommissioning project. Element technologies are being developed for decommissioning plan establishment, process design, econtamination method, decommissioning work process, waste management, environmental monitoring and radiation dose simulation. The utilization of digital twin in the decommissioning stage is classified into three categories. ① Process Monitoring (decommissioning work procedure, work progress (plan/actual), real-time work status and etc.) ② Facility Monitoring (real-time sensing and video data monitoring, decommissioning SSCs information, work alarm and etc.) ③ Safety Monitoring (work safety, radiation exposure, fire monitoring, work risk and etc.) A system suitable for the decommissioning stage and work should be developed in consideration of the target of use, development function, and when to create data according to the purpose of the system. Simulation module according to user purpose should be provided. In addition, data-base management should be performed according to the decommissioning characteristics in consideration of the data associated with the existing operating system. The system to be developed should support the project management to comply with the domestic standards and regulations to be determined in the future. This will improve the competitiveness of domestic and foreign markets.

In this study, we propose a flow velocity evaluation scheme based on pressure measurement in pressurized pipeline systems. Conservation of mass and momentum equations can be decomposed into mean and perturbation of pressure head and flowrate, which provide the pressure head and flowrate relationship between upstream and donwstream point in pressurized pipeline system. The inverse impedance formulations were derived to address measured pressure at downstream to evaluation of flow velocity or pressure at any point of system. The convolution of response function to pressure head in downstream valve provides the flow velocity response in any point of the simple pipeline system. Simulation comparison between traditional method of characteristics and the proposed method provide good agreements between two distinct approaches.

In this study, a method of leakage detection was proposed to locate leak position for a reservoir pipeline valve system using wavelet coherence analysis for an injected pressure wave. An unsteady flow analyzer handled nonlinear valve maneuver and corresponding experimental result were compared. Time series of pressure head were analyzed through wavelet coherence analysis both for no leak and leak conditions. The leak information can be obtained through either time domain reflectometry or the difference in wavelet coherence level, which provide predictions in terms of leak location. The reconstructed pressure signal facilitates the identification of leak presence comparing with existing wavelet coherence analysis.

On July 1, 2006, Jeju Special Self-Governing Province was launched as a model city with exceptional autonomy in many areas of administration, including self-governing legislation, self-governing finance, self-governing organization and personnel management. Jeju Special Self-Governing Province has control over all functions but original national functions, such as national defense, diplomacy and security. Fifteen years after its launch, Jeju Special Self-Governing Province has seen an increase in population, tourists, and gross regional domestic product (GRDP) in the province, and its fiscal size has increased significantly. The results of the 2019 performance evaluation were generally considered good, but a survey of provincial residents showed that the residents' satisfaction was insufficient. In order for Jeju to be reborn as an international free city and a special self-governing province from an isolated island, the central government will have to guarantee high autonomy, while the Jeju Special Self-Governing Province will have to have the capacity to secure resources for regional development and special self-governing province.

This paper suggests a nonlinear pressure consideration scheme through an unsteady pipe network analyzer for leakage detection with a portable pressure wave generator. In order to evaluate the performance of a proposal scheme, linear input pattern has been simulated and experiments had been carried out under both no leakage and one leakage conditions in a reservoir-pipeline-valve system. This method using portable pressure wave generator showed that a leakage can be detected from a reflection where a leakage is originated through time domain analysis. Meaningful similarity in pressure response between nonlinear input pattern and experimental results were found both no leakage and a leakage conditions.

The residual chlorine concentration is an essential factor to secure reliable water quality in the water distribution systems. The chlorine concentration decays along the pipeline system and the main processes of the reaction can be divided into the bulk decay and the wall decay mechanisms. Using EPANET 2.0, it is possible to predict the chlorine decay through bulk decay and wall decay based on the pipeline geometry and the hydraulic analysis of the water distribution system. In this study, we tried to verify the predictability of EPANET 2.0 using data collected from experimental practices. We performed chlorine concentration measurement according to various Reynolds numbers in a pilot-scale water distribution system. The chlorine concentration was predicted using both bulk decay model and wall decay model. As a result of the comparison between experimental data and simulated data, the performance of the limited 1st-order model was found to the best in the bulk decay model. The wall decay model simulated the initial decay well, but the overall chlorine decay cannot be properly predicted. Simulation also indicated that as the Reynolds number increased, the impact of the wall

Direct spring loaded pressure relief valve(DSLPRV) is a safety valve to relax surge pressure of the pipeline system. DSLPRV is one of widely used safety valves for its simplicity and efficiency. However, instability of the DSLPRV can caused by various reasons such as insufficient valve volume, natural vibration of the spring, etc. In order to improve reliability of DSLPRV, proper selection of design factors of DSLPRV is important. In this study, methodology for selecting design factors for DSLPRV was proposed. Dynamics of the DSLPRV disk was integrated into conventional 1D surge pressure analysis. Multi-objective genetic algorithm was also used to search optimum design factors for DSLPRV.

Maintaining adequate residual chlorine concentration is an important criteria to provide secure drinking water. The chlorine decay can be influenced by unstable flow due to the transient event caused by operation of hydraulic devices in the pipeline system. In order to understand the relationship between the transient event and the chlorine decay, the probability density function based on the water demand curve of a hypothetical water distribution system was used. The irregular transient events and the same number of events with regular interval were assumed and the fate of chlorine decay was compared. The chlorine decay was modeled using a generic chlorine decay model with optimized parameters to minimize the root mean square error between the experimental chlorine concentration and the simulated chlorine concentration using genetic algorithm. As a result, the chlorine decay can be determined through the number of transients regardless of the occurrence intervals.

Surge pressure is created by rapid change of flow rate due to operation of hydraulic component or accident of pipeline. Proper control of surge pressure in distribution system is important because it can damage pipeline and may have the potential to degrade water quality by pipe leakage due to surge pressure. Surge relief valve(SRV) is one of the most widely used devices and it is important to determine proper parameters for SRV’s installation and operation. In this research, determining optimum parameters affecting performance of the SRV were investigated. We proposed the methodology for finding combination of parameters for best performance of the SRV. Therefore, the objective function for evaluate fitness of candidate parameters and surge pressure simulation software was developed to validate proposed parameters for SRV. The developed software was integrated into genetic algorithm(GA) to find best combination of parameters.

Method of characteristic(MOC) has been widely used as a transient analysis technique for pressurized pipeline systems. There are substantial studies using MOC for the water hammer triggered through instantaneous valve closures, pump stoppage and pump startup for pipelines systems equipped with a centrifugal pump. Considering restrictions of MOC associated with courant number condition for complicated pipeline systems, an impulse response method(IRM) was developed in the frequency domain. this study implements the impact of centrifugal pump using transfer function in frequency domain approach. Using pump performance curve and the affinity law, this study formulated transfer functions which relate complex pressure head at upstream of pump system to that of downstream location. Simulations of simple reservoir-pump-valve system using IRM with formulated transfer function were similar to those obtained through MOC.

선박이 제한수로를 운항할 때에는 기존 심수 및 천수 중을 운항하는 선박의 조종특성과 일반적으로 다르기 때문에 선박의 안전한 항해를 위해 달라지는 선박의 조종특성 추정이 중요하다. 본 연구에서는 제한수로를 운항하는 선박의 조종성능을 추정하기 위해 조종운동 방정식과 가상 구속모형시험 시뮬레이션을 통한 유체력 미계수를 이용하여 조종성능을 추정하였다. 조종 수학 모델 중 선체, 프로펠러, 타를 분리하여 유체력을 모델링하는 방식인 모듈형(modular type) 모델에 제한수로의 영향을 고려하는 항을 추가하여 제한수로 중 조종성능을 추정 연구를 수행하였다. 제한수로 중 선체에 작용하는 유체력 미계수를 도출하기 위하여 상용 CFD 프로그램을 이용한 가상 구속모형시험 시뮬레이션을 수행하였다. 최종적으로 제한수로 중 직진 시뮬레이션과 Zig-zag 시뮬레이션을 수행하여 제한수로의 영향이 고려된 조종 시뮬레이션을 수행하였다. 특히 선박의 침로 안정성능을 평가하기 위해 Zig-zag 시험을 수행하는데, 측벽으로 인한 선박 주위의 비대칭 유동이 좌현과 우현에 압력 차이를 발생시켜 선박의 궤적에 큰 영향을 미침을 확인하였다.

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/ slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.

This paper proposes a unified framework that overcomes four motion constraints including joint limit, kinematic singularity, algorithmic singularity and obstacles. The proposed framework is based on our previous works which can insert or remove tasks continuously using activation parameters and be applied to avoid joint limit and singularity. Additionally, we develop a method for avoiding obstacles and combine it into the framework to consider four motion constraints simultaneously. The performance of the proposed framework was demonstrated by simulation tests with considering four motion constraints. Results of the simulations verified the framework’s effectiveness near joint limit, kinematic singularity, algorithmic singularity and obstacles. We also analyzed sensitivity of our algorithm near singularity when using closed loop inverse kinematics depending on magnitude of gain matrix.

Using an inverse of the geometric Jacobian matrix is one of the most popular ways to control robot manipulators, because the Jacobian matrix contains the relationship between joint space velocities and operational space velocities. However, the control algorithm based on Jacobian matrix has algorithmic singularities: The robot manipulator becomes unstable when the Jacobian matrix loses rank. To solve this problem, various methods such as damped and filtered inverse have been proposed, but comparative studies to evaluate the performance of these algorithms are insufficient. Thus, this paper deals with a comparative analysis of six representative singularity avoidance algorithms: Damped Pseudo Inverse, Error Damped Pseudo Inverse, Scaled Jacobian Transpose, Selectively Damped Inverse, Filtered Inverse, and Task Transition Method. Especially, these algorithms are verified through computer simulations with a virtual model of a humanoid robot, THORMANG, in order to evaluate tracking error, computational time, and multiple task performance. With the experimental results, this paper contains a deep discussion about the effectiveness and limitations of each algorithm.

Algal blooming in 4 major rivers introduces substantial impacts to water front activity. Concentrations of algae are increasing at major points along the Geum River. Ecosystem food webs can be affected by algal blooming because blue-green algae release toxic materials. Even though there have been many studies on blue-green algae, its causality to environmental factors has not been completely determined yet. This study analyzed the exclusive correlation between various hydrometeorological, water quality, and hydrologic variables and the cell number of cyanobacteria to understand causality of blue-green algae in the Geum River. A prewhitening process was introduced to remove the autocorrelation structure and periodicity, which is useful to evaluate the effective relationship between two time series.

Citrus canker caused by Xanthomonas citri is a notorious disease affecting a decrease in fruit productivity and quality. Citrus export to USA is also prohibited by the disease. Therefore, development of citrus canker resistant variety is essential and exploitation of markers for molecular breeding is urgent. To develop DNA molecular markers, we performed whole genome resequencing for 8 varieties: 4 citrus canker resistant varieties including C. hybrid ‘Kioymi’ and 4 citrus canker susceptible varieties including C. iyo ‘Miyauchiiyokan’. In total, 642 polymorphic SNPs were detected between resistant and susceptible varieties. Of the 642 SNPs, 50 SNPs were preferably selected based on integrative genomics viewer. To apply the markers in a broad range of citrus variety, we performed genotyping with 6 other varieties very well known as citrus canker resistant and susceptible varieties in addition to previous mentioned 8 varieties. Three of the 50 SNPs were identified as a marker to distinguish citrus canker resistant varieties from susceptible varieties. Secondly, we developed molecular markers to apply for F1 lines crossed by ‘Kiyomi’ and ‘Miyauchiiyokan’. Of the 50 SNPs, we identified 2 SNP markers to distinguish between F1 resistant and susceptible lines. One of them is a resistance gene that plays a role in plant defense mechanism. In this study, we developed 5 molecular marker candidates possible to apply for molecular breeding to develop citrus canker resistant variety. We are working on development of candidate markers related to citrus canker.