This study presents intelligent deburring system which can transfer the exper's skill to deburring robot through neural network. The expert's skill is expressed as associate mapping between the characteristics of the burr and human expert's action. Under the fundamental idea that the state of the deburring process can be extracted via the visual sense of the human, we employ vision system for the perception and identification of the changing burr. From the demonstration of human experts, force data are measured and fitted impedance model. Finally the characteristics of the burr and coressponding force are associated by the neural network which is trained through many demonstrations. The proposed method is verified in the deburring process of welding burr.
The moving behaviour of Yellowtail Seriola quinqueradiata schools in the main-net of a large scale set-net was investigated in relation to the catching function of the funnel-net by a scanning sonar. The investigation was took place in the Kishihata set-net fishing ground located in Nanao city Ishigawa prefecture, Japan from Nov. 9 to Nov. 13, 1992. The obtained results are summarized as follows; 1. Fish schools showed the greatest number at the playground in the morning and at the bag-net in the afternoon. The fish schools remained long time in the main-net. 2. The rate of fish school through the funnel-net was smaller than that of fish school which is though the playground and bag-net. Because the Yellowtail school changed the shape of school in passing the funnel-net. 3. The rate of entering the bag-net was 24%, among the fish school heading to the outer funnel-net. But, the rate of escaping to the playground was 27%, among the fish school heading to the inner funnel-net. It seems that the structure of the outer funnel-net was not enough to lead the fish to the bag-net. However, the structure of the inner funnel-net was very effective at preventing escape. 4. It is appropriate to haul the net in the morning in considering the number of accumulated fish in the bag-net during the survey.
대형정치망에 있어서 등망을 중심으로하여 헛통으로부터 제1원통에 이르는 방어어군의 이동행동은 1992년 11월 9일부터 11월 13일까지 일본국 석천현 칠미시 연안에 있는 안단 정치망어장 3호망에서 스케닝 소나를 이용하여 조사하였고, 등망의 어획기능에 관해서 분석, 검토하였다. 이상에 의해 얻어진 결과를 요약하면 다음과 같다. 1. 방어어군의 출현은 헛통에서는 오전중, 제1원통에서는 오후에 가장 많이 볼 수 있었고, 망내에서의 체류시간은 길었다. 2. 등망을 통과하고 있는 어군의 규모는 헛통 및 제 1원통에 체류하는 어군보다 작았고, 이는 어군의 형상이 변하면서 등망을 통과하였기 때문이라고 생각된다. 3. 등망으로 향한 어군중에서 제 1원통에 입망하는 어군의 비율은 24%이고, 제 1원통에 내등망으로 향한 어군중 헛통으로 도피하는 어군의 비율은 27%였다. 이는 외등망의 구조가 원통으로 유도하는 기능이 충분하지 않다는 것을 의미하고 내등망의 구조는 출망을 저지하는 효과가 충분한 것으로 판단된다. 4. 정치망의 어획효율을 높이기 위해서는 어군의 입출망시각에 맞춘 양망작업이 필요하다. 조사기간중의 원통에 축적된 어군수로부터 그 다음날 아침의 양망은 시장유통과 노동력부족의 문제를 고려하여 적당하다고 생각할 수 있다.
In order to investigate the fish behavior in the water tank, the three dimensional positioning system with two CCD cameras was designed. The positioning system was tested at the vertical circulation water channel with observational part of 1,500L×1,500W×500H mm and the circular water tank with 2,050ø sub(1)×1,850ø sub(2)×400H mm. The observational error of vertical direction was larger than that of horizontal direction, and the observational error became enlarged in all directions according to the increase of depth and distance from the visual axis. The maximum observational errors of horizontal and vertical directions at the circulation channel ranged from -1.7 cm to 1.8 cm (2.4%) and zero to 2.1 cm (4.2%), respectively. But the errors of horizontal and vertical directions at the circular tank ranged from -1.3 cm to 1.3 cm (1.3%) and zero to 1.3 cm (3.3%), respectively.
Recently, with rapid increase of gas demand, there occurs much interest their security of safety in the gas storage tanks and pressure vessels etc. In order to solve the problems, the occurrence of corrosion fatigue crack and the propagation behavior must be investigated. Especially the occurrence of corrosion fatigue crack and the propagation behavior in the part which has concentrated stress or defects, must be studied more carefully. In this paper, the high-tensile steel of SPV 50 which is much used for building the LPG storage tanks was tested by the use of a plane bending corrosion fatigue tester under the various marine environments and in the air. These experiments were done to investigate the corrosion fatigue crack propagation behavior, the variation of aspect ratio for part through crack and electro-chemical characteristics of the metal. The main results obtained are as follows ; 1. Comparing the same surface crack length with the crack depth, the crack depth toward the thickness of specimen in air propagated faster than that in corrosion environment. 2. The aspect variation of the half elliptical crack can be estimated as following equation; b/a=i-jb/t where a : surface crack length, b : crack depth, t : specimen thickness, i,j : experimental constants but the slope j is decreased as specific resistance decreases. 3. As the specific resistance of corrosion environment decrease or the corrosion fatigue crack propagates, the corrosion potential become less noble.
Al alloy anode is mostly used for protecting marine structures such as pier steel piles and ship's body. Recently it has been reported that the life of Al alloy anode has been shortened significantly than the original design life. It is suggested that the suspected reasons for this problem mentioned above seems to be the improper protection design of alloy of anode on sea water regardless of environmental facotrs such as flow rate, temperature, contamination degree etc. However there is few paper about to the sea water contamination degree affecting to the life of Al alloy anode. In this study, the property of Al alloy anode was investigated as a parameter of sea water contamination degree such as variation of pH 2, 4, 6, 8, 10 and each sea port's contaminated waters.
수중에서 어류들이 색이시 생물적인 목표물이나 어로작업시 어구 등의 시각자극과 최대탐지거리 등을 예측하기 위해서 어류의 주된 시각 예민도 요소인 명암대비 역치와 최소 분해각을 수치모델링 하였다. 어류시각의 명반응과 순반응에 따라 명암대비 역치와 최소분해각은 배경휘도와 체장에 따른 자연대수의 함수로 표현하였다. 이 때 관련된 수식의 계수들은 기존의 실험 결과나 어종간의 시각 예민도 등에서 추정할 수 있었으며 또한 생리 생태나 개체차 등도 조정할 수 있다. 본 모델은 먹이생물이나 어구 등의 시각자극에 의한 시인정도와 시정 등의 추산에 이용될 수 있으며, 아울러 전반적인 수중 광학적인 조건하에서 시각자극의 세기에 따른 시각 예민도와 그 반응에 의한 어류행동 모델에 응용될 수 있을 것이다.
We studied behaviour pattern of anchovy (Engraulis japonicus) shoal by a method of shoal echo integration and tested species identification by a method of artificial neural network using the acoustic data collected in the East China Sea in March 1994 and in the southern coastal waters of the East Sea of Korea in March 1995. Between areas, frequency distribution of 10 shoal descriptors was different, which showed characteristics of shoal behaviour in size, bathymetric position and acoustic strength. The range and mean of shoal size distribution in length and height was wider and bigger in the southern coastal waters of the East Sea than in the East China Sea. Relative shoal size of China Sea. Fractal dimension of shoal was almost same in both areas. Mean volume reverbration index of shoal was 3 dB higher in the southern coastal waters of the East Sea than in the East China Sea. The depth layer of shoal distribution was related to bottom depth in the southern coastal waters of the East Sea, while it was between near surface and central layer in the East China Sea. Principal component analysis of shoal descriptors showed the correlation between shoal size and acoustic strength which was higher in the southern coastal waters of the East Sea, than in the East China Sea. Correlation was also found among the bathymetric positions of shoal to some degree higher in the southern coastal waters of the East Sea than in the East China Sea. The anchovy shoal of two areas was identified by artificial neural network. The contribution factor index (Cio) of the shoal descriptors between two areas were almost identical feature. The shoal volume reverberation index (Rv) was showed the highest contribution to the species identification, while shoal length and shoal height showed relatively high negative contribution to the species identification.
The maneuverabilities of the training ship M.S. HEUIMANGBONG were studied, based on the data obtained from her Z test. The results obtained were summerized as follows: 1. The maneuvering indices K' and T'of the M.S. HEUIMANGBONG were 0.542, 1.305 at 10˚Z Test and 0.433, 1.351 at 20˚Z test and 0.442, 1.388 at 30˚Z test respectively. The above calculated values K', T' showed that her maneuverabilities were more effective when her rudder was used to small angle than to large angle. 2. As the overshoot angles of the starbord side of the M.S. HEUIMANGBONG were larger than those of port side at 10˚, 20˚and 30˚Z test, her maneuverabilities in port turning were found to be higher than in starbord turning. 3. The running distance of a turn at her 10˚Z test was about 9.9 times her own length and she was considered to have a good maneuverabilities synthetically
In order to find out the environmental factors influencing the catch of anchovy lift nets in kamakbay, the three oceanographic factors, i. e., the water temperature, the salinity, the amount of chlorophyll-a were observed respectively from August 1 to 12, 1995 and from September 20 to 26, 1995, and each of them was compared with the catch of anchovy by the lift net. The results obtained are summerized as follow : 1) The water temperature was ranged from 17.3 to 29.6℃ and its difference between the surface and bottom was 1 to 3℃. In the three areas, A, B and C, the area A was the hightest in temperature, the area B being a second, and the area C being the lowest. 2) The salinity was ranged from 32.20 to 33.47‰ and its difference between the surface and bottom was not significant. In the three areas, the area A was the highest in salinity, the area B being a second, and the area C being the lowest. 3) The amount of chlorophyll-a was ranged from 0.19 to 5.30mg/m supper(3) and its difference among the three areas was not significant. Daily variation of the amount was very irregulated because the position operated was changed daily. 4) A comparison of the water temperature, the salinity and the amount of chlorophyll-a with the catch gave that the water temperature and the amount of chlorophyll-a had large influence on the catch and the salinity did not so. However, the influence of the amount of chlorophyll-a was larger than that of the water temperature. 5) The catch of anchovy was large respectively during two hours after sun set and during two hours before sun rise.
어종식별을 위한 수중음향학적 정보를 수집하는 데 이용하기 위한 초음파 변환기를 설계하기 위한 시도의 하나로서, 본 연구에서는 우선 수중에서의 전기적인 자유 임피던스가 서로 같고, 이주파간의 주파수 차이를 최소화 시켜 이주파 겸용 및 광대역 송.수파기로서 활용이 가능한 복합구조 초음파 변환기를 설계, 제작하였는 데, 이 변환기의 이중공진 진동특성에 대하여 분석, 고찰한 결과를 요약하면 다음과 같다. 1. 기본공진진동을 발생시키기 위해 설계한 Tonpilz형 초음파 변환기의 송파전압감도는 기본공진주파수 36.2 kHz에서 141.4 dB re 1 μPa/V이었고, - 3 dB점에 대한 주파수 대역폭은 1.1 kHz이었으며, 이 변환기의 수중에 대한 전압음향변환효율은 85.2%였다. 2. 복합구조 초음파 변환기의 수중에서의 제1공진점에 대한 공진 및 반공진 주파수는 각각 39.7 kHz, 41.2 kHz이었다. 또한, 제1 및 제2 공진 주파수에 대한 임피던스는 각각 3.7 KΩ 과 3.3 KΩ으로서 거의 유사한 값을 나타내었고, 자유 임피던스 진폭과 위상의 측정치를 양 공진점 부근에서 계산치와 약간의 차이를 나타내었다. 3. 복합구조 초음파 변환기의 송파전압감도는 제1 공진주파수인 34.3 kHz에서 136.5 dB re 1 μPa/V이었고, 제2 공진주파수인 40.4 kHz에서 136.8 dB re 1 μPa/V이었다. 또한, 제1 및 제2 공진 주파수에 대한 - 3 dB 점에서의 주파수 대역폭은 각각 1.2 kHz, 1.1 kHz이었다. 이상의 결과로 부터 본 연구에서 설계, 개발한 복합구조 초음파 변환기는 단순 구조의 Tonpilz형 변환기와 비교하여 비록 송파전압감도에 있어서는 4.9 dB의 손실이 불가피하지만, 그 대신 송파감도가 같은 두 개의 공진주파수를 동시에 이용할 수 있고, 또한 이들 제1일 제2의 공진점에 대한 주파수 간격이 좁으면서도 송파감도의 변동폭이 비교적 작어 어종의 식별정보를 수집하는 데 효과적으로 활용될 수 있을 것이라 판단된다.
어종의 식별을 위한 수중음향학적 정보를 수집하는 데 사용하기 위한 광대역 초음파 변환기를 개발할 목적으로 저주파용 Tonpilz형 초음파 변환기를 설계, 제작하고, 이 변환기의 음향 방사면에 Al2O3와 epoxy 수지를 서로 혼합하여 생성한 복합재료층과 폴리우레탄 수지로서 제작한 음향 정합층을 각각 직렬 접착시킨 복합구조 초음파 변환기의 광대역 주파수 특성에 대하여 분석, 고찰한 결과를 요약하면 다음과 같다. 1) Tonpilz형 transducer (head mass : 알류미늄 / 두께 22.0 mm, tail mass : 황동 / 두께 15.0 mm )의 음향 방사면에 두께 7.0 mm의 Al2O3와 epoxy 수지로서 생성한 복합재료층의 두께 18.0 mm의 폴리우레탄 수지로서 제작한 정합층을 직열접착한 복합 구조 초음파 변환기의 - 3 dB점에 대한 하한 및 상한 주파수 범위는 35.0~42.3 kHz (δf=7.3 kHz)이었고, 이 주파수 구간에 있어서의 송파전압감도의 최대치는 135.7 dB re 1 μPa/V 이었다. 2) Tonpilz형 transducer (head mass : 알류미늄 / 두께 23.0 mm, tail mass : 황동 / 두께 15.0 mm )의 음향 방사면에 두께 11.0 mm의 Al2O3와 epoxy 수지로서 제작한 복합재료층과 두께 15.8.0 mm의 폴리우레탄 수지로서 제작한 정합층을 직열접착한 복합 구조 초음파 변환기의 - 3 dB점에 대한 하한 및 상한 주파수 범위는 35.5~41.73 kHz (δf=6.2 kHz)이었고, 이 주파수 구간에 있어서의 송파전압감도의 최대치는 136.3 dB re 1 μPa/V 이었다. 3) 본 연구에서 시작한 복합구조 초음파 변환기에 chirp 신호(펄스 폭 4 ms, 중심주파수 40 kHz, 대역폭 40 kHz)를 인가하고, 수중방사음역에 있어서의 시간응답특성을 조사한 결과, 그 응답특성은 송신전압감도의 주파수특성과 매우 잘 일치하는 경향을 나타내었다. 이상의 결과로부터 본 연구에서 설계, 제작한 이중정합층을 갖는 복합구조 초음파 변환기는 단순구조의 Tonpilz형 초음파 변환기와 비교하여 비록 송파전압감도에 있어서는 약 5 dB 정도의 음향출력의 손실이 불가피하지만, 그 대신 주파수 대역폭을 약 5 재 정도 확대시킬 수 있는 장점이 있기 때문에 이 넓은 주파수 대역을 효과적으로 활용하면 어종식별을 위한 음향산란신호를 정량적으로 수집 및 평가하는 것이 가능하다고 판단된다.
Lead-acid battery is being most widely used with secondary battery because of its low price, and long life cycles. But According to using for a long time, its voltage, capacity, and recovery ability is decreased gradually. Therefore there are many papers about improving the property of a lead-acid battery. One of them is to slow down sulfation due to formation of inner PbSO sub(4) by adding inhibitor to electrolyte, however it was not well known what is inhibitor's composition and its role acting on both cathodic and anodic electrode because of its know-how of every country and companies. The purpose of this paper is to study about improvement of property of lead-acid battery by adding one of the inhibitor to H sub(2) SO sub(4) electrolyte.