• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.19-24
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• 2011

This paper presents a method about amorphous obstacles avoidance for local path planning in the two-dimensional sensor environment. In particular, the proposed method is extended from some of the recent studies about a point obstacle avoidance. In the paper, repulsive forces of two types are proposed in order that the robot avoids from the amorphous obstacle with various size and form. A judgment of curvatures in the proposed method simplifies the recognition of obstacles to make the path-planning efficient. In addition, the line of sight(LOS) and the range of recognition are considered in the environment. By simulation results, the proposed method for amorphous obstacle avoidance shows better performance than the related existing method and we confirmed advantages of proposed method.

• Ceramist
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• v.1 no.1
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• pp.28-36
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• 1998

세라믹 분발의 분산안정성은 입자의 입경 및 형상, 배열형태, 그리고 분산기구에 따라 크게 달라진다. 대체로 입경이 콜로이드 범위내에 존재하면 일반적인 정전반발력이나 입체반발력에 의하여 분산이 가능하지만, 콜로이드 범위를 넘는 조대한 입경을 가지는 분말에서는 진정한 분산안정성을 얻는 것은 불가능하다. 비록 콜로이드 범위에 속히는 입경을 가지더라도 Hamaker 상수가 매우 높거나 기하이방성을 가진 입자가 우선배향성을 가지는 경우에도 마찬가지의 결과를 보여 준다. 진정한 의미의 분산안정성을 얻을 수 없는 경우 입자 간 포텐셜 에너지의 절대값이 최소가 되도록 함과 더불어 고분자 흡착층이나 전기이중층의 두께를 조정하여 입지간 평형거리를 조정하여 후속공정에서의 균일성을 유지하는 것이 기능하다. 이와 같은 제한응집은 진정한 의미의 분산안정성을 얻을 수 없는 분말을 구성분말로 하는 단미는 물론 복합재료에서도 활용이 가능하다. 나노 크기의 입경을 가지는 분말에서는 반데르발스 인력은 상대적으로 작지만, 정전반발력도 동시에 작아지기 때문에 에너지 장벽의 높이가 충분하지 않은 경향을 보인다. 따라서, 나노 분말의 분산안정성은 흡착층의 두께가 크지 않는 저분자량의 고분자를 흡착시켜 입체반발력을 부여하는 것이 바람직하다.

• Journal of the Korean Chemical Society
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• v.46 no.6
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• pp.545-549
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• 2002

Many theories for polymeric liquids are based on the concepts of cell, hole, free volume or lattice etc. In the theories, van der Waals potential, Lennard-Jones 6-12 potential and their modified potentials are commonly used.In this work, Mie(p, 6) potential was applied to the Continuous Lattice Fluid Theory (which extends the discrete lattices of Lattice Fluid Theory to classically continuous lattices) and Dee-Walsch's Cell Theory (which modifies Flory's Equa-tion of State Theory). Both of them are known to be successful theories for polymeric liquids. Thus, PVT values chang-ing with p (the exponent in the repulsion potential) were calculated and compared with experimental values. And, calculated values of Lattice Fluid Theory, Flory's Equation of State Theory and Cho-Sanchez Theory using pertubation method were also compared. Through the calculated results, van der Waals potential, Lennard-Jones 6-12 potential and Mie(p, 6) potential for polymeric liquids were compared with each other.

• Journal of the Korean Crystal Growth and Crystal Technology
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• v.9 no.2
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• pp.224-230
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• 1999

Agglomeration of colloidal alumina particles in a suspension is simulated. Particles in a suspension have potential energies between them and move to decrease the summation of all the potential energies between particles. The effects of various types of potential curves on particle agglomeration were checked. Strong short range attractive energy without repulsive energy barrier makes small strong clusters with disordered network structure but weak short-range force with big repulsive energy barrier makes big agglomerates with a close packing structure. As particles are agglomerated the potential energy with strong repulsive energy barrier between agglomerates gradually decreases the importance of the repulsive energy barrier and induces a different type of agglomeration behavior.

• Applied Chemistry for Engineering
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• v.8 no.4
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• pp.624-630
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• 1997

Zeolite A helps an increase of detergency performance according to showing the ion exchange effect for polyvalant ions and it's detergency performance could be calculated quantitatively by using the disperse stabilization theory because it is water-insoluble material and is as colloid particles in aqueous solution. In this study, zeta potential of carbon black, cellulose, and Zeolite A were measured in each inorganic salt solutions and applied to the theory of Heterocoagulation in order to evaluate the detergency performance of Zeolite A about the particulate soil at the view point of interaction potential energy. Zeolite A was shown help an increase of detergency performance according to the increasing of the steric repulsion between Zeolite A and cellulose in $Na2CO_3$ solution and the decrease of re-deposition of carbon black on the fabric by rapid coagulation with carbon black in $Na_2SO_4$ solution.

• Economic and Environmental Geology
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• v.53 no.4
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• pp.347-362
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• 2020

Iron (hydro)oxides in aqueous environments are primarily formed due to mining activities, and they are known to be typical colloidal particles disturbing surrounding environments. Among them, hematites are widespread in surface environments, and their behavior is controlled by diverse factors in aqueous environments. This study was conducted to elucidate the effect of environmental factors, such as ionic composition and strength, pH, and natural organic matter (NOM) on the behavior of colloidal hematite particles. In particular, two analytical methods, such as dynamic light scattering (DLS) and single-particle ICP-MS (spICP-MS), were compared to quantify and characterize the behavior of colloidal hematites. According to the variation of ionic composition and strength, the aggregation/dispersion characteristics of the hematite particles were affected as a result of the change in the thickness of the diffuse double layer as well as the total force of electrostatic repulsion and van der Walls attraction. Besides, the more dispersed the particles were, the farther away the aqueous pH was from their point of zero charge (PZC). The results indicate that the electrostatic and steric (structural) stabilization of the particles was enhanced by the functional groups of the natural organic matter, such as carboxyl and phenolic, as the NOM coated the surface of colloidal hematite particles in aqueous environments. Furthermore, such coating effects seemed to increase with decreasing molar mass of NOM. On the contrary, these stabilization (dispersion) effects of NOM were much more diminished by divalent cations such as Ca²⁺ than monovalent ones (Na⁺), and it could be attributed to the fact that the former acted as bridges much more strongly between the NOM-coated hematite particles than the latter because of the relatively larger ionic potential of the former. Consequently, it was quantitatively confirmed that the behavior of colloidal hematites in aqueous environments was significantly affected by diverse factors, such as ionic composition and strength, pH, and NOM. Among them, the NOM seemed to be the primary and dominant one controlling the behavior of hematite colloids. Meanwhile, the results of the comparative study on DLS and spICPMS suggest that the analyses combining both methods are likely to improve the effectiveness on the quantitative characterization of colloidal behavior in aqueous environments because they showed different strengths: the main advantage of the DLS method is the speed and ease of the operation, while the outstanding merit of the spICP-MS are to consider the shape of particles and the type of aggregation.