• Journal of the Mineralogical Society of Korea
• /
• v.16 no.3
• /
• pp.215-222
• /
• 2003

The Rietveld structure refinement for the natural trioctahedral mica, phlogopite-1M (Parker Mine, Quebec, Canada) has been done by high resolution neutron powder diffraction at $25^{\circ}C$ and -263$^{\circ}C$. The structural formula of phlogopite determined by electron probe microanalysis is $K_2$(M $g_{4.46}$F $e_{0.83}$A $l_{0.34}$ $Ti_{0.22}$)(S $i_{5.51}$A $l_{2.49}$) $O_{20}$(O $H_{3.59}$ $F_{0.41}$). Cell parameters are a=5.30∼5.31 $\AA$, b=9.18∼9.20 $\AA$, c=10.18∼10.21 $\AA$, $\beta$=100.06∼100.08$^{\circ}$. Refinements converged to R values in the range of $R_{p}$=2.35%, $R_{wp}$=3.01%, respectively. In this study, the OH bond length is calculated to 0.93 $\AA$ at room temperature and 1.03 $\AA$ at -263$^{\circ}C$, and the angles between OH vector and (001) plane are obtained 93.4$^{\circ}$∼93.6$^{\circ}$. The decrease in the length of OH with the increase in temperature should be due to the hydrogen bonding in the structure of phogopite.e.e.f phogopite.e.e.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.33 no.6
• /
• pp.545-551
• /
• 2009

A small guard robot working indoors or outdoors can be used to report various information on its environment to an operator. The guard robot should be small-sized and lightweight to increase its portability. In addition, it should be able to overcome a relatively high obstacle to cope with various situations. To satisfy these requirements, this paper presents a small robot equipped with a novel hybrid wheel and track mechanism that can select wheels or tracks depending on the situation. The robot folds the tracks into the body in the wheel mode and only wheels are active with the tracks immobilized, which results in the fast moving speed. In the track mode, the tracks are extended to keep in contact with the ground. Furthermore, this research proposes the belt length maintenance mechanism by which the belt length is kept constant in either the wheel or track mode. Various experiments demonstrate that the proposed robot can move fast by using wheels on the smooth terrain and overcome obstacles by using tracks on the rough terrain.