• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.4
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• pp.489-496
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• 2010

In this paper, a self-organization framework for swarm systems in three dimensions is presented. The framework uses artificial potential functions(APFs) to direct the robots toward the goal as well as to keep them in a swarm system. This research extends conventional APFs used for self-organizations in two dimension environment to three dimensions. In three dimension environment, the ground potential for the boundary surfaces that commonly appear in three dimension environments is proposed. Accordingly, the comparison between the paths without and with the ground potentials shows the necessity and effect of ground potentials. Extensive simulations are given to show the effectiveness of the extended potentials and various properties in three dimension environments.

• Korean Chemical Engineering Research
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• v.47 no.5
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• pp.538-545
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• 2009

The principle and application of a scanning probe microscopy(SPM) are reviewed briefly, and a low-invasive single cell manipulation and a gene delivery technique using an etched atomic force microscopy(AFM) probe tip, which we call a nanoneedle, are explained in detail. The nanoneedle insertion into a cell can be judged by a sudden drop of force in a force-distance curve. The probabilities of nanoneedle insertion into cells were 80~90%, which were higher than those of typical microinjection capillaries. When the diameter of the nanoneedle was smaller than 400 nm, the nanoneedle insertion into a cell over 1 hour had almost no influence on the cell viability. A highly efficient gene delivery and a high ratio of expressed gene per delivered DNA compared the conventional major nonviral gene delivery methods could be achieved using the gene modified nanoneedle.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.6
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• pp.2189-2205
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• 1991

Thermodynamic properties of binary nonazeotropic refrigerant mixtures are estimated by using a modified Carnhan-Starling equation of state. In this study, pure component refrigerants such as R14, R23, R13, R13 B1, R22, R12, R134a, R152a, R142b, RC318, R114, R11, R123 and R113 are chosen and the thermodynamic properties of enthalpy and entropy are calculated in terms of relevant variables. The modified Carnahan-Starling equation of state is compared with the carnahan-Staring-De Santis equation of sate. Results show that the relative errors become slightly smaller with the equation of state proposed in this study. Correlations are obtained for the mixtures of which the vapor liquid equilibruim data are available to us in the literature. Those mixtures are R14/R23, R23/R12, R13/R12, R13/R11, R13B1/R22, R13B1/RC318, R12/RC138, R12/R114 and R12/R11. The binary interaction coefficients are found under the condition of minimizing the pressure deviations at the vapor liquid equiblibrium state and the estimation of the vapor liquid equilibrium for the refrigerant mixtures is done. Pressure-enthalpy and temperature-entropy diagrams are plotted for the refrigerant mixtures of specific composition.

• Journal of the Korean Chemical Society
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• v.39 no.5
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• pp.329-337
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• 1995

Energetic oxetane derivatives which undergo cationic polymerizations have been investigated theoretically by using ab initio HF/3-21G calculations. We have examined structures, charges, and molecular electrostatic potentials. The ring structure of oxetane has changed significantly due to (1) the introduction of large substituents in the ring or (2) the addition of either proton or BF3. This structural change is attributed to electrostatic interactions and/or steric repulsions. The nucleophilicity and basicity of oxetane derivatives can be explained by the negative charge and the minimum electrostatic potential value of O atom. The reactivity in the polymerization can be rationalized by (1) the basicity of O atom and (2) the difference between HOMO energy of oxetanes and LUMO energy of activated oxetane polymeric chains. Our calculations predict that 3-azidomethyl-3-methyl oxetane (AMMO) is more basic than 3-nitratomethyl-3-methyl oxetane (NMMO), and AMMO is more reactive toward both AMMO and NMMO polymeric chains. Our results are in good agreement with previous experimental data.

• Proceedings of the Korean Vacuum Society Conference
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• 1999.07a
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• pp.189-189
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• 1999

초미세 전자 소자에 대한 개발에 대한 요구는 최근 들어 원자 단위의 구조물 제작에 대한 연구로까지 나아 가게 하고 있다. 좋은 물리적 성장을 가지는 양자도선(quantum wire), quantum dot와 같은 nano 단위 구조물 제작에 대한 요구는 그 가능성의 하나로 , 기울어진 vicinal) 표면위에서의 박막 성장에 대한 연구로 이어지고 있다. 기울어진 표면은 한 원자층으로 된 많은 계단들을 가지고 있는 표면이고, 이러한 계단들의 존재는 박막 성장 시 흡착 원자가 계단 끝에 부착될 확률을 증가 시켜, stepflow 성장과 같은 준 층별 성장을 만들 가능성을 높여주며, sub-ML증착에 대해서 원자가 계단면을 따라 길게 늘어선 양자도선과 같은 성장이 가능한 표면이라는 점에서 관심을 갖게 한다. 그러나 최근의 연구들에 의하면 기울어진 표면 위에서의 성장도 Schwoebel 장벽과 같은 분산 장벽의 존재로 계단과 수직인 축 방향으로 거친 모양의 island가 형성되는 Bails-Zangwill 불안정성이 나타나는 것으로 보고되고 있고, 이것은 준 층별 성장이나 양자 도선과 같은 성장을 방해하는 것으로 알려져 있다. 이러한 불안정성을 해결할 가능성으로 최근 들어 한 계단의 높이가 큰 step bunching 이 생겨난 표면위에서의 성장이 제기 되고 있으나, 아직 확인되지 않았다. 본 연구는 이러한 기울어진 표면 위에서 박막을 성장 할 때 층흐름(step flow) 성장이 가능한 역학적 동역학적 조건을 구하고자 하며, 방법으로는 KMC 시뮬레이션을 이용한다. 단원자로 구성된 계단이 있는 기울어진 표면 위에서의 homoepitaxy의 경우, 성장 양식은 계단과 계단 사이의 테라스 간격에 크게 의존한다. 테라스 간격이 좁을수록 성장은 보다 층흐름 성장에 근접한다. 그러나 다층으로 성장시킨 시뮬레이션의 결과는 일반적인 장벽 조건 아래에서는 계단의 방향과 수직인 방향으로 평평한 면에서와 동일한 크기를 가지는 island가 성장하는 것을 볼 수 있고, 이 것은 Bails-Zangwill 불안정성이다. 그러나 계단 사이의 테라스 간격이 매우 좁은 경우 5-6ML 성장 이하에서는 층흐름 성장과 동일한 성장이 이루어지나 계단을 따라서 미소한 크기의 거칠기가 나타난다. 동일한 기울어진 경사면에 대해서는 분산속도가 좋을수록 보다 계단 면을 따라 보다 큰 크기의 island가 나타난다. 분산 장벽과 같이 동역학적인 요소만으로는 완벽한 층흐름 성장은 높은 온도, 극히 낮은 분산 장벽이라는 조건 이외에는 얻기 어렵다. 그리고 층흐름 성장의 가능성으로 제시된 step bunching 일 일어난 다층 높이의 계단을 가진 면도 다층의 수만큼 계단수를 늘려주는 것과 동일한 결과가 나타나며, 이 경우도 층흐름 성장에는 근접하지만 완전한 형태의 성장은 얻기는 역시 어렵다. 따라서 원자단위의 도선이나 층흐름 성장은 계단과 계단 사이의 인력 또는 척력과 같은 역학적인 요소를 고려할 때 만이 가능할 것으로 보인다.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.451-456
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• 2009

In this paper, a virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and an uncertain remote environment as a form of an impedance. In general, for the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and the robot and the approaching velocity of the obstacle w.r.t the collision vector based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of obstacle at the remote site. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this collision vector based haptic reflection improves the performance of teleoperated mobile robot significantly.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.35 no.6
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• pp.627-632
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• 2002

This study was investigated the changes of gel properties about pH, color and water holding capacity at various hydration time and temperature of food-grade additives (BPP: bovine plasma protein, DEW: dried egg white, SPI: soy protein isolate). The changes of rheological properties were checked about hydration time and temperature. Hydration time and temperature affected pH value, hydration decreased pH of SPI and DEW. The BPP was not influenced at hydration time and temperature. Some Hydration condition increased jelly strength of food-grade additive, but SPI did not form a gel at all hydration condition. Hydration increased lightness of food-protein.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.30 no.1C
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• pp.7-15
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• 2010

In case that the seepage of contaminants into the subsurface has been generated from the waste impoundment by demage of geomembrane liner, it is necessary to repair the leaks of geomembrane liner for minimizing the environmental contamination by electrophoresis method. However, when electrophoresis method is applied to leachate electrolyte system, the phenomenon of clay particles flocculation would be accelerated by the interaction between clay particles and specific chemicals in leachate. In addition, the gravitational settling behaviour would be induced superior to the electrophoretic migration behaviour. Eventually, the limitations of field applicability for using the electrophoresis method are appeared. Therefore, 1-D enhanced electrophoresis method is conducted to prevent the clay flocculation and accelerate the migration of clay particles separately. After the 1-D enhanced electrophoresis experiment, we can get the results that the deflocculation effect of clay particles is increased by electrical repulsion of polymer, which adsorbed in clay particle edge, in case of using PAA dispersing agent.

• Journal of the Korean Vacuum Society
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• v.12 no.1
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• pp.55-63
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• 2003

A 150 kV gas cluster ion accelerator was constructed and the cluster sizes of $CO_2$ and $N_2O$ gases were measured using time-of-flight mast spectrometry. Through isolated cluster ion impact on a HOPG, hillock with 1 nm height and a few tenth m in diameter were found to be formed by an atomic force microscope. When monomer ion beams were irradiated on the hillocks existed on a ITO surface, they became sharper and the surface became rougher. But they changed into round-shaped ones by cluster ion irradiation and the surface became smooth after the irradiation of $5\times10^{-14}\textrm{cm}^2$ at 25 kV. As the cluster ion dose was varied, the change of surface morphology and roughness of Si was examined. At the lower dose, the density of hillocks and surface roughness were increased, called surface embossment process. And then after the critical dose at which the area of the formed hillocks equals to the unirradiated area, the sputtering from the hillocks was predominantly evolved, and dislocated atoms were diffused and filled among the valleys, called surface sputtering and smoothing process. At the higher ion dose, the surface consisting of loosely bounded atoms was effectively sputtered into the depth and etching phenomenon was happened, called surface etching process.

• Journal of the Mineralogical Society of Korea
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• v.27 no.4
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• pp.271-281
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• 2014

The physicochemical properties of clay minerals have been investigated at the atomistic to nano scale. The microscopic studies are often challenging to perform by using experimental approaches alone. In particular, hydroxyl groups of octahedral sheets in 2:1 clay minerals have been hypothesized to impact the sorption process of metal cations; however, X-ray based techniques alone, a common tool for mineral structure examination, cannot properly test the hypothesis. The current study has examined whether computational mineralogy techniques can be applied to examine the hydroxyl structures of clay minerals. Based on quantum-mechanics and molecular-mechanics computational methods, geometry optimizations were carried out for representative dioctahedral and trioctahedral phyllosilicate minerals. Both methods well reproduced the experimental lattice parameters; however, for structural distortion occurring in the tetrahedral or octahedral sheets, molecular mechanics showed significant deviations from experimental data. The orientation angle of the hydroxyl with respect to (001) basal plane is determined by the balance of repulsion between the hydroxyl proton and Si cations of tetrahedral sites; the quantum-mechanics method predicted $25-26^{\circ}$ for the angle, whereas the angle predicted by the molecular-mechanics method was much higher by $10^{\circ}$ (i.e., $35^{\circ}$). These results demonstrate that computational mineralogy techniques are a reliable tool for clay mineral studies and can be used to further elucidate the roles of hydroxyls in metal sorption process.