• Resources Recycling
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• v.15 no.5 s.73
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• pp.3-10
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• 2006

The solvent extraction for the separation of platinum group metals from the leach liquor of spent automotive catalysts has been studied. Tri-n-butyl phosphate (TBP), tri-n-octylamine (TOA) and di-n-hexyl sulfide (DHS) were used as extractants and kerosene as a diluent. The extraction behavior of platinum, palladium and rhodium has been investigated as functions of different kinds of extractants and their concentrations. In addition, the extraction behavior of the major metal impurities such as cerium, lead, iron, magnesium and aluminum has been investigated. Platinum and palladium were extracted with TBP. And platinum, palladium and rhodium were extracted with TOA. Platinum was co-extracted with palladium into the organic phase by solvent extraction using SFI-6 of DHS extractant, but only palladium was selectively extracted with SFI-6R. The selective extraction of palladium with SFI-6R was found better than that with SFI-6, but the kinetics of extraction with SFI-6R was found poor in comparison to SFI-6. The metal impurities extracted simultaneously during the extraction of platinum group metals should be removed in scrubbing and stripping processes. A suitable process has been proposed for the separation of platinum group metals from the leach liquor of spent automotive catalysts. Initially palladium was extracted with SFI-6R, followed by the separation of platinum with TBP or TOA leaving rhodium in the raffinate.

• Clean Technology
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• v.26 no.4
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• pp.270-278
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• 2020

Palladium (Pd) has been widely used in various industrial applications such as jewelry, catalyst, and dental materials despite its limited resources. It has been gaining attention to recover Pd with high purity from the spent materials. This study investigated the optimum conditions for the leaching and recovery of metallic Pd. The leaching parameters are HCl concentration, temperature, time, concentration of oxidants, and pulp density. 97.2% of Pd leaching efficiency was obtained in 3 M HCl with 3 vol% oxidants at 80℃ for 60 min. The ratio of hydrogen peroxide to sodium hypochlorite played a critical role in the leaching efficiency due to the supply of Cl- ions in the leachate. Moreover, the complete recovery of Pd in the leachate was achieved at 80℃ with 0.3 formic acid/leachate after adjusting the pH value of 7. This situation was ascribed to the decomposition of formic acid into hydrogen gas and carbon dioxide at 80℃. ICP-AES and XRD characterized the recovered Pd powder, and the purity of the recovered powder was found to be 99.6%. Consequently, the recovered Pd powder with high purity could be used in circuits, catalyst precursors, and surgical instruments.

• Journal of Korean Orthopaedic Sports Medicine
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• v.1 no.1
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• pp.43-48
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• 2002

Purpose : We evaluated radiographic changes and clinical manifestations of the elbow joint to identify the effects of the throwing between dominant and non-dominant arms. Materials and Methods : A hundred and five little leaguer’s baseball player in 5 elementary school and 2 middle school were evaluated for clinical symptoms and radiographic changes about elbow joint. Mean age was 12 years old and average periods of exercise were 32 months. Elbow functions were evaluated using ASES standardized assessment form and radiographic changes of medial epicondyle were examinated for enlargement, separation of the apophyses, fragmentation and irregularity. Results : Thirty seven players (35$\%$) were complained pain with throwing and the average score was 4.8 using visual analog scale. There were no significant differences in range of motion except flexion angle, valgus angle, and strength between dominant arm and non-dominant arm. Valgus laxity was more prominent in dominant arm. Ulnohumeral tenderness, radiocapitellar tenderness and medial flexor origin tenderness were in 18, 6, and 17 cases respectively in dominant arm. Medial epicondyle was enlarged in dominant arm with 13.0 by 6.3 mm compared to non-dominant arm with 11.7 by 6.1 mm. Apophyseal separation was 0.8 mm in dominant arm and 0.5 mm in non-dominant arm. Fragmentation and irregularity were 14 (13$\%$) and 25 (24$\%$) cases respectively in dominant arm. Conclusion : In little league baseball player, it needs usage of ball and bat with appropriate weight, and careful conditioning programs through throwing exercise in order to avoid elbow injuries.

• Journal of the Korean Chemical Society
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• v.50 no.5
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• pp.420-423
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• 2006

• Proceedings of the KGS Conference
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• 2002.11a
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• pp.97-100
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• 2002

지표의 기복은 암석의 차별적 풍화와 침식을 반영하므로, 기복의 형성에서 암석이 차지하는 몫을 이해하는 것은 중요하며 이 문제는 근대지형학의 발달 초기부터 중요하게 다루어져 왔다(권혁재, 2002).(Picture Omitted) 대구분지 북쪽 분수계를 이루고 있는 팔공산의 기반암은 중생대 백악기 말부터 제 3기초기에 걸쳐 백악기 퇴적암인 경상누층군을 관입하여 형성된 불국사화강암이다.(중략)

• Proceedings of the ESK Conference
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• 1997.04a
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• pp.114-119
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• 1997

본 연구에서는 다양한 작업역과 동작범위 설정에 관련이 많은 인체특정 부위와 손, 팔에 해당하 는 부위 49개 항목을 선정하여 18세-65세 사이의 한국인 성인 남자 179명, 여자 236명을 대상으로 측정하였다. 측정된 자료의 분석은 4개 연령그룹으로 구분하여 주요부위에 대해 연령그룹에 따른 차이를 보았으며, 이를 일본인의 측정 자료와 비교하여한국인과 일본인의 발육차이를 비교하였다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.4 s.304
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• pp.11-18
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• 2005

For expressing intention the human often use body languages as well as vocal languages. Of course the gestures using arms and hands are the representative ones among the body languages. Therefore it is very important to understand the human arm motion in human-computer interaction. In this respect we present here how to estimate 3D pose of human arms by using computer vision systems. For this we first focus on the idea that the human arm motion consists of mostly revolute joint motions, and then we present an algorithm for understanding 3D motion of a revolute joint using vision systems. Next we apply it to estimating 3D pose of human arms using vision systems. The fundamental idea for this algorithm extension is that we may apply the algorithm for a revolute joint to each of the revolute joints of hmm arms one after another. In designing the algorithms we focus on seeking closed-form solutions with high accuracy because we aim at applying them to human computer interaction for ubiquitous computing and virtual reality.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1991.04a
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• pp.169-173
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• 1991

최근 자동화기술의 발달에 따라 산업용 로보트팔의 경량화, 고속화를 실행하 게 되는 경우와 우주, 원자력발전소 등과 같은 특수한 환경하에서 매니퓰레 이터(manipulator)를 제어하게 되는 경우가 많아지고 있는데, 이때 팔의 강성 이 충분하지 않으면 위치결정시 목표점에서의 과도진동이 발생하게 되어 위 치결정정도와 작업효율이 저하된다. 그러므로 이러한 경량화된 장비들의 진 동특성을 파악하고 운동시 발생하는 진동을 효율적으로 제어할 수 있는 제 어기(controller)를 설계하여 잔류진동을 감쇠시키므로써 위치결정시간을 줄 일 수 있고, 전체 작업행정시간이 단축되므로써 작업ㅎ류을 향상시키는 효과 를 가져오게 된다. 이때 원하고자 하는 제어를 하기 위해서는 제어대상 (plant)의 계규명(system identification)을 정확히 하여야 하는데 해석적으로 계를 규명하기가 까다로운 경우 제어기를 설계하는 것이 사실상 어렵게 되 므로 이러한 경우 실험적인 방법으로 주파수응답함수(frequency response function)를 구해 계의 모형(model)을 구하는 방법이 널리 사용되고 있다. 이 분야에 있어서 기존의 논문들은 팔의 변위를 측정하여 진동을 제어하나 이 러한 방법들은 간헐적으로 움직이는 산업장비(예:로보트의 팔)의 과도응답을 제어하기에는 부적합하다. 따라서 본 연구에서는 이러한 장비들의 과도응답 을 효과적으로 제어할 수 있도록 가속도계를 사용, 가속도를 측정하여 변위 를 제어하고자 한다.

• The Journal of the Korea Contents Association
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• v.11 no.7
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• pp.448-457
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• 2011

The purpose of this research investigates the relationship among followership, organizational cynicism, and organizational citizenship behavior in Hotel employee. The data are analyzed by such frequency analysis, exploratory factor analysis, reliability analysis, confirmatory factor analysis, covariance structure analysis. The SPSS 10.1 and AMOS 4.0 for Windows program was used to investigate material. The major finding and implication can be summarized as follow: First, the analysis on relationship between followership and organizational cynicism revealed that critical thinking and active participation dimensions of but enthusiasm dimension of followership has not affected organizational citizenship behavior. Second, the analysis on relationship between organizational cynicism and organizational citizenship behavior revealed that organizational cynicism affects organizational citizenship behavior.

• Journal of Advanced Marine Engineering and Technology
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• v.35 no.1
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• pp.60-67
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• 2011

In this paper, the structure of a gravity compensator(GC) was studied, and the 6-axis robot manipulator which is newly developed by applying the GC is presented to improve the torque performance and repeatability error of the robot joint. The kinematics analysis on the robot was presented. Also, experiments of the performance of the joint actuator of robot adopting the gravity compensator were presented by the GC to $1^{st}$ and $2^{nd}$ joints of the robot arm. According to the experiment results, it was validated that the position errors and load torque of the robot joint actuator adopting the GC are reduced significantly.