• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.2
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• pp.372-379
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• 1998

A new 6 degrees-of-freedom micro stage, based on parallel mechanisms and actuated by using piezoelectric elements, has been developed for the application of micro positioning such as semiconductor manufacturing devices, high precision optical measurement systems, and high accurate machining. The micro stage structure consists of a base platform and an upper platform(stage). The base platform can effectively generates planar motion with yaw motion, while the stage can do vertical motion with roll and pitch motions with respect to the base platform. This separated structure has an advantage of less interference among actuators. The forward and inverse kinematics of the micro stage are discussed. Also, through linearization of kinematic equations about an operating point on the assumption that the configuration of the micro stage remains essentially constant throughout a workspace is performed. To maximize the workspace of the stage relative to fixed frame, an optimal design procedure of geometric parameter is shown. Hardware description and a prototype are presented. The prototype is about 150mm in height and its base platform is approximately 94mm in diameter. The workspace of the prototype is obtained by computer simulation. Kinematic calibration procedure of the micro stage and its results are presented.

• The Journal of Korea Robotics Society
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• v.10 no.2
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• pp.119-132
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• 2015

Two novel parallel mechanisms (PMs) employing two or three PaPaRR subchains are suggested. Each of those two PMs has translational 3-DOF motion and employs only revolute joints such that they could be adequate for haptic devices requiring minimal frictions. The position analyses of those two PMs are conducted. The mobility analysis, the kinematic modeling, and singularity analysis of each of two PMs are performed employing the screw theory. Then through optimal kinematic design, each of two PMs has excellent kinematic characteristics as well as useful workspace size adequate for haptic applications. In particular, by applying an additional redundantly actuated joint to the 2-PaPaRR type PM which has a closed-form position solution, it is shown that all of its parallel singularities within reachable workspace are completely removed and that its kinematic characteristics are improved.

• Applied Chemistry for Engineering
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• v.29 no.1
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• pp.49-55
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• 2018

In this study, we investigated the cellular protective effects and mechanisms of nicotiflorin and its aglycone kaempferol isolated from Annona muricata. The protective effect of these components against $^1O_2$-induced cell damage was also studied by using L-ascorbic acid and (+)-${\alpha}$-tocopherol as controls. Kaempferol exhibited the most potent protective effect, followed by (+)-${\alpha}$-tocopherol and nicotiflorin. L-Ascorbic acid did not exhibit any cellular protective effects. To elucidate the mechanism underlying protective effects, the quenching rate constant of the singlet oxygen, free radical-scavenging activity, ROS-scavenging activity, and uptake ratio of the erythrocyte membrane were measured. The results showed that the cell membrane penetration is a key factor determining the cellular protective effect of kaempferol and its glycoside nicotiflorin. The result from L-ascorbic acid demonstrated that the cellular protective effect of a compound depends on its ability to penetrate the cell membrane and is independent of its antioxidant capacity. In addition, it is suggested that cellular protective effects of kaempferol and (+)-${\alpha}$-tocopherol depend not only on the cell permeability, but also on free radical- and ROS-scavenging activities. These results indicate that the cell permeability and free radical- and ROS- scavenging activities of antioxidants are major factors affecting the protection of cell membranes against the oxidative damage induced by photosensitization reaction.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.194-205
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• 2017

A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.4
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• pp.305-316
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• 2014

As avionics and mechanical devices have been developed, the size of unmanned aerial vehicle (UAV) is getting smaller. However, the complicated and accurate missions are provided to the UAV. Among various types of UAVs, quadrotors are widely used for their availability by virtue of simple structure and hovering function. However, the control of quadrotor is highly constrained, because the quadrotor is an under-actuated system which has only 4 actuator inputs. To deal with this under-actuated problem, a new quadrotor model with two more actuators in addition to the 4 propeller inputs is provided to make the system fully-actuated. For the proposed model, a controller is designed using feedback linearization methods. To validate the model and to verify the performance of the proposed controller, numerical simulation is performed.

• Proceedings of the Mineralogical Society of Korea Conference
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• 2001.06a
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• pp.44-44
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• 2001

구리(II)의 전자상자성공명 흉수선의 모양과 선 폭에 대한 해석을 통해 석영-물 계면에서의 구리(II) 및 흡착수와 석영 표면과의 상호 작용에 대해 연구하였다. 두 가지 흡수선이 중첩하여 흡수선을 구성하며 따라서 석영 표면에 적어도 두 종류의 구리(II)가 존재함을 알 수 있었다. 하나는 g=2.18에 중심을 둔 초미세 갈라짐이 분해되지 않는 등방성 단일 흡수선을 보여 주는 구리(II) 이온이다. 이는 수용액 중에서와 유사한 빠른 자유 회전 운동이 가능한 상태로 표면에 매우 약하게 결합된 구리 이온(Cu($H_2O$)$_{6}$$^{2+}$)인 것으로 해석된다. 다른 하나는 축 대칭 흡수선 $g_{∥}$=2.40, $g_{⊥}$=2.08)을 가지는 구리(II)로서 이는 표면에 강하게 결합된 것으로 해석된다. 본 결과는 흡착 현상에 대한 열역학적 접근법인 표면 착물화 모델들이 제시하는 광물 표면에서의 금속 이온 흡착 모델이 거시적 관점에서 흡착 현상을 잘 모사할지라도 분자 수준의 미시적 관점에서 흡착 메커니즘을 규명하기 위해서는 독립적인 분광학적 정보가 제시되어야함을 보여 준다.다.

• Journal of Korean Society of Steel Construction
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• v.24 no.3
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• pp.337-348
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• 2012

This study investigated the characteristics of bifurcation and the instability due to the initial imperfection of the space truss, which is sensitive to the initial conditions, and the calculated buckling load by the analysis of Eigen-values and the determinant of tangential stiffness. A two-free nodes model, a star dome, and a three-ring dome model were selected as case studies in order to examine the unstable phenomenon due to the sensitivity to Eigen mode, and the influence of the rise-span ratio and the load parameter on the buckling load were analyzed. The sensitivity to the imperfection of the two-free nodes model changed the critical path after reaching the limit point through the bifurcation mode, and the buckling load level was reduced by the increase in the amount of imperfection. The two sensitive buckling patterns for the model can be explained by investigating the displaced position of the free node, and the asymmetric Eigen mode was a major influence on the unstable behavior due to the initial imperfection. The sensitive mode was similar to the in-extensional mechanism basis of the simplified model. Since the rise-span ratio was higher, the effect of local buckling is more prominent than the global buckling in the star dome, and bifurcation on the equilibrium path occurring as the value of the load parameter was higher. Additionally, the buckling load levels of the star dome and the three-ring model were about 50-70% and 80-90% of the limit point, respectively.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.2
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• pp.116-122
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• 2022

This study proposed a method of testing the stability when selecting gears to reduce the weight of a 3-DOF wrist mechanism for a pick-and-place 3-DOF parallel robot with an increased workspace by using an additional straight axis at its top. We performed SolidWorks^® modeling- and ANSYS^®-based structural analysis of a pinion gear, which is most vulnerable to the force from a 3-DOF wrist mechanism, to lighten the robot weight for performing various tasks. When the initial analysis results considerably differed from the theoretical values calculated in advance, we checked and identified the errors in the contact conditions or input values. Ultimately, it is believed that the methodology presented in this paper will help in mitigating errors during analysis and determine the accurate values for a lightweight 3-DOF wrist mechanism for a parallel robot with an expanded workspace.

• Korean Chemical Engineering Research
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• v.61 no.4
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• pp.604-610
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• 2023

The nitrogen reduction reaction (NRR), which produces NH₃ by reducing N₂ under ambient conditions, is attracting attention as a promising technology that can reduce energy consumption in industrial processes. We investigated the adsorption behaviors at various active sites on the Ni (100) surface, which is widely used among catalytic metal surfaces capable of adsorbing and activating N₂, based on density-functional theory calculations. We also investigated two N₂ adsorption structures, so-called end-on and side-on structures. We find that for the end-on case, N₂ is adsorbed on a top site, and the reaction proceeded in a distal pathway, while for the side-on case, N₂ is adsorbed on a bridge site, and the reaction proceeded with enzymatic pathway. Finally, this study provides insight into the adsorption of metal catalyst surfaces for the NRR reactions based on the calculated Gibbs free energy profiles of the thermodynamically most favorable pathways.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.1
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• pp.41-51
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• 2018

Downwash from helicopter rotor blades and external winds from various maneuvering make an unguided rocket change its trajectory and range. For the prediction of the trajectory and range, it is essential to consider the downwash effect. In this study, an algorithm was developed to calculate 6-Degree-Of-Freedom(6 DOF) forces and moments exerting on the rocket, and total flight trajectory of a 2.75-inch unguided rocket in a helicopter downwash flow field. Using Actuator Disk Model(ADM) analysis result, the algorithm could analyze the entire trajectory in various initial launch condition such as launch angle, launch velocity, and external wind. The algorithm that considered the interference between a fuselage and external winds could predict the trajectory change more precisely than inflow model analysis. Using the developed algorithm, the attitude and trajectory change mechanism by the downwash effect were investigated analyzing the effective angle of attack change and characteristics of pitching stability of the unguided rocket. Also, the trajectory and range changes were analyzed by considering the downwash effect with external winds. As a result, it was concluded that the key factors of the rocket range change were downwash area and magnitude which effect on the rocket, and the secondary factors were the dynamic pressure of the rocket and the interference between a fuselage and external winds. In tailwind case which was much influential on the range characteristics than other wind cases, the range of the rocket rose as increasing the tailwind velocity. However, there was a limit that the range of the rocket did not increase more than the specific tailwind velocity.