• Journal of the Korean Chemical Society
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• v.48 no.3
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• pp.261-265
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• 2004

We investigated the order of local movement of functional groups (-C(=O)O) in a liquid crystalline (LC) oligomer (12-4) using 2D Raman correlation spectroscopy. The results suggest that the free carbonyl near the ethyl terminal group moved first, followed by the hydrogen-bonded group. The free carbonyl group between the biphenyl groups rarely moved. Interestingly, 2D sample-to-sample correlation spectroscopy (2D STSCS) revealed that some of the carbonyl modes started to move at far below (50$^{\circ}C$) the LC temperature (135$^{\circ}C$), countering conventional beliefs.

• Clean Technology
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• v.17 no.2
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• pp.97-102
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• 2011

The adsorption characteristics of amatanth dye by granular activated carbon were experimently investigated in the batch adsorption. Kinetic studies of adsorption of amaranth dye were carried out at 298, 308 and 318 K, using aqueous solutions with 100, 200 and 300 mg/L initial concentration of amatanth. It was established that the adsorption equilibrium of amaranth dye on granular activated carbon was successfully fitted by Langmuir isotherm equation at 298 K. The pseudo first order and pseudo second order models were used to evaluate the kinetic data and the pseudo second order kinetic model was the best with good correlation. Values of the rate constant ($k_2$) have been calculated as 0.1076, 0.0531, and 0.0309 g/mg h at 100, 200 and 300 mg/L initial concentration of amatanth, respectively. Thermodynamic parameter such as activation energy, standard enthalpy, standard entropy and standard free energy were evaluated. The estimated values for standard free energy were -5.08 - -8.10 kJ/mol over activated carbon at 200 mg/L, indicated toward a spontaneous process. The positive value for enthalpy, 38.89 kJ/mol indicates that adsorption interaction of amatanth dye on activated carbon is an endothermic process.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.1
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• pp.9-16
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• 2004

In this paper, we propose a robust controller for robot manipulators with parametric uncertainties using feature-based visual servo control system. In order to improve trajectory error of the robot manipulators due to the parameter variation, integral action is included in the dynamic control of part in inner subroutine of the control system. This integral action also reduces feature error in the steady state. The stability analysis of the closed-loop system is shown by the Lyapunov method. The effectiveness of the proposed method is shown by simulation and experimental results on the 5 link robot manipulator with two degree of freedom.

• Applied Chemistry for Engineering
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• v.9 no.2
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• pp.300-305
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• 1998

Kinetics of termonomer emulsion polymerization during interval II (i.e, after completion of latex particle formation) were studied through pseudo-homopolymerization (PHP) method. Extended Smith-Ewart equation and equation of instantaneous polymer composition are respectively reduced to the corresponding equation for homopolymerization by defining average rate constants. Average number of radicals per particle and instantaneous polymer compositions were respectively predicted by varying termonomer composition within latex particles for systems containing no more than one growing radical per particle. Styrene-Methyl methacrylate-Acrylonitrile (SMA) system was used for model calculation.

• 한국신재생에너지학회:학술대회논문집
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• 2011.11a
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• pp.37.1-37.1
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• 2011

A floating wind turbine dynamic simulation program, 'WindHydro', is newly developed. In order to investigate the characteristics of the program, a series of loading cases are simulated such as (1) wind only case, (2) free decay cases with initial displacement, (3) wave only case (4) wind and wave case. The simulations are carried out for the 5-MW OC3-Hywind model which has a spar buoy and catenary mooring lines. As a result, the reliability of WindHydro is verified in most viewpoints although additional study is still necessary to clear out some uncertainty of the program.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.7-10
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• 2003

뱀형 로봇은 자유도보다 액추에이터의 수가 적은 논홀로믹 구속조건(nonholonomic constraint)을 가지며, 단순한 신체구조 이지만 초-여유자유도 구속조건(hyper-redundant constraint)을 이용해서 기밀한 운동과 다양한 기능을 만들어내는 특징을 가지고 있다. 본 논문에서는 6개의 관절로 각 링크가 2차원 상에서 직렬로 연결된 뱀형 로봇의 기구설계 및 기구학과 동력학을 바탕으로 설계된 기구에 대해 해석하여 운동방정식을 유도하여 추진원리와 운동원리에 관하여 알아본다. 기본적인 운동 메커니즘을 해석하여 구현한 알고리즘을 제작한 로봇에 적용하여 추진 원리와 운동원리를 검증한다. 실험용 로봇은 링크 중앙에 법선 방향으로 마찰력이 발생할 수 있도록 수동바퀴를 가지고 있으며, PC와 RF(Radio Frequency)로 직렬통신을 하며 PC에서의 운동 명령의 조작에 의해 전진, 후진, 좌/우 방향으로 회전을 할 수 있도록 운동 알고리즘을 적용할 수 있도록 제작되었다. 특징으로는 일반적으로 토크를 입력으로 하지 않고 각도를 입력으로 하여 관절을 제어하고 있다는 점이 있으며, 운동방정식 또한 이에 대한 관계를 바탕으로 유도한 것이다.

• Journal of the Korea Computer Industry Society
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• v.5 no.9
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• pp.993-1004
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• 2004

We propose the method for kinematic and dynamic modeling and Path-tracking of four-wheeled mobile robots with 2 d.o.f having the limited drive-torques. Controllability of wheeled-mobile robots is revealed by using the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that the method proposed by this paper is efficient.

• Journal of Korean Society of Environmental Engineers
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• v.33 no.9
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• pp.623-629
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• 2011

The adsorption characteristics of tricyclazole by granular activated carbon were experimently investigated in the batch adsorption. Kinetic studies of adsorption of tricyclazole were carried out at 298, 308 and 318 K, using aqueous solutions with 250, 500 and 1,000 mg/L initial concentration of tricyclazole. It was established that the adsorption equilibrium of tricyclazole on granular activated carbon was successfully fitted by Freundlich isotherm equation at 298 K. The pseudo first order and pseudo second order models were used to evaluate the kinetic data and the pseudo second order kinetic model was the best with good correlation. Values of the rate constant ($k_2$) have been calculated as 0.1076, 0.0531, and 0.0309 g/mg h at 250, 500 and 1,000 mg/L initial concentration of tricyclazole, respectively. Thermodynamic parameter such as activation energy, standard enthalpy, standard entropy and standard free energy were evaluated. The positive value for enthalpy, -66.43 kJ/mol indicated that adsorption interaction of tricyclazole on activated carbon was an exothermic process. The estimated values for standard free energy were -5.08~-8.10 kJ/mol over activated carbon at 200 mg/L, indicated toward a exothermic process.

• Journal of computational fluids engineering
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• v.4 no.1
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• pp.1-7
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• 1999

The numerical methodology for computing tile impact forces and water entry behaviors of high speed water entry bodies was been developed. Since the present method assumed the impact occurs within a very short time interval. the viscous effects do not have enough time to play a significant role in the impact forces, that is, the flow around a water-entry object was assumed as an incompressible potential flow and is solved by the source panel method. The elements fully submerged into the water are routinely treated, but the elements intersected by the effective planar free surface are redefined and reorganized to be amenable to the source panel method. To validate the present code, it was applied to disk, cone and ogive model and compared with experimental data. Good agreement was obtained. The water entry behavior such as the bouncing phenomena from the free surface was also simulated using the impact forces and two degree of freedom dynamic equation. Physically acceptable results were obtained.

• Applied Chemistry for Engineering
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• v.24 no.3
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• pp.327-332
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• 2013

Batch experiments were carried out for adsorption equilibrium, kinetics and thermodynamic parameters of the brilliant brown R onto granular activated carbon. The operating variables studied were the initial dye concentration, contact time and temperature. Experimental equilibrium adsorption data were fitted to Langmuir and Freundlich adsorption isotherm by linear regression method. The equilibrium process was well described by Freundlich isotherm model and from the determined separation factor (1/n), granular activated carbon could be employed as an effective treatment for the removal of bismarck brown R. From kinetic experiments, the adsorption processes were found to confirm the pseudo second order model with a good correlation and the adsorption rate constant ($k_2$) increased with increasing adsorption temperature. Thermodynamic parameters like the activation energy, change of Gibbs free energy, enthalpy, and entropy were also calculated to predict the nature of adsorption in the temperature range of 298~318 K. The activation energy was determined as 8.73 kJ/mol for 100 mg/L. It was found that the adsorption of bismarck brown R on the granular activated carbon was physical process. The negative Gibbs free energy change (${\Delta}G$ = -2.59~-4.92 kJ/mol) and the positive enthalpy change (${\Delta}H$ = +26.34 kJ/mol) are indicative of the spontaneous and endothermic nature of the adsorption process.