• 제어로봇시스템학회논문지
• /
• 제22권6호
• /
• pp.389-396
• /
• 2016

The sealing robot must be able to calculate the slope of a contact surface for complete adherence of the sealing on different concrete shapes. After the slope is obtained, the robot will track on the surface of the concrete, but this process contains an error in the actual purpose of the force command. The reason this a phenomenon occurs, the non-linearity of the contact surface and the end-effector, is due to parasitic coupling. Errors like make it difficult to measure accurately the respective factors. Therefore, it is regarded as a disturbance that occurs when it follows the work surface it. In this paper, we selected the friction coefficient of the surface as a control factor and designed a compensator to reduce effects of disturbance. Finally, in view of the non-linearity of the end-effector of a robot to contact surfaces directly, we propose a robust force tracking controller in the finite range for managing disturbances that occur during the sealing.

• Bulletin of the Korean Chemical Society
• /
• 제33권2호
• /
• pp.541-548
• /
• 2012

New candidates composed of anthracene and 4-alkylethynylbenzene end-capped oligomers for OTFTs were synthesized under Sonogashira coupling reaction conditions. All oligomers were characterized by FT-IR, mass, UV-visible, and PL emission spectrum analyses, cyclic voltammetry (CV), differential scanning calorimetry (DSC), thermal gravimetric analysis (TGA), $^1H$-NMR, and $^{13}C$-NMR. Investigation of their physical properties showed that the oligomers had high oxidation potential and thermal stability. Thin films of DHPEAnt and DDPEAnt were characterized by spin coating them onto Si/$SiO_2$ to fabricate top-contact OTFTs. The devices prepared using DHPEAnt and DDPEAnt showed hole field-effect mobilities of $4.0{\times}10^{-3}cm^2$/Vs and $2.0{\times}10^{-3}cm^2$/Vs, respectively, for solution-processed OTFTs.

• 접착 및 계면
• /
• 제5권1호
• /
• pp.21-28
• /
• 2004

본 연구에서는 사슬말단에 chloropropyl 유기관능그룹을 가지고 있는 실란결합체인 3-chloropropyltrimethoxysilane(CTMS)을 사용하여 여러 농도에서 유리섬유 표면에 사이징 처리하여 유리섬유/나일론 6 및 유리직물/나이론 6 복합재료를 제조하였다. 단섬유 microbonding 시험에 의한 유리섬유/나일론 6 복합재료의 계면전단강도와 short-beam 전단시험과 동역학적 열특성 분석 방법을 통하여 유리직물/나일론 6 복합재료의 층간전단강도 및 저장탄성률에 미치는 결합체 농도의 영향을 각각 조사하였다. CTMS 결합제의 농도가 증가할수록 복합재료의 계면특성이 향상되었다. 결합제의 농도 변화에 대한 유리섬유강화 나일론 6 복합재료의 계면전단강도, 층간전단강도, 층간파단양상 그리고 저장탄성률 등 각 특성 변화의 경향이 서로 일치하였다.

• Bulletin of the Korean Chemical Society
• /
• 제30권3호
• /
• pp.618-622
• /
• 2009

The new candidates for OTFTs, which were composed of naphthalene, anthracene, benzo[1,2-b:4,5-b’]dithiophene and 2-decylbithiophene end-capper were synthesized under Suzuki coupling reaction conditions. All of the oligomers were characterized by FT-IR, mass analysis, UV-vis, PL spectrum, cyclic voltametry (CV), differential scanning calorimetry (DSC), thermal gravimetric analysis (TGA), $^1H-NMR\;and\;^{13}C-NMR$. Investigation of physical properties showed that all of the oligomers have higher oxidation potential and good thermal stability. Especially, DBT-DtB-DBT is soluble in common solvents and suitable for low cost processing technologies.

• Nuclear Engineering and Technology
• /
• 제56권10호
• /
• pp.4412-4422
• /
• 2024

The CFETR multipurpose overload robot (CMOR) is a critical component of the fusion reactor remote handling system. To accurately calculate and visualize the structural deformation and stress characteristics of the CMOR motion process, this paper first establishes a CMOR kinematic model to analyze the unfolding and working process in the vacuum chamber. Then, the dynamic model of CMOR is established using the Lagrangian method, and the rigid-flexible coupling modeling of CMOR links and joints is achieved using the finite element method and the linear spring damping equivalent model. The co-simulation results of the CMOR rigid-flexible coupled model show that when the end load is 2000 kg, the extreme value of the end-effector position error is more than 0.12 m, and the maximum stress value is 1.85 × 10⁸ Pa. To utilize the stress-strain data of CMOR, this paper designs a CMOR morphology prediction control system based on Unity software. Implanting CMOR finite element analysis data into the Unity environment, researchers can monitor the stress strain generated by different motion trajectories of the CMOR robotic arm in the control system. It provides a platform for subsequent research on CMOR error compensation and extreme operation warnings.

• 공업화학
• /
• 제2권1호
• /
• pp.12-29
• /
• 1991

1952 년에 최초로 erythromycin A 를 분리한 이래, 이의 aglycone(erythronolide)의 개산(開酸)을 광학선택적으로 합성하고자 하는 연구결과들을 1990년 말까지 요약하여 소개한다. 이 개산(開酸)에 존재하는 10 개의 비대칭 center 들을 구축하기 위한 합성전략은 개산(開酸)의 대칭성을 이용, 공통되는 부분을(key fragments) 합성하여 결합하므로써 이루어져 왔다. 이 공통되는 부분을(key fragments) 제조하는 방법들은 크게 세 범위로 나눌수 있다. 첫째, 탄수화합물을 이용하는 방법, 둘째, 중간체로서 고리화합물을 이용하는 방법, 셋째, 비고리화합물에 있어서의 선택성을 이용하는 방법. 이 공통되는 부분을 결합하는 방법으로서는 거의 대부분이 aldol 형태의 결합방법이나 Witting 형태의 이중결합반응을 이용하는 형식들이 사용되어 왔다.

• 한국정밀공학회지
• /
• 제29권1호
• /
• pp.64-71
• /
• 2012

In this paper, a parallel manipulator is comprised of two sliders and four links. Sliders execute a linear reciprocating motion depending on parallel guides and make the connected links rotate. A couple of links connected by sliders do coupling motion. The end-effector called a link tip has orientation angle. Through the kinematics analysis of this manipulator, we found displacement, velocity and acceleration using direct and inverse kinematics. We used equations that derived from this analysis and determined five constraint conditions. These conditions had much to do with rotation states of links, the relative relation of link length and coupling motion state. To verify those, we suggest a new algorithm regarding constraint conditions of a manipulator. With the result which performed the algorithm, we found out that operation range of coupled links was limited by relative relation of link length and that manipulator was not able to carry out a series of link motion, in case of being the link vertical between two parallel guides.

• 한국산학기술학회논문지
• /
• 제12권5호
• /
• pp.2048-2053
• /
• 2011

본 논문에서는 도어의 회전운동에 의해서 발생하는 기계에너지를 전기에너지로 변환시켜 에너지를 획득하는 시스템을 제안한다. 에너지를 획득하는 방법으로 2종류의 에너지 하베스터을 논의한다. 첫 번째, 도어의 회전축과 발전장치의 축을 기어장치로 직접 연결하여 발전하는 기어 축결합 에너지 하베스터, 두 번째로는 도어 선단을 발전장치의 스트링으로 연결하여 발전하는 스파이럴스프링 에너지 하베스터이다. 이 2종류의 하베스터를 제작하여 실험을 수행하며, 이 결과를 통해서 제안한 에너지 하베스터의 유효성을 나타낸다.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2010년도 춘계학술대회 논문집
• /
• pp.481-487
• /
• 2010

The equivalent circuits intended to analyze the characteristics of IPT systems can be shown in structures similar to those of existing transformers. IPT systems are composed of combinations of the primary and secondary coils based on magnetic coupling, and the performances are determined by the lengths or the degrees of magnetic coupling of current collecting conductors(secondary) and feeding rails (primary) and system performances become the maximum when they are coupled under the optimum condition. To maximize the output currents of the secondary side, the shapes of iron cores and the structures of coils etc should be considered. To this end, three types of IPT system simulation models were selected and they were analyzed using an electromagnetic field analyzing program. To compare the types with each other, the sizes of the IPT systems and the primary side voltages etc were made to be the same. The electromagnetic fields were analyzed while changing the thicknesses of the cores and the lengths of the air gap etc and the results were analyzed in order to derive the optimum specifications.

• 한국안전학회지
• /
• 제29권3호
• /
• pp.34-38
• /
• 2014

In Display such as LCD, LED, and AMOLED or semiconductor related industries are required to have static ionizer in order to produce reliable goods since the ionizer can create balanced ion that is delivered to producing goods to minimize electrical damages when manufacturing. However, the most general type of ionization is called, "Corona Discharge" that has a slight chances to generate unequal and unstable amount of each +/- ion to the target object. Then, the ionization performance will drastically decrease and end up with quality deterioration problem. In this research, our objective to resolve the current issue via applying "Coupling Condenser" on each counter electrodes of Corona discharging type ionizer. The result is that the ion balance was maintained the satisfied range that is within +/-100V when we changed the duty ratio of the High Voltage of Pulse AC about 40 ~ 70%. In addition, when levelling the High Voltage of Pulse AC, the ion balance holds the range within +20 ~ 0V. Even though we have tested the same experiment for a year, we have seen the range changes roughly ${\pm}50V$.