• Proceedings of the KIEE Conference
• /
• 1998.11b
• /
• pp.549-551
• /
• 1998

This paper deals with the new gait implementation of biped walking robot(IWR-III). In the case of using old gait. The trunk should be stopped during the phase changing time. But using new gait, the trunk moves continuously for all walking time. As a result, IWR-III has a walking gait similar to human being, and the motion of balancing joints can be reduced by the trunk ahead effect in the double support phase, moreover, ZMP tracking is improved, therefore the stability of IWR-III is improved. The trajectory is planned with a 5th order spline interpolation and stability of IWR-III is certified with a biped simulator.

• ETRI Journal
• /
• v.13 no.4
• /
• pp.25-34
• /
• 1991

The stability and the electronic structure of $In_0.5$.$Ga_0.5$P-based superlattices are examined through self-consistent ab initio pseudopotential calculations. A chalcopyrite-like structure is found to be the lowest energy state over (001) and (111) monolayer superlattices (MLS). Our calculations indicate that all the ordered structures in bulk form are unstable against phase segregation into binary constituents at T = 0 while for epitaxial growth, the chalcopyrite phase is stabilized. The fundamental band gaps of the ordered structures are found to be direct and smaller than that of disordered alloys. The lowering of the band gap is explainable by band folding and pushing effects. We find the reduction of the band gap to be largest for the (111) MLS.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
• /
• 2001.11a
• /
• pp.308-311
• /
• 2001

Bi-2212 and Bi-2223 thin films are prepared by IBS(ion beam sputtering) technique. Three phases of Bi-2201, Bi-2212 and Bi-2223 appear as stable ones in spite of the conditions for thin film fabrication of Bi-2212 and Bi-2223 compositions, depending on substrate temperature($T_{sub}$) and ozone pressure(PO$_3$). It is found out that these phases show similar $T_{sub}$ and PO$_3$ dependence, and that the stable regions of these phases are limited within very narrow temperature.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
• /
• 2000.11a
• /
• pp.108-111
• /
• 2000

Bi2212 and Bi2223 thin films are fabricated by ion beam sputtering method. Three phases of Bi2201, Bi2212 and Bi2223 appear as stable ones in spite of the condition for thin film fabrication of Bi2212 and bi2223 compositions, depending on substrate temperature(T$\sub$sub/) and ozone pressure (PO$_3$). It is found out that these phases show similar T$\sub$sub/ and PO$_3$ dependence, and that the stable regions of these phases are limited within very narrow temperature.

• International Journal of Safety
• /
• v.5 no.2
• /
• pp.6-11
• /
• 2006

The time delay in servo control on LonWorks/IP Virtual Device Network (VDN) is highly stochastic in nature. LonWorks/IP VDN induced time delay deteriorates the performance and stability of the real-time distributed control system and hinders an effective preventive and predictive maintenance. Especially in real-time distributed servo applications on the factory floor, timely response is essential for predictive and preventive maintenance. In order to guarantee the stability and performance of the system for effective preventive and predictive maintenance, LonWorks/IP VDN induced time delay needs to be predicted and compensated for. In this paper position control simulation of DC servo motor using Zero Phase Error Tracking Controller (ZPETC) as a feedforward controller, and Internal Model Controllers (IMC) based on Smith predictor with disturbance observer as a feedback controller is performed. The validity of the proposed control scheme is demonstrated by comparing the IMC based on Smith predictor with disturbance observer.

• Bulletin of the Korean Chemical Society
• /
• v.20 no.12
• /
• pp.1421-1427
• /
• 1999

4-Hydroxy-4'-methoxyazobenzene and 4-hydroxy-4'-cyanoazobenzene were synthesized from phenol with p-anisidine and p-aminobenzonitrile through a diazotization reaction, respectively. They were reacted with 2-chloroethanol, 2-(2-chloroethoxy)ethanol, or 2-[2-(2-chloroethoxy)ethoxy]ethanol to produce six kinds of new mesogenic alcohols having an azobenzene group that is sensitive to the ultraviolet. Twelve kinds of new photoresponsive monomers with two symmetrical mesogens were prepared by the reaction of the mesogenic alcohols with fumaric acid or maleic acid through a Mitsunobu reaction. The resulting monomers have different length of flexible ethyleneoxy spacer tethered to azobenzene group. The length of the spacer affected their thermal stability, solubility, and phase transition temperature. Structures of the monomers were identified by FT-IR and ¹H-NMR spectra. Their phase transition temperatures and thermal stability were also investigated by a differential scanning calorimetry (DSC) and a thermogravimetric analysis (TGA). From an optical polarizing microscopy, all the prepared monomers except fumarate-1 and maleate-1 were found to show enantiotropic liquid crystallinity with a smectic texture like focal-conic, fan-shaped, and batonnet textures.

• International Journal of Computer Science & Network Security
• /
• v.21 no.1
• /
• pp.64-69
• /
• 2021

In this paper, we have proposed a new internal model control structure (IMC). It is aimed at unstable overactuated multivariable systems whose transfer matrices are singular and unstable. The model inversion problem is essential to understand this structure. Indeed, the precision between the output of the process and the setpoint is linked to the quality of the inversion. This property is preserved in the presence of an additive disturbance at the output. This inversion approach proposed in this article can be applied to multivariable systems with no minimum phase or minimum phase shift with or without delays in their transfer matrices. It is proven by an example of simulation through which we have shown its good performance as a guarantee of stability, precision as well as rapidity of system responses despite the presence of external disturbances and we have tested this control structure in the frequency domain hence the robustness of the IMC.

• Archives of Metallurgy and Materials
• /
• v.65 no.3
• /
• pp.1005-1009
• /
• 2020

In this study, a non-equiatomic high entropy alloy was fabricated using the spark plasma sintering method, and its microstructural features and mechanical properties were investigated. The chemical composition of FeMnCoCr was determined by using the entropy calculation related to the design of high entropy alloys. A bulk sample with the same composition was also prepared using the conventional metallurgical processes of casting and hot rolling. The microstructures of the samples fabricated by these different processes were compared by microscope observation, and a quantitative phase analysis was carried out using FE-SEM. Hardness measurement was used to evaluate mechanical properties. Particular attention was paid to microstructural changes due to heat treatment, which was analyzed by considering how austenite stability is affected by grain refinement.

• Journal of Powder Materials
• /
• v.21 no.5
• /
• pp.377-381
• /
• 2014

This work describes the coloration, chemical stability of $SiO_2$ and $SnO_2$-coated blue $CoAl_2O_4$ pigment. The $CoAl_2O_4$, raw materials, were synthesized by a co-precipitation method and coated with silica ($SiO_2$) and tin oxide ($SnO_2$) using sol-gel method, respectively. To study phase and coloration of $CoAl_2O_4$, we prepared nano sized $CoAl_2O_4$ pigments which were coated $SiO_2$ and $SnO_2$ using tetraethylorthosilicate, $Na_2SiO_3$ and $Na_2SiO_3$ as a coating material. To determine the stability of the coated samples and their colloidal solutions under acidic and basic conditions, colloidal nanoparticle solutions with various pH values were prepared and monitored over time. Blue $CoAl_2O_4$ solutions were tuned yellow color under all acidic/basic conditions. On the other hand, the chemical stability of $SiO_2$ and $SnO_2$-coated $CoAl_2O_4$ solution were improved when all samples pH values, respectively. Phase stability under acidic/basic condition of the core-shell type $CoAl_2O_4$ powders were characterized by transmission electron microscope, X-ray diffraction, CIE $L^*a^*b^*$ color parameter measurements.

• Journal of the Society of Cosmetic Scientists of Korea
• /
• v.38 no.2
• /
• pp.119-131
• /
• 2012

The W/O emulsion is widely used for cosmetics because of its water-proofing benefit and long-lasting moisturizing effect. However, because of low stability of the W/O emulsion, it is very important to control the concentration of electrolyte and emulsifying agent, and ratio of water phase. Among these factors, we focused on the effects of different structures of emulsifying agents on the change of stability. Emulsifying agents were sorted into polyglyceryl ester, silicone and sugar series. We also examined the emulsifyingability of emulsifier by changing the ratio of normal and silicon oil in the oil phase. Through these experimental results, we figured out the property of w/o emulsion depending on the types of emulsifiers, and observed the stability of emulsion considering the change of particles and viscosity over time.