• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.667-673
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• 2010

This paper proposes a control method based on a pseudo-impedance model to control the motion of biped robots walking on an uneven surface. The pseudo-impedance model simulates the action of the ankle of a foot landing on the ground when a human walks. When the foot is in contact with the ground, the human ankle goes through two different phases. In the first phase, the human exerts little or no effort and applies no torque on the ankle so that the orientation of the foot is effortlessly and passively adjusted with respect to the ground. In the second phase of landing, the ankle generates a significant amount of torque in order to rotate and move the main part of the human body forward and to support the weight of the human; this phase is called the weight acceptance phase. Computer simulations of a 12-DOF biped robot with a 6-DOF environment model were performed to determine the effectiveness of the proposed pseudo-impedance control. The simulation results show that stable locomotion can be achieved on an irregular surface by using the proposed model.

• Journal of Korean Society of Water and Wastewater
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• v.29 no.3
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• pp.407-414
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• 2015

The effect of activated carbon particle diameter (i.e. US sieve No. $8{\times}10$ ($d_p{\approx}2.19mm$), $18{\times}20$ ($d_p{\approx}0.92mm$), $50{\times}60$ ($d_p{\approx}0.27mm$) and $170{\times}200$ ($d_p{\approx}0.081mm$) on caffeine adsorption is investigated. BET surface area was increased with decreasing particle diameter ($d_p$), and caffeine adsorption rates increased with decreasing $d_p$. Moreover, pseudo-second order model is predicted the experimental data more accurately than pseudo-first order model, and the fastest rate constant ($k_2$) was $1.7g\;mg^{-1}min^{-1}$ when $d_p$ was 0.081 mm. Surface diffusion coefficient (Ds) was decreased with decreasing $d_p$ based on the minimum sum of square error (SSE). Practically, certain ranges of Ds are acceptable with high reliability ($R^2$) and it is determined that the effect of $d_p$ on Ds is unclear. The effect of pH on caffeine adsorption indicated the dependency of m/L ratio (mass liquid ratio) and $pH_{pzc}$. The $pH_{pzc}$ (i.e. $7.9{\pm}0.2$) was not affected by $d_p$. The higher caffeine adsorption at pH 4 and pH 7 than at pH 10 is due to $pH_{pzc}$, not $pk_a$ of caffeine.

• Korean Chemical Engineering Research
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• v.53 no.3
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• pp.309-314
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• 2015

Adsorption of brilliant blue FCF dye from aqueous solution using coconut shell based activated carbon was investigated. Batch experiments were carried out as function of adsorbent dose, initial concentration, contact time and temperature. The equilibrium adsorption data were analyzed by Langmuir and Freundlich model. The results indicate that Freundlich model provides the best correlation of the experimental data. Base on the estimated Freundlich constant (1/n=0.129~0.212), this process could be employed as effective treatment method. Adsorption kinetics experimental data were modeled using the pseudo-first-order and pseudo-second-order kinetic equation. It was shown that pseudo-second-order kinetic equation could best describe the adsorption kinetics. Base on the negative Gibbs free energy value (-4.81~-10.33 kJ/mol) and positive enthalpy value (+78.59 kJ/mol) indicate that the adsorption is spontaneous and endothermic process.

• Bulletin of the Korean Chemical Society
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• v.34 no.9
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• pp.2753-2759
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• 2013

The aim of the present study is to explore the possibility of utilizing fly ash and loess, as alternative to activated carbon, for the adsorption of diazinon in water. Batch adsorption experiment was performed to evaluate the influences of various factors like initial concentration, contact time and temperature on the adsorption of diazinon. The adsorption data shows that fly ash is not effective for the adsorption of diazinon. The equilibrium data for both activated carbon and loess were fitted well to the Freundlich isotherm model. The pseudo-second-order kinetic model appeared to be the better-fitting model because it has higher $R^2$ compared to the pseudo-first-order kinetic model. The thermodynamic parameters such as free energy (${\Delta}G$), the enthalpy (${\Delta}H$) and the entropy (${\Delta}S$) were calculated. Contrary to loess, the ${\Delta}G$ values of activated carbon were negative at the studied temperatures. It indicates that the adsorption of diazinon by activated carbon is a favorable and spontaneous process. The positive ${\Delta}H$ values of activated carbon and loess suggest that the diazinon adsorption process is endothermic in nature. In addition, the positive ${\Delta}S$ values show that increased randomness occurs at the solid/solution surface during the adsorption of diazinon.

• Journal of Environmental Science International
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• v.20 no.12
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• pp.1607-1615
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• 2011

The adsorption performance of cupper and zinc ions($Cu^{2+}$ and $Zn^{2+}$) in aqueous solution was investigated by an adsorption process on reagent grade Na-A zeolite(Z-WK) and Na-A zeolite (Z-C1) prepared from coal fly ash. Z-C1 was synthesized by a fusion method with coal fly ash from a thermal power plant. Batch adsorption experiment with Z-C1 was employed to study the kinetics and equilibrium parameters such as initial metal ions concentration and adsorption time of the solution on the adsorption process. Adsorption rate of metal ions occurred rapidly and adsorption equilibrium reached at less than 120 minutes. The kinetics data of $Cu^{2+}$ and $Zn^{2+}$ ions were well fitted by a pseudo-second-order kinetics model more than a pseudo-first-order kinetics model. The equilibrium data were well fitted by a Langmuir model and this result showed $Cu^{2+}$ and $Zn^{2+}$ adsorption on Z-C1 would be occupied by a monolayer adsorption. The maximum adsorption capacity($q_{max}$) by the Langmuir model was determined as $Cu^{2+}$ 99.8 mg/g and $Zn^{2+}$ 108.3 mg/g, respectively. It appeared that the synthetic zeolite, Z-C1, has potential application as absorbents in metal ion recovery and mining wastewater.

• Journal of Korean Society of Water and Wastewater
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• v.29 no.6
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• pp.609-615
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• 2015

This study was carried out for characterization of MIO synthesized in our laboratory by co-precipitation method and applied isotherm and kinetic models for adsorption properties. XRD analysis were conducted to find crystal structure of synthesized MIO. Further SEM and XPS analysis was performed before and after phosphate adsorption, and BET analysis for surface characterization. Phosphate stock solution was prepared by KH2PO4 for characterization of phosphate adsorption, and batch experiment was conducted using 50 ml conical tube. Langmuir and Freundlich models were applied based on adsorption equilibrium test of MIO by initial phosphate solution. Pseudo first order and pseudo second order models were applied for interpretation of kinetic model by temperature. Surface area and pore size of MIO were found $89.6m^2/g$ and 16 nm respectively. And, the determination coefficient ($R^2$) value of Langmuir model was 0.9779, which was comparatively higher than that of Freundlich isotherm model 0.9340.

• Advances in environmental research
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• v.1 no.3
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• pp.223-236
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• 2012

Biosorption of methylene blue (MB) from aqueous solution was studied with respect to the point of zero charge of coconut husk, dye concentration, particle size, pH, temperature, as well as adsorbent and NaCl concentration using coconut husk biomass. Amongst Langmuir and Freundlich adsorption isotherms studied, Langmuir adsorption isotherm showed better agreement. Pseudo second order kinetics model was found to be more suitable for data presentation as compared to pseudo first order kinetics model. Also, involvement of diffusion process was studied using intraparticle diffusion, external mass transfer and Boyd kinetic model. Involvement of intraparticle diffusion model was found to be more relevant (prominent) as compared to external mass transfer (in) for methylene blue biosorption by the coconut husk. Moreover, thermodynamic properties of MB biosorption by coconut husk were studied. Desorption of methylene blue from biomass was studied with different desorbing agents, and the highest desorption achieved was as low as 7.18% with acetone, which indicate stable immobilization. Under the experimental conditions MB sorption was not significantly affected by pH, temperature and adsorbent concentration but low sorption was observed at higher NaCl concentrations.

• Journal of Environmental Science International
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• v.24 no.2
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• pp.151-162
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• 2015

The adsorption characteristics of Sr ions and Cs ions in single and binary solution by zeolite A were investigated in batch experiment. The adsorption rate of Sr ions and Cs ions by zeolite A obeyed pseudo-second-order kinetic model in single and binary solution. The initial adsorption rates (h) and adsorption capacities of both ions obtained from pseudo-second-order kinetic model, and the values were decreased with increasing concentration of the competitive ions (0~1.5 mM). Also, adsorption isotherm data in binary solution were well fitted to the extended Langmuir model, the maximum adsorption capacities of Sr and Cs calculated from the model were 1.78 mmol/g and 1.64 mmol/g, respectively. The adsorption of Sr and Cs ions by zeolite A was carried out in the presence of other cations such as $Na^+$, $K^+$, $Mg^{2+}$ and $Ca^{2+}$. The results showed that the zeolite A can maintain a relatively high adsorption capacity for Sr and Cs ions and exhibits a high selectivity in the presence of competitive cations. The effect of competition had an order of $Ca^{2+}$ > $K^+$ > $Mg^{2+}$ > $Na^+$ for Sr ions and $K^+$ > $Ca^{2+}$ > $Na^+$ > $Mg^{2+}$ for Cs ions at the same cation concentration.

• Journal of Environmental Science International
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• v.28 no.6
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• pp.561-570
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• 2019

A zeolitic material (Z-Y2) was synthesized from Coal Fly Ash (CFA) using a fusion/hydrothermal method under low-alkali condition (NaOH/CFA = 0.6). The adsorption performance of the prepared zeolite was evaluated by monitoring its removal efficiencies for Sr and Cs ions, which are well-known as significant radionuclides in liquid radioactive waste. The XRD (X-ray diffraction) patterns of the synthesized Z-Y2 indicated that a Na-A type zeolite was formed from raw coal fly ash. The SEM (scanning electron microscope) images also showed that a cubic crystal structure of size $1{\sim}3{\mu}m$ was formed on its surface. In the adsorption kinetic analysis, the adsorption of Sr and Cs ions on Z-Y2 fitted the pseudo-second-order kinetic model well, instead of the pseudo-first-order kinetic model. The second-order kinetic rate constant ($k_2$) was determined to be $0.0614g/mmol{\cdot}min$ for Sr and $1.8172g/mmol{\cdot}min$ for Cs. The adsorption equilibria of Sr and Cs ions on Z-Y2 were fitted successfully by Langmuir model. The maximum adsorption capacity ($q_m$) of Sr and Cs was calculated as 1.6846 mmol/g and 1.2055 mmol/g, respectively. The maximum desorption capacity ($q_{dm}$) of the Na ions estimated via the Langmuir desorption model was 2.4196 mmol/g for Sr and 2.1870 mmol/g for Cs. The molar ratio of the desorption/adsorption capacity ($q_{dm}/q_m$) was determined to be 1.44 for Na/Sr and 1.81 for Na/Cs, indicating that the amounts of desorbed Na ions and adsorbed Sr and Cs ions did not yield an equimolar ratio when using Z-Y2.

• Journal of Environmental Science International
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• v.24 no.9
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• pp.1145-1153
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• 2015

PVC-Zeolite composite was prepared by immobilizing zeolite with polyvinyl chloride (PVC). The prepared PVC-Zeolite beads were characterized by using X-ray diffractometer (XRD), fourier transform infrared spectrometer (FTIR), thermo gravimetric analyzer (TGA), and scanning electron microscopy (SEM). The removal properties of Sr and Cs ions from aqueous solution were investigated in batch experiment. The removal efficiencies of Sr and Cs ions by the PVC-Zeolite beads were dependent on the initial pH of solution. The removal efficiencies sharply increased at below pH 4 and was kept constant at pH 4 or more. The adsorption kinetics of Sr and Cs ions by the PVC-Zeolite beads were fitted well by the pseudo-second-order model ($r^2$>0.99) more than pseudo-first-order model. The maximum adsorption capacities of Sr and Cs ions calculated from Langmuir isotherm model were 39.37 mg/g and 55.87 mg/g, respectively.