• Journal of Institute of Control, Robotics and Systems
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• v.20 no.3
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• pp.333-344
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• 2014

This is the survey paper on the role of kinematics in robot development. The robot is considered as a form of mechanical systems which includes closed-chain loop system, open-chain loop system and closed and open switching system. To analyze these systems, kinematic notations has been developed in kinematics of mechanical theory since 1955 and has been applied in robotics. Several kinematic notations including Denavit-Hartenberg notations have been reviewed. The status of development of the spherical motor which has a great impact on the future robot advancement has reviewed, and research activity on a spherical motor and its application to 3-D spatial mechanisms at UNIST is introduced. For the open and closed switching mechanical systems, the bipedal robots' walking theories using Zero Moment Point are reviewed. And current status regarding bipedal robots based on newly developed passive dynamic walking theory is reviewed with the research activity at UNIST on this subject.

• Proceedings of the KSR Conference
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• 2009.05a
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• pp.589-592
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• 2009

In this paper is presenting the shape design and elastomer bearings, which functioned as a joint connecting sub-structures and upper-structures with a railway bridge bearing systems. The elastomeric spherical bearing shaped and composed of alternated 17-layered metal shim plates and 18-layered elastomer plates, respectively. The elastomeric spherical bearing a high compressive load for perpendicular axis to layered plates and flexible motions are provided coincidently for other axes. The three types of elastomers, which were developed due to a designed shear modules were applied. Nonlinear analysis based on the material properties of designed bearing were accomplished. Therefore, the Nonlinear Analysis results were compared with the calculation results and the optimized shapes were designed.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.25 no.11
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• pp.83-90
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• 2011

There are two main types of concentrating optical systems in use today: refractive types that use Fresnel lenses, and reflective systems that use one or more mirrors. Regardless of the chosen optical system, the result is concentrated sunlight being aimed at the sensitive face of the cell, to produce more energy from less photovoltaic material. In this paper, for the achieve trackerless CPV system, CPV module included that the spherical lens with reflect mirror makes it possible to achieve high and stable power generation performance for the high concentration photovoltaic power generation system and cope with the needs for a variety of shapes and sizes in flexible manners and that the multiple cavity assemble method greatly reduces costs. Development of these high performance multi-junction CPV module promises to accelerate growth in photovoltaic power generation.

• Journal of the Korean Ceramic Society
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• v.27 no.6
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• pp.729-734
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• 1990

The microstructural dependence of thermal conductivity of a high-alumina (ca. 70%) heat-insulating frebricks(ca. 75%porosity) was investigated under special consideration of the tailored-pore shape effects. Pores different shape could be incorporated into the insulators through pore formers : Styrofoam produces spherical pores while saw dust results in parallel plate pores. Concerning the pore-shape effectiveness of thermal insulation, the specimen with irregular plate pores showed much lower values of heat conductivity than those with spherical pores, the values being 0.31 to 0.38 at $600^{\circ}C$ and 0.35 to 0.47 at 100$0^{\circ}C$, respectively. On the contrary, however, other material properties such as strength and softening temeprature under load were turned out to be better in the case of the spherical pores.

• Transactions on Electrical and Electronic Materials
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• v.14 no.2
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• pp.105-109
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• 2013

In order to develop high voltage (HV) insulation materials, epoxy/spherical alumina composites with two different particle sizes (in ${\mu}m$) were prepared and a dynamic mechanical analysis (DMA) and electrical insulation breakdown strength test were carried out in sphere-sphere electrodes and the data were estimated using Weibull statistical analysis. Alumina content varied from 50 to 70 wt%. The electrical insulation breakdown strength for epoxy/alumina (50 wt%) was 44.0 kV/1 mm and this value decreased with increasing alumina content. The effects of insulation thickness and alumina particle size on the insulation breakdown strength were also studied. The insulation thickness varied from 1 mm to 3 mm, and the particle sizes were 7.3 or $40.3{\mu}m$.

• Journal of the Korean Ceramic Society
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• v.49 no.6
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• pp.659-662
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• 2012

Yttrium (Y) and niobium (Nb) doped spherical $Li_4Ti_5O_{12}$ were synthesized to improve the energy density and electrochemical properties of anode material. The synthesized crystal was $Li_4Ti_5O_{12}$, the particle size was less than $1{\mu}m$ and the morphology was spherical and well dispersed. The Y and Nb optimal doping amounts were 1 mol% and 0.5 mol%, respectively. The initial capacity of the dopant discharge and charge capacity were respectively 149mAh/g and 143 mAh/g and were significantly improved compared to the undoped condition at 129 mAh/g. Also, the capacity retention of 0.2 C/5 C was 74% for each was improved to 94% and 89%. It was consequently found that Y and Nb doping into the $Li_4Ti_5O_{12}$ matrix reduces the polarization and resistance of the solid electrolyte interface (SEI) layer during the electrochemical reaction.

• Korean Journal of Materials Research
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• v.33 no.12
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• pp.530-536
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• 2023

The theoretical capacity of silicon-based anode materials is more than 10 times higher than the capacity of graphite, so silicon can be used as an alternative to graphite anode materials. However, silicon has a much higher contraction and expansion rate due to lithiation of the anode material during the charge and discharge processes, compared to graphite anode materials, resulting in the pulverization of silicon particles during repeated charge and discharge. To compensate for the above issues, there is a growing interest in SiO_x materials with a silica or carbon coating to minimize the expansion of the silicon. In this study, spherical silica (SiO₂) was synthesized using TEOS as a starting material for the fabrication of such SiO_x through heating in a reduction atmosphere. SiO_x powder was produced by adding PVA as a carbon source and inducing the reduction of silica by the carbothermal reduction method. The ratio of TEOS to distilled water, the stirring time, and the amount of PVA added were adjusted to induce size and morphology, resulting in uniform nanosized spherical silica particles. For the reduction of the spherical monodisperse silica particles, a nitrogen gas atmosphere mixed with 5 % hydrogen was applied, and oxygen atoms in the silica were selectively removed by the carbothermal reduction method. The produced SiO_x powder was characterized by FE-SEM to examine the morphology and size changes of the particles, and XPS and FT-IR were used to examine the x value (O/Si ratio) of the synthesized SiO_x.

• Applied Chemistry for Engineering
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• v.16 no.5
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• pp.698-704
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• 2005

Power consumption for paddle impeller in spherical and cylindrical agitated vessel was measured over a wide range of Reynolds number from laminar to turbulent flow regions. The power correlation was obtained for both spherical and cylindrical vessels, where the apparent diameter of the spherical vessel was equal to the diameter of the cylindrical vessel (height equal to its diameter and had the same volume as the spherical vessel). The power consumption well correlated with the experimental results of Nagata, et al. and Hixson-Baum. Also the critical Reynolds numbers was directly related to the transition coefficient $C_{tr}$ characterizing the transition from a laminar to a turbulent flow region in the correlation proposed here.

• International Journal of Precision Engineering and Manufacturing
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• v.4 no.3
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• pp.48-54
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• 2003

This paper deals with mirror grinding of a small-sized aspherical lens by a resin bonded diamond spherical wheel. Up to now, a spherical lens has been used for the lens of the optical communication optical part. However, recently, aspherical optical parts are mainly used in order to attempt the improvement in image quality and miniaturization of the optical device. It is possible to manufacture the aspherical lens which is presently being used in optical instrument through ultra-precision machining technology. Also, to realize compactness, efforts are being made to produce a micro aspherical lens, fur which the development of a high-precision, micro molding die is inevitable. Therefore, extensive research is being done on methods of producing a micro aspherical surface by high-precision grinding. In this paper, the spherical wheel was trued by cup-shaped truer and tool path was calculated by the radius of curvature of the wheel after truing and dressing. Then in the aspherical grinding experiment, WC material which is used as a melding die for the small-sized aspherical lens was ground. The results showed that a form accuracy of 0.1918 $\mu\textrm{m}$ P-V and a surface roughness of 0.064 $\mu\textrm{m}$ Rmax could be achieved.

• Korean Journal of Materials Research
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• v.16 no.2
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• pp.123-128
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• 2006

[ $BaMgAl_{10}O_{19}:Mn^{2+}$ ](BAM:Mn) phosphor particles with spherical shape were prepared by spray pyrolysis from colloidal solution with silica. The phosphor particles prepared by spray pyrolysis from aqueous solution had irregular morphology after high temperature post-treatment. On the other hand, the phosphor particles prepared from spray solution with colloidal silica had spherical shape after post-treatment. Colloidal silica used as additive improved the spherical shape and filled morphology of the precursor particles prepared by spray pyrolysis. The precursor particles with filled structure produced the BAM:Mn phosphor particles with spherical shape and non-aggregation characteristics after post-treatment at $1400^{\circ}C$ under reducing atmosphere. The phosphor particles prepared from colloidal solutions formed the crystal structure of BAM:Mn phosphor irrespective of the silica contents. The BAM:Mn phosphor particles prepared from aqueous and colloidal solutions had similar photoluminescence intensities under vacuum ultraviolet.