• Journal of Korean Association for Spatial Structures
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• v.11 no.2
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• pp.11-17
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• 2011

• The Journal of Korea Robotics Society
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• v.6 no.4
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• pp.323-333
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• 2011

Due to the limited pendulum motion range, the conventional one-pendulum driven spherical robot has limited driving capability. Especially it can not drive parallel direction with center horizontal axis to which pendulum is attached from stationary state. To overcome the limited driving capability of one-pendulum driven spherical robot, we introduce a spherical robot, called KisBot II, with a new type of curved two-pendulum driving mechanism. A cross-shape frame of the robot is located horizontally in the center of the robot. The main axis of the frame is connected to the outer shell, and each curved pendulum is connected to the end of the other axis of the frame respectively. The main axis and pendulums can rotate 360 degrees inside the sphere orthogonally without interfering with each other, also the two pendulums can rotate identically or independent of each other. Due to this driving mechanism, KisBot II has various motion generation abilities, including a fast steering, turning capability in place and during travelling, and four directions including forward, backward, left, and right from stationary status. Experiments for several motions verify the driving efficiency of the proposed spherical robot.

• Korea-Australia Rheology Journal
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• v.15 no.1
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• pp.19-25
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• 2003

Since the microstructure of functional thin films depends on the dispersion characteristics of dense slurry, it is important to control the agglomerative nature of slurries under processing. The present authors have been discussing the model prediction of agglomerative nature and local rate of agglomeration in dense suspensions. The experiments have been peformed under shear flow using the nearly spherical and oblate type graphite particles. In this study, the experiment has been conducted using water and glycerol as dispersion media. Stress control type rheometer was used to measure the slurry rheology. Local agglomeration of graphite particles has been predicted by using Usui's model. The experimental results show that both the shape and slurry processing method affect on the local dispersion condition. The agglomeration formed by oblate type graphite particles seems to be more difficult to break up than that of spherical particles.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.1080-1084
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• 2001

In manufacturing a micro die with half spherical cavity by MEDM, it is necessary to prepare an electrode with the same shape. This paper suggests a simple method to manufacture a half spherical electrode based on tool wear. The tool wears more rapidly at the edge of a cylindrical electrode. In order to make a half spherical micro electrode, cylindrical electrode was fed into the workpiece by the distance of its radius. The d/R(depth/Radius) value varied with respect to capacitance and electrode diameter. The smaller the size of electrode was, the closer the electrode tip geometry approached to a half sphere.

• Korean Journal of Computational Design and Engineering
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• v.20 no.4
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• pp.412-419
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• 2015

This paper presents the results of the structural analysis and the optimization of a 6,500 m manned submersible. Nonlinear structural analysis for imperfect spheres with the maximum allowable out-of-roundness(OOR) was performed to calculate the thickness of the pressure hull. Dimensions of viewports were determined according to ASME PVHO standard. The design optimization of the spherical hull with openings was divided into two steps - the optimization of the detailed shape of the viewport reinforcements and the optimization of the viewport location in the spherical pressure hull.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.06a
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• pp.661-662
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• 2007

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.9
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• pp.1037-1041
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• 2014

Slurry used for polishing semiconductors processed by exchange, pressurization, and multi-step feeding has been studied to investigate the effect of the size and shape of slurry particles on the oxide CMP removal rate. First, spherical silica sol was prepared by the ion exchange method. The spherical silica particle was used as a seed to grow non-spherical silica sol in accordance with the multi-step feeding of silicic acid by the ion exchange and pressurization methods. The oxide removal rate of both non-spherical silica sol and commercially available slurry were compared with increasing average particle size in the oxide CMP. The more alkaline the pH level of the non-spherical silica sol, the higher was the removal rate and non-uniformity.

• Journal of the Korean Ceramic Society
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• v.39 no.4
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• pp.420-426
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• 2002

$ZrO_2$, $Y_2O_3$-doped $ZrO_2$ and CaO-doped $ZrO_2$ powders were prepared by hydrothermal crystallizing spherical $ZrO_2$ gel which had been synthesized by thermal hydrolysis reaction. After the hydrothermal crystallization process, the formed crystallized powders sustained its original spherical shape and had the mean particle size of $0.4{\mu}m$. The particles were composed of about 10nm sized primary particles. The agglomeration strength between the primary particles appears very weak considering that the spherical particles were broken into the primary particles during the pressing process. The particle shape, size, phase fraction and dopant content were analyzed and crystallization mechanism of spherical gel was discussed.

• Proceedings of the IEEK Conference
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• 2001.10a
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• pp.84-87
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• 2001

A demand for the aggregates is increasing in the field of civil and architectural industry and so on. In these industries, the particle size and shape of aggregates are important factors and especially spherical or rounded particles are desired. In Japan, waste glass is used as one of the aggregate materials for the pavement or the construction. In this study based on the frictional action of material on each other, an autogenous grinding of silica glass with a stirred mill were carried out in order to eliminate flakelike or squarish particles and get spherical or rounded ones for aggregate materials. The autogenous grinding experiments were conducted by applying loads to the particle layer of silica glass. The particle shape was evaluated by the shape index, N/T and the degree of circularity, Ψ$_{ci}$ . The unfractured particles (20~13mm) were evaluated by N/T and Ψ$_{ci}$ , and the products (finer than 10${\mu}{\textrm}{m}$) by Ψ$_{ci}$ . As a result, N/T of the unfractured particles decreased with an increase of grinding time. Ψ$_{ci}$ of the unfractured particles and the products increased with an increase of grinding time (; progress of grinding), and became almost constant in the long time grinding. These tendencies were not changed by the applied load on the particle layer, but the limit value of Ψ$_{ci}$ at the products were varied with the applied load.plied load.

• Korean Journal of Materials Research
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• v.12 no.9
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• pp.761-766
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• 2002

Fine $LaPO_4$:Tb phosphor particles with spherical shape were prepared by spray pyrolysis. The influence of the precursor type of phosphorous such as ($NH_4$)$_2$$HPO_4$, $NH_4$$H_2$$PO_4$, ($NH_4$)$_3$$PO_4$ and $H_3$$PO_4$ on the morphology and brightness of particles was investigated. As-prepared particles by spray pyrolysis had spherical shape when ($NH_4$)$_2$ $HPO_4$ and $NH_4$$H_2$$PO_4$ were used as the precursor of phosphorous. The precursor type of phosphorous affected the photoluminescence intensity of $LaPO_4$:Tb phosphor particles, but not significant. With changing the content of activator(Tb) and excess of phosphorous, the optimal composition giving the highest photoluminescence intensity was found. The spherical morphology of prepared $LaPO_4$:Tb particles was completely maintained even after the posttreatment up to $1050^{\circ}C$. When the posttreatment temperature was over $1100^{\circ}C$, the particles did not have the spherical shape anymore. However, the highest photoluminescence intensity of prepared $LaPO_4$:Tb particles was obtained at $1050^{\circ}C$. The photoluminescence characteristics of prepared $_LaPO4$:Tb under the vacuum ultraviolet(VUV) illumination was comparable with that of the commercial $Zn_2$$V_4$:Mn and (La,Ce)PO$_4$:Tb phosphor particles. At the optimal condition, the decay time of prepared spherical $LaPO_4$:Tb phosphor particles was about 6.8ms.