• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.4
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• pp.1023-1032
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• 1995

The multiple cooperating robot system plays an important role in the research of modern manufacturing system as the emphasis of production automation is more on the side of flexibility than before. While the kinematic and dynamic analysis of a single robot is performed as an open-loop chain, the dynamic formulation of robot in a multiple cooperating robot system differs from that of a single robot when the multiple cooperating robots form a closed kinematic chain holding an object simultaneously. The object may be any type from a rigid body to a multi-joint linkage. The mobility of the system depends on the kinematic configuration of the closed kinematic chain formed by robots and object, which also decides the number of independent input parameters. Since the mobility is not the same as the number of robot joints, proper constraint condition is sought. The constraints may be such that : the number of active robot joints is kept the same as mobility, all robot joints are active and have interrelations between each joint forces/torques, two robots have master-slave relation, or so on. The dynamic formulation of system is obtained. The formulation is based on recursive dual-number screw-calculus Newton-Eulerian approach which has been used for single robot analysis. This new scheme is recursive and compact symbolically and may facilitate the consideration of the object in real time.

• YAKHAK HOEJI
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• v.22 no.4
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• pp.233-237
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• 1978

We studied on the separation of $\alpha$- and $\beta$-chain globins, the conditions of paper electrophoresis and mobility of globins in paper electrophoresis to determine their chain anomaly. Acidic-acetone mothod of Wilson and Smith was found to be more effecient for separating $\alpha$- and $\beta$chain globions than trichloroacetic acid method of Hayashi. The conditions of paper electrophoresis were current of 20v/cm and 0.6mA/cm for three hours at room temperature. In paper electroporesis, the mobility of $\alpha$- -chain globin towards the cathode was greater than that of $\beta$-chain globin. The results showed tha tchain anomaly of $\alpha$- and $\beta$-chain globins can be determined by the method of paper electrophoresis.

• IE interfaces
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• v.16 no.spc
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• pp.21-27
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• 2003

Objective of this paper is to develop the user mobility model(UMM) which is used for the performance analysis of location update and paging algorithm and at the same time, consider the user mobility pattern(UMP) in zone-based cellular networks. User mobility pattern shows correlation in space and time. UMM should consider these correlations of UMP. K-dimensional Markov chain is presented as a UMM considering them where the states of Markov chain are defined as the current location area(LA) and the consecutive LAs visited in the path. Also, a new two dimensional Markov chain composed of current LA and time interval is presented. Simulation results show that the appropriate size of K in the former UMM is two and the latter UMM reflects the characteristic of UMP well and so is a good model for the analytic method to solve the performance of location update and paging algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.117.5-117
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• 2002

. Mobility analysis for overconstrained mechanisms is not clearly explained. . Aims at mobility analysis of overconstrained mechanisms . Representative screws is employed as a tool . A method to identifying the representative screw is introduced . Mobility analysis for several overconstrained parallel mechanisms and mobile robots

• Bulletin of the Korean Chemical Society
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• v.27 no.8
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• pp.1154-1158
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• 2006

Anomalously high ionic mobilities of H+ and $OH^-$ are owing to the transfer of $H^+$ by the Grotthus chain mechanism. Molecular dynamics simulations for the system of 215 water including $OH^-$ ion at 298.15 K using the OSS2 model [J. Chem. Phys. 109, 5547 (1998)] as a dissociable water model with the use of Ewald summation were carried out in order to study the dynamics of $OH^-$ in water. The calculated ionic mobility of $OH^-$ is in good agreement with the experimental result and the Grotthus chain mechanism is fully understood.

• Macromolecular Research
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• v.14 no.6
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• pp.630-633
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• 2006

In heterojunction photovoltaic devices of $ITO/TiO_2/poly$(3-alkylthiophene)/Au, the photo current was characterized at different temperatures for different alkyl chain lengths and regioregularities: regiorandom, regioregular poly(3-hexylthiophene), and regioregular poly(3-dodecylthiophene). The regioregularity and alkyl chain length affected the photovoltaic characteristics due to differences in hole-carrier transportation. The drift charge mobilities of these devices were analyzed by the space-charge-limited current theory using the relation between the dark current and the bias voltage. The photocurrent in the devices based on poly(3-alkylthiophene)s decreased rapidly below the temperature at which the drift charge mobility was $10^{-5}\;cm^2/V{\cdot}s$.

• Polymer(Korea)
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• v.24 no.1
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• pp.23-28
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• 2000

Autoadhesion strength of PS/PS Interfaces in solvent welding was determined as a function of processing conditions by butt joint test. It was verified that the chain mobility and surface roughness at PS/PS interface were enhanced by the applied solvent having a similar solubility parameter as PS and resulted in the dramatic improvement of autoadhesion strength at PS/PS interface. It was found that the mechanism of solvent welding is dependent upon the chain mobility due to the diffusion of solvent to PS interface and the contact area at interface. When the welding temperature is lower than the boiling point of applied solvent, the effect of chain mobility on autoadhesion strength was dominated, while contact area took more important role when welding temperature is above the boiling point of solvent. Autoadhesion strength increased with increasing contact time and contact temperature but :he effect of solvent on autoadhesion strength became smaller.

• Bulletin of the Korean Chemical Society
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• v.19 no.2
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• pp.178-183
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• 1998

Carbon-13 CP-MAS NMR techniques were used to investigate dynamics of new combined type liquid crystalline polymers, poly[oxy-1,4-phenyleneoxy-2-{6-(4-(4-butylphenylazo)phenoxy)hexyloxy}terephthaloyl] and poly[oxy-1,4-phenyleneoxy-2-{10-(4-(4-butylphenylazo)phenoxy)decyloxy}terephthaloyl]. Noticeable mobility change of either aromatic groups or methylene groups is not detected between 25 ℃ and 82 ℃ from 13C spinlattice relaxation time in the rotating frame (T1ρ(C)) and contact time array experiments. However, line shape analysis shows the increase of mobility of methylene carbons in poly[oxy-1,4-phenyleneoxy-2-{6-(4-(4-butylphenylazo)phenoxy)hexyloxy}terephthaloyl] at higher temperature. The dynamics of side chanis does not seem to be affected in our experimental temperature range by the length of aliphatic chain which is connecting the side chain group to the main chain.

• The Korean Journal of Zoology
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• v.19 no.2
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• pp.63-70
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• 1976

J-chain was purified from human serum IgA by three different methods which involve preparative disc electrophoresis, ion exchange chromatography and water precipitation. It was found that the simplest and satisfactory method was precipitation in water. All the J-chain preparations obtained from the above different procedures showed similar electrophoretic mobility and band-patterns.

• Journal of KIISE:Information Networking
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• v.31 no.1
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• pp.112-122
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• 2004

In this paper, we propose a mobility estimation model based on inner regions in a cell and a dynamic resource reservation scheme which can control dynamically classes of mobile hosts on the mobile network. The mobility estimation model is modeled based on the reducible Markov chain. And the mobility estimation model provides a new hand off probability and a new remaining time for the dynamic resource reservation scheme. The remaining time is n estimated time that mobile hosts can stay in a cell. The dynamic resource reservation scheme can reserve dynamically a requested resource according to the classes of mobile hosts. This scheme can efficiently improve the connection blocking probability and connection dropping probability.