• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1624-1627
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• 1997

The 6-DOF parallel manipulator is a closed-kindmatic chain robot manipulator that is capable of providing high structural rigidity and positional accuracy. Because of its advantage, the parallel manipulator have been widely used in many engineering applications such as vehicle/flight driving simulators, rogot maniplators, attachment tool of machining centers, etc. However, the kinematic analysis for the implementation of a real-time controller has some problem because of the lack of an efficient lagorithm for solving its highly nonliner forward kinematic equation, which provides the translational and orientational attitudes of the moveable upper platform from the lenght of manipulator linkages. Generally, Newton-Raphson method has been widely sued to solve the forward kinematic problem but the effectiveness of this methodology depend on how to set initial values. This paper proposes a hybrid method using genetic algorithm(GA) and Newton-Raphson method to solve forward kinematics. That is, the initial values of forward kinematics solution are determined by adopting genetic algorithm which can search grobally optimal solutions. Since determining this values, the determined values are used in Newton-Raphson method for real time calcuation.

• Journal of Mechanical Science and Technology
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• 제18권4호
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• pp.630-639
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• 2004

The Stewart platform manipulator is a closed-kinematics chain robot manipulator that is capable of providing high structural rigidity and positional accuracy. However, this is a complex and nonlinear system, so the control performance of the system is not so good. In this paper, a new robust motion control algorithm is proposed. The algorithm uses partial state feedback for a class of nonlinear systems with modeling uncertainties and external disturbances. The major contribution is the design of a robust observer for the state and the perturbation of the Stewart platform, which is combined with a variable structure controller (VSC). The combination of controller and observer provides the robust routine called sliding mode control with sliding perturbation observe. (SMCSPO). The optimal gains of SMCSPO, which is determined by nominal eigenvalues, are easily obtained by genetic algorithm. The proposed fitness function that evaluates the gain optimization is to put sliding function. The control performance of the proposed algorithm is evaluated by the simulation and experiment to apply to the Stewart platform. The results showed high accuracy and good performance.

• Korean Chemical Engineering Research
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• 제46권2호
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• pp.330-339
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• 2008

본 연구에서는 비이온 계면활성제, 보조계면활성제 등의 첨가제가 AOT 계면활성제 시스템의 water-in-oil(W/O) 마이크로에멀젼을 이용한 AgCl 나노입자 제조에 미치는 영향에 관하여 살펴보았다. AOT 계면활성제, isooctane, 무기염 수용액으로 이루어진 삼성분 시스템에 NP 계열 비이온 계면활성제를 첨가한 결과, 단일상으로 존재하는 W/O 마이크로에멀젼 영역은 증가하였으며, 일반적으로 첨가한 비이온 계면활성제의 친수성이 증가할수록 단일상의 영역은 증가하였다. 또한 첨가한 비이온 계면활성제는 마이셀의 계면을 보다 유연하게 함으로써 생성된 입자의 크기는 증가하고 분포도는 넓어졌다. 한편 보조계면활성제로 알코올을 첨가하면서 상평형 실험을 수행한 결과, 알코올의 사슬 길이가 증가하거나 첨가량이 증가할수록 단일상으로 존재하는 W/O 마이크로에멀젼이 보다 좁은 영역에서 형성되었다. 상평형 실험결과에 의하여 결정된 단일상의 W/O 마이크로에멀젼 영역 내에 해당하는 조건에서 보조계면활성제의 사슬 길이와 첨가량을 변화시키면서 AgCl 나노입자 제조실험을 수행한 결과, 생성된 AgCl 입자의 특성은 보조계면활성제 첨가에 따른 마이크로에멀젼의 radius of spontaneous curvature와 필름 rigidity의 변화에 의하여 결정됨을 알 수 있었다.

• 한국막학회:학술대회논문집
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• 한국막학회 1997년도 추계 총회 및 학술발표회
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• pp.69-70
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• 1997

Polyimides and related polymers, when synthesized from aromatic monomers, have generally rigid chain structures resulting in a low gas permeability. The rigidity of polymer chains reduces the segmental motion of chains and works as a good barrier against gas transport. To overcome the limit of use as materials of gas separation membranes due to low gas permeability, block copolymers with the incorporation of flexible segments like siloxane linkage and ether linkage have been studied. These block copolymers have microphase-separated structures composed of microdomains of flexible poly(dimethylsiloxane) or polyether segments and of rigid polyimides segments. In case of rigid-flexible block copolymers, the characteristics of both phases for gas permeation are of great difference. The permeation of gas molecules occurs favorably through microdomains of flexible segments, whereas those of rigid segments hinder the permeation of gas molecules. Accordingly the increase of content of flexible segments in a rigid polymer matrix will increase the gas permeability of the membrane linearly. However, this prediction does not satisfy enough many experimental results and in particular the drastic increase of the permeability is observed in a certain volume fraction. It was proposed that the gas transport mechanism is dominated by diffusion rather than gas solubility in a certain content of flexible phase if solution-diffusion mechanism is adopted. However, the transition from solubility-dependent to diffusion-dependent cannot be explained by the understanding of mechanism itself. Therefore, we consider an effective chemical path which permeable phase can form in a microheterogenous medium, and percolation concept is introduced to describe the permeability transition at near threshold where for the first time a percolation path occurs. The volume fraction of both phases is defined as V$_{\alpha}$ and V$_{\beta}$ in block copolymers, and the volume of $\beta$ phase in the threshold forming geometrically a traversing channel is defined as V$_{\betac}$. The formation mechanism of shortest chemical channel is schematically depicted in Fig. 1.

• Bulletin of the Korean Chemical Society
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• 제28권12호
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• pp.2209-2213
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• 2007

Ginseng has long been used as a traditional medicine in Asian countries including Korea and China. In recent years, it has been reported that the biological activities of ginseng are due to its active components, ginsenosides. Ginsenosides are represented by triterpenes of the dammarane type. Ginsenoside Re consists of two glucose rings, one rhamnose ring, and the triterpene ring. In the present study ginsenoside Re has been isolated from the Korean ginseng (Panax ginseng) and the tertiary structure has been determined using NMR spectroscopy. Flexibilities around each linkages described by seven torsion angles were considered. The structures of ginsenoside Re obtained by NMR spectroscopy show the rigidity around the glucopyranosyl ring II and alkene side chain. The dihedral angles of φ5, φ6, φ7 are about 150o, 50o and 45o, respectively. In addition, flexibility exists around rhamnopyranosyl and glucopyronosyl moiety. The linkage around the rhamnopyranosyl and glucopyranosyl ring I, are divided into three groups. This flexibility seems to play important role in regulation of the hydrophobic surface exposed to the solvent. Because of the growing need for the structural determination of ginsenoside, this result can help to understand their well-accepted pharmacological effects of ginsenoside Re.

• 대한화장품학회지
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• 제44권3호
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• pp.285-293
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• 2018

코아세르베이트의 구조는 모발의 오일 및 폴리머 같은 기능성 성분 흡착에 매우 큰 영향을 준다. 본 연구의 목적은 알킬 셀룰로오스와 구아검 간 복합 코아세르베이트의 혼합물에서 그 구조적인 결합의 특성을 밝히는데 있다. 모발에 흡착되면 모발에 뻣뻣함을 부여하는 구아검 컨디셔닝 폴리머가 오일과 함께 알킬 셀룰로오스와 혼합될 경우 동일 함량 및 알킬 셀룰로오스와의 비가 3 : 1일 경우에 모발을 매우 부드럽게 함을 발견하였다. 이는 글루코스링을 백본으로 하는 양이온 알킬기 셀룰로오스 폴리머와 구아검 폴리머를 혼합하여 오일을 결합시키면, 알킬 셀룰로오스의 친수성 부위와 음이온 계면활성제가 정전기적으로 결합하고, 알킬 셀룰로오스의 4급 알킬 암모늄기에 포함되는 알킬기가 계면활성제의 소수성 부위와 함께 결합함과 동시에, 구아검 코아세르베이트가 전체적으로 안정적인 구조를 이루게 하여 많은 양의 코아세르베이트를 생성하게 하는 것을 코아세르베이트 생성양 측정 및 모발 유연성 증대를 통해 확인하였다.

• 대한치과보철학회지
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• 제17권1호
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• pp.23-34
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• 1979

In this study, the adhesive strength of three commercial polycarboxylate cements to ten types of dental casting alloys, such as gold, palladium, silver, indium, copper, nickel, chromium, and human enamel and dentine were measured and compared with that of a conventional zinc phosphate cement. The $8.0mm{\times}3.0mm$ cylindrical alloy specimens were made by casting. The enamel specimens were prepared from the labial surface of human upper incisor, and the dentine specimens were prepared from the occulusal surface of the human molar respectively. Sound extracted human teeth, which had been kept in a fresh condition since, extraction, were mounted in a wax box with a cold-curing acrylic resin to expose the flattened area. The mounted teeth were then placed in a Specimen Cutter (Technicut) and were cut down under a water spray, and then the flat area on the all specimens were ground by hand with 400 and 600 grit wet silicone carbide paper. Two such specimens were then cemented together face-to-face with freshly mixed cement, and moderate finger pressure was applied to squeeze the cement to a thin and uniform film. All cemented specimens were then kept in a thermostatic humidor cabinet regulated at $23{\pm}2^{\circ}C.$ and more than 95 per cent relative humidity and tested after 24 hours and 1 week. Link chain was attached to each alloy specimen to reduce the rigidity of the jig assembly, and then all the specimens were mounted in the grips of the Instron Universal Testing Machine, and a tensile load was delivered to the adhering surface at a cross head speed of 0.20 mm/min. The loads to which the specimens were subjected were recorded on a chart moving at 0.50 mm/min. The adhesive strength was determined by measuring the load when the specimen separated from the cement block and by dividing the load by the area. The test was performed in a room at $23{\pm}2^{\circ}C.$ and $50{\pm}10$ per cent relative humidity. A minimum of five specimens were tested each material and those which deviated more than 15 per cent from the mean were discarded and new specimens prepared. From the experiments, the following results were obtained. 1) It was found that the adhesive strength of the polycarboxylate cement to all alloys tested was considerably greater than that of the zinc phosphate cement. 2) The adhesive strength of the polycarboxylate cements was superior to the non precious alloys, such as the copper, indium, nickel and chromium alloys, but it was inferior to the precious gold, silver and palladium alloys. 3) Surface treatment of the alloy was found to be an important factor in achieving adhesion. It appears that a polycarboxylate cement will adhere better to a smooth surface than to a rough one. This contrasts with zinc phosphate cements, where a rough helps mechanical interlocking. 4) The adhesion of the polycarboxylate cement with enamel was found superior to its adhesion with dentine.

• 폴리머
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• 제38권4호
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• pp.510-517
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• 2014

이무수물인 4,4'-(hexafluoroisopropylidene)-diphthalic anhydride(6FDA)에 bis(3-aminophenyl) sulfone(APS), bis[4-(3-aminophenoxy)-phenyl] sulfone(BAPS), 2,2-bis(4-aminophenyl)-hexafluoropropane(6FPD), 2,2-bis[4-(4-aminophenoxy)-phenyl]hexafluoropropane(6FBAPP), 2,2'-bis(trifluoromethyl)benzidine(TFDB) 및 1,4-phenylenediamine(PDA) 등 6종류의 디아민 단량체를 이용하여 폴리이미드(PI) 박막을 제조하였다. 이들 박막의 잔류응력 거동은 thin film stress analyzer(TFSA)를 이용하여 전구체의 열적 이미드화에 따라 in-situ로 측정하였으며, 모폴로지 변화를 통해 해석하였다. 박막의 분자 배향성 및 질서도에 따라 잔류응력은 23.1에서 12.5MPa의 값을 보였으며, 사슬이 강직할수록 감소하였다. 열 특성은 시차 주사 열량계(DSC), 열 중량 분석기(TGA) 및 열 기계 분석기(TMA)를 이용하여 측정하였고, 광학 특성은 자외선/가시광선 분광광도계(UV-vis)와 색차계를 이용하였다. 제조된 박막의 특성변화는 그 화학구조와 밀접한 관련이 있으며, 잔류응력과 광학 특성은 트레이드-오프(trade-off)됨을 확인할 수 있었다.