• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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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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• v.18 no.4
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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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• v.46 no.2
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• pp.330-339
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• 2008

Effect of additives such as NP series nonionic surfactant and cosurfactant on AgCl nanoparticles was investigated where nanoparticles were prepared using two different types of water-in-oil (W/O) microemulsions containing silver nitrate and sodium chloride, respectively. Phase behavior experiments showed that the region of one phase W/O microemulsion was found to be broadened with an increase in the ethylene oxide length of a nonionic surfactant mainly due to an increase in hydrophilic nature of a surfactant. Photomicrographs obtained by transmission electron microscopy indicated that an increase in ethylene oxide length of a nonionic surfactant results in both increases in particle size and size distribution. Phase behavior experiments for the systems containing AOT surfactant, isooctane and aqueous solution of an inorganic salt showed that addition of a cosurfactant caused a shrinkage in phase region of one phase W/O microemulsion, especially water contents contained in W/O microemulsion with an increase in the chain length or the concentration of a cosurfactant used. Photomicrographs obtained by transmission electron microscopy indicated that characteristics of AgCl nanoparticles produced were dependent both on the radius of spontaneous curvature and film rigidity of a microemulsion.

• Proceedings of the Membrane Society of Korea Conference
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• 1997.10a
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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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• v.28 no.12
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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.

• Journal of the Society of Cosmetic Scientists of Korea
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• v.44 no.3
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• pp.285-293
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• 2018

A structure of coacervate affects the adsorption of oil and polymer as a conditioning ingredient. This study aims to elucidate a structural characterization of the coacervate of which is a mixture of alkyl cellulose and guar gum. It is well known that the guar gum supports stiffness to the hair when it is adsorbed on the hair. However, addition of guar gum in the formulation composed of alkyl cellulose tremendously increased flexibility in hair. The stable complex system is induced by an electrostatic force between a head group of anionic surfactant and an quarternary ammonium at the alkyl cellulose, and the affinity of alkyl chain to the oil inside the micelle of surfactant by hydrophobic interactions. Taken together, amount of the coacervate increased oil-delivery upon hair in shampooing and these caused a low bending rigidity and calming on the hair swatch.

• The Journal of Korean Academy of Prosthodontics
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• v.17 no.1
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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.

• Polymer(Korea)
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• v.38 no.4
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• pp.510-517
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• 2014

A series of polyimide (PI) was prepared by reacting 4,4'-(hexafluoroisopropylidene)-diphthalic anhydride (6FDA) as the anhydride and 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), or 1,4-phenylenediamine (PDA) as the diamine. Residual stress behaviors were detected in-situ during thermal imidization of the polyimide precursors using a thin film stress analyzer (TFSA), and interpreted with respect to their morphology. According to the molecular orientation and packing order, the residual stress varied from 23.1 to 12.5 MPa, decreased with increasing chain rigidity. The thermal properties of the PI films were investigated using differential scanning calorimetry (DSC), thermogravimetric analysis (TGA), and thermomechanical analysis (TMA). Their optical properties were measured by ultraviolet-visible spectrophotometer (UV-vis), and spectrophotometry. The properties of PI films were found to be strongly dependent upon the morphological structure. However, trade-offs between residual stress and optical properties were identified.