• Journal of the Korean Society of Industry Convergence
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• v.21 no.2
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• pp.63-70
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• 2018

In this paper, the design of a novel 6-axis compliance device with force/torque sensing capability and the experiment results on force measurement are presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, the force control method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment for more stable force control. The proposed compliance device is designed to have a diagonal stiffness matrix at the tip and uses strain gauge measurement which is robust to dust and oil. The measurement circuit is designed with low-cost IC chips however the force resolution is 0.04N.

• Journal of Magnetics
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• v.15 no.1
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• pp.36-39
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• 2010

The multi-degrees of freedom surface permanent-magnet motor (Multi-D.O.F. SPM) has several degrees of freedom operations that are defined as the "roll", "yaw", and "pitch". Normally, the torque that is generated to rotate a rotor includes ripples. The analysis of the torque ripples is important for improving motor performance. In terms of the electric analysis, torque ripple occurs as a result of many factors, including the rotor and stator structures, the distribution of the air-gap flux density, and the waveform of the current in the coils. In particular, the torque ripple is an important factor in the stable operation of the Multi-D.O.F. SPM. Therefore, in this work, the torque ripple was analyzed using various types of magnetization for the permanent magnet. An improved model was proposed for the Multi-D.O.F. SPM based on this analysis.

• Kyungpook Mathematical Journal
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• v.27 no.1
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• pp.35-41
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• 1987

Consider the system (i) x'=Ax. Let ${\Phi}$ be its fundamental matrix solution. If there is w>0 such that A(t+w)-A(t) commutes with ${\Phi}$ for all t, then we call this system a "generalized" Floquet system or a "G. F. system". We show that $A(t+w)-A(t)=B_1$=constant if and only if $A(t)=C+B_1t/w+Q(t)$, Q is periodic of period w>0. For this A(t) We prove that if all eigenvalues of $B_1$ have negative real parts, then the origin is asumptotically stable. We find a growth condition for a continuous D(t) which guarantees that all solutions of z'=[A(t)+D(t)]z are bounded if all solutions of the G. F. system (i) are bounded. Combining the foregoing results yield a class of perturbed G. F. operators all of whose solutions are bounded.

• Journal of international Conference on Electrical Machines and Systems
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• v.3 no.1
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• pp.1-6
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• 2014

A new sensorless control strategy for brushless DC (BLDC) motors is proposed in this paper. This technique builds a rotor position-related flux function, which is independent of the speed. By observing the flux function, the information of rotor position and commutation can be obtained. As the function is not speed-related, this control process can be used in a wider range of speed and improves the motor's performance during startup. An experimental test bad based on TMS320F2812 has been built, and the experimental result indicates that the motor achieves a smooth starting-up and stable phase commutation with the proposed control strategy.

• Proceedings of the Membrane Society of Korea Conference
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• 1999.07a
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• pp.55-58
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• 1999

Nafion supported catalytic membranes were found to be active, stable and selective in th partial oxidation of propane to oxygenates with H2O2 under mild condition. Addition of Fe2+ in liquid phase enhances the reaction rate. Reaction proceeds according to a radical mechanism based on th electrophilic activation of propane on superacid sites and subsequent reaction of the activated paraffin with OH radicals. The use of a catalytic membrane, which allow separation of the intermediate products from the liquid phase containing the oxidant, was found to be effective to perform selective partial oxidation of propane with high yields to oxygenated products.

• Bulletin of the Korean Chemical Society
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• v.8 no.3
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• pp.144-145
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• 1987

The relative stability as function of geometry in the rigid tricyclopropylcarbinyl cations with varied bond angle (${\alpha}$) between the plane of cyclopropane ring and the bond connecting cyclopropane ring to cationic carbon was examined by $^{19}F$ nmr spectroscopy. 7-p-Fluorophenyltricyclo[2.2.2.$0^{2,6}$]octan-7-yl(4) and 8-p-fluorophenyltricyclo[3.2.2.$0^{2,7}$]nonan-8-yl cation (8) were generated from corresponding tertiary alcohols under stable ion conditions, and their $^{19}F$ chemical shifts were compared with those of model compounds such as 7-nortricyclyl cation (3) and tricyclo[3.3.1.$0^{2,7}$]octan-8-yl cation (7). Consequently, it is concluded that the varied orientation of bond angle (${\alpha}$) within in the bisected conformation does not affect degree of the charge delocalization into cyclopropane ring.

• Bulletin of the Korean Chemical Society
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• v.21 no.8
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• pp.823-827
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• 2000

Gas-Phase reactions of methyl and ethyl nitrites with anionic nucleophiles of SH-, F- and OH- are investigated theoretically at the MP2/6-311+G* level. The SN2 processes are all highly exothermic and proceed with a typ-icaI double-weIl reaction coordinate profile. The elimination reactions of methyl nitrite with SH- and F- are double-well energy surface processes,with stabilizedproduct complexes of NO-...H2S and NO-...HF, pro-ceeding by an E1 cb-like E2 mechanism. The $\beta-elimination$ of ethyl nitrite is an E2 type process. The $\alpha-elimi-nation$ reactions of methyl and ethyl nitrites with OH- have triple-well energy profiles of Elcb pathway with an $\alpha-carbanion$ intermediate which is stabilized bythe vicinal $nc\alpha-{\sigma}*o-N$ charge transfer interactions. CompIex-ation ofmethyl carbanion with HF seems to provide a stable intermediate within a triple-well energy profile of El cb channel in the reaction of F- with methyl nitrite.

• Bulletin of the Korean Chemical Society
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• v.21 no.6
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• pp.604-610
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• 2000

Drying-step in sol-gel processing was bypassed by exchanging alcoholic solvent in forsterite alcogel directly with MMA. By in-situ polymerization of the MMA, organic-inorganic nano-composite of PMMA-forsterite was prepared. As porous nature of inorganic networks in the gel was preserved and fixated in the composite, spherical morphology of PMMA was resulted. The PMMA-forsterite composite was optically transparent, machinable,mechanically sustainable, and thermally more stable than pristine PMMA. When doped with $Eu^{+3}$, inorganic moiety in the composite provided site environment that is very different from that in pristine PMMA. Prominent $^{5}D_0$ → $^{7}F_0$ transition at 578 nm, broken degeneracy in $^{5}D_0$ → $^{7}F_1$ and $^{5}D_0$ →$^{7}F_2$ transitions suggested that $Eu^{+3}$ was exclusively doped in the inorganic moiety of the composite, which had lower symmetry than the organic counterpart.

• Journal of the Korean Chemical Society
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• v.42 no.2
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• pp.184-189
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• 1998

Tris(pentafluorophenyl)indium acetonitrile complexes have been prepared from the reaction of Indium trihalides (halogen=Cl, Br) and bis(pentafluorophenyl)cadmium in acetonitrile, and characterized by elementary analysis, $^13C{^1H}-,\; ^1H-\;and\; ^{19}F-NMR$ spectroscopy and mass spectrometry. The Indium (III) compounds were formed stable 1:1 adducts with acetonitrile. $In(C_6F_5)_3{\cdot}DMAP$ has been prepared from the ligand exchange reaction of In$(C_6F_5)_3 {\cdot} CH_3CN$ with DMAP in $CH_2Cl_2 {\cdot} DMAP$ has higher donating character and replaced the $CH_3CN$ through the ligand transfer reaction.

• Proceedings of the Korean Society for Applied Microbiology Conference
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• 1986.12a
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• pp.516.2-516
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• 1986

DNA subfragments, sopA, sopB, and sopC supporting stable maintenance of an oriC plasmid, were derived from mini-F plasmid DNA (EcoRI restriction fragment, f5) after digestion with restriction endonucleases, and cloned in vector plasmid pBR322. The recombinant plasmid obtained were introduced into E. coli KY7231 and E. coli CSR603, and proteins specified by the mini-F fragments were analysed by SDS-polyacrylamide gel electrophoresis. Two proteins encoded by the F fragments were detected, having molecular weights of 41,000 and 37.000. The sopA protein (41K) encoded by a plasmid pXX288 was observed in the cytoplasm, whereas the sopB protein (37K) encoded by a plasmid pXX157 was in the membrane fraction. There was no novel protein band detected in the cell with a plasmid pXX300, which contained sopC fragment. Gene products of a plasmid pXX167, which is comprised of sopA, sopB, and sopC, were not detectable. Fluorography after one and two dimensional gel electrophoresis of the lysates showed that these two proteins were overproduced in the cells which were allowed to incorporate radioactive amino acid after plasmid amplification by chloramphenicol treatment. The isoelectric points of the sopA and sepB proteins were 6.6 and 7.0, respectively.