• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.801-806
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• 2014

LAS (Laparoscopy Assisted Surgery) has been substituted alternatively for traditional open surgery. However, when using a commercialized robot assisted laparoscopic such as Da Vinci, surgeons have encountered some problems due to having to depend only on information by visual feedback. To solve this problem, a haptic function is required. In order to realize the haptic teleoperation system, a force feedback and bilateral control system are needed. Previous research showed that the perturbation value estimated by a SPO (Sliding Perturbation Observer) followed a reaction force that loaded on the surgical robot instrument. Thus, in this paper, the force feedback problem of surgical robots is solved through the reaction force estimation method. This paper then introduces the possibility of the haptic function realization of a laparoscopic surgery robot using a bilateral control system. For bilateral control, the master uses an impedance control and the slave uses a SMC (Sliding Mode Control). The experiment results show that a torque and force sensorless teleoperation system can be implemented using a bilateral control structure.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2009.05a
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• pp.49-52
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• 2009

The response times of monopropellant thrusters at a pulse mode were investigated experimentally as design parameters and feed pressure conditions. Five different model thrusters as injection direction/uniformity, aspect ratio of reactor, volumes of manifold and chamber were designed. As a results, two parameters, aspect ratio and manifold volume, were directly related to response characteristics. Additionally, chugging instability at reaction chamber was observed when pressure drop across the catalyst bed was increased due to high aspect ratio or when low pressure was built at reaction chamber.

• Bulletin of the Korean Chemical Society
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• v.35 no.6
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• pp.1659-1664
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• 2014

A porous metal-organic framework (MOF), MIL-101, was synthesized in the presence of sulfated zirconia (SZ) to produce acidic SZ/MIL-101 composites for the first time. The composites were characterized with XRD, nitrogen adsorption, FT-IR, scanning electron microscope, chemical analysis and so on. The composites (SZ/MIL-101s) were successfully applied in a liquid-phase esterification for a high yield of ester. This catalytic result of SZ/MIL-101, compared with that of pure SZ or MIL-101 (showing a negligible yield of ester), suggests that the SZ in the composite is highly active in the acid catalysis probably because of the well-dispersed active species of SZ. Moreover, the esterification is catalyzed in heterogeneous mode as confirmed by negligible esterification after filtration of the catalyst. Finally, microwaves can be efficiently applied both in the synthesis of the composites and the esterification reaction to accelerate the two processes of synthesis and esterification by about 5 times.

• Structural Engineering and Mechanics
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• v.59 no.4
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• pp.739-759
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• 2016

The failure of civil engineering systems is a consequence of decision making under uncertain conditions. Generally, buried flexible pipes are designed for their transversal behavior to prevent from the important failure mode of buckling. However, the interaction effects between soil and pipe are neglected and the uncertainties in their properties are usually not considered in pipe design. In this regard, the present research paper evaluates the effects of these uncertainties on the uncertainty of the critical buckling hoop force of flexible pipes shallowly buried using the subgrade reaction theory (Winkler model) and First-Order Second-Moment (FOSM) method. The results show that the structural uncertainties of the studied pipes and those of the soil properties have a significant effect on the uncertainty of the critical buckling hoop force, and therefore taking into account these latter in the design of the shallowly flexible pipes for their buckling behavior is required.

• Bulletin of the Korean Chemical Society
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• v.31 no.9
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• pp.2598-2602
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• 2010

Two 3-D zinc framework compounds, $[Zn_6(BTB)_4(4,4'-bipy)_4(H_2O)_4]{\cdot}9H_2O$ (1) and $[Zn_3(BTB)_2(4,4'-bipy)_2(H_2O)_2]{\cdot}5H_2O$ (2) ($H_3BTB$ = 1,2,3-benzenetricarboxylic acid, 4,4'-bipy = 4,4'-bipyridine), are obtained from the diffusion method and hydrothermal reaction respectively. Though 1 and 2 has the same coordination geometries of zinc atoms and coordination mode of $BTB^{3-}$, their 2-D layers are different: mirror symmetric layers in 1; parallel ones in 2, further connecting by 4,4'-bipy into 3-D frameworks. The hydrothermal reaction of 2 results in a more stable 3-D framework than the one in 1, which is supported by the single point energy calculations. 1 and 2 show similar blue fluorescence at 417 nm, which can be assigned to LMCT.

• Mass Spectrometry Letters
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• v.11 no.3
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• pp.59-64
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• 2020

Mertansine, a thiol-containing maytansinoid, is a tubulin inhibitor used as the cytotoxic component of antibody-drug conjugates for the treatment of cancer. Liquid chromatography-tandem mass spectrometry was described for the determination of mertansine in rat plasma. 50-μL rat plasma sample was pretreated with 25 μL of 20 mM tris-(2-carboxyethyl)-phosphine, a reducing reagent, and further vortex-mixing with 50 μL of 50 mM N-ethylmaleimide for 3 min resulted in the alkylation of thiol group in mertansine. Alkylation reaction was stopped by addition of 100 μL of sildenafil in acetonitrile (200 ng/mL), and following centrifugation, aliquot of the supernatant was analyzed by the selected reaction monitoring mode. The standard curve was linear over the range of 1-1000 ng/mL in rat plasma with the lower limit of quantification level at 1 ng/mL. The intra- and inter-day accuracies and coefficient variations for mertansine at four quality control concentrations were 96.7-113.1% and 2.6-15.0%, respectively. Using this method, the pharmacokinetics of mertansine were evaluated after intravenous administration of mertansine at doses of 0.2, 0.5, and 1 mg/kg to female Sprague Dawley rats.

• Electrical & Electronic Materials
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• v.7 no.1
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• pp.32-41
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• 1994

In this study, the TSC spectroscopy has been applied to investigate the influence of structural change due to a process of curing reaction on the electrical properties of epoxy composites cured with acid-anhydride. Five TSC peaks appeared in -160-250[.deg.C]: in the low temperature region below glass transition temperature(T$\_$g/), three relaxation mode peaks due to action of side chains, substitution group or terminal groups have been observed, a peak associated with T$\_$g/, appeared in 110[.deg. C] and p peak due to ionic space charges located in 150[.deg.C]. Each peak was separated into elementary peaks by the partial polarization procedure, and the distribution of activation energy and relaxation time were analized to clearify the origin of each peak. Also, overaboundantly added hardener separated a .betha. peak near 10[.deg. C] into two peaks of .betha.$\_$1/(10.deg. C) and .betha.$\_$2/(20.deg. C) according to increasement of forming field, and the separated hardener was oxidated thermally with increasing surrounding temperatures. The expansion of the free volume need in molecular motion and the reduction of the structural packing density through thermal oxidation process increased TSC between .alpha. peak and .betha. peak and decreased T$\_$g/.

• Journal of Korean Society of Water and Wastewater
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• v.27 no.1
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• pp.49-58
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• 2013

A selected halogenated organic contaminant, monochlorophenol was successfully degraded by photocatalytic reaction in a circulating batch system. The photocatalytic degradation in most cases follows first-order kinetics. The photocatalytic reaction rate increased in the $TiO_2$ dosage range of 0.1 g/L to 0.4 g/L, then decreased with further increase of the dosage. Also the degradation rate increased over the range of the retention time from 0.49 min. to 0.94 min., then decreased with further increase of the retention time in the circulating batch reactor. The photocatalytic activity was enhanced by addition of metal impurities, platinum(Pt) and palladium(Pd) onto the photocatalysts. The photocatalytic degradation rate increased with the increase of Pt and Pd in the content range of 0 to 2wt %, then decreased with further increase of the metal contents. Therefore the metal loading to $TiO_2$ influence the degradation rate of a halogenated organic compound by acting as electron traps, consequently reducing the electron/positive hole pair recombination rate.

• Bulletin of the Korean Chemical Society
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• v.35 no.4
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• pp.1133-1138
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• 2014

Ultrahigh performance liquid chromatography-electrospray ionization-tandem mass spectrometry (UPLC-ESI- MS/MS) provides a high-speed method to screen a large number of samples for small molecules with specific properties. In this study, UPLC-ESI-MS/MS with multiple reaction monitoring (MRM) was employed to screen urinary phospholipid (PL) content for biomarkers of prostate cancer. From lists of urinary PLs structurally identified using nanoflow LC-ESI-MS/MS, 52 PL species were selected for quantitative analysis in urine samples between 22 cancer-free urologic patients as controls and 45 prostate cancer patients. Statistical treatment of data by receiver operating characteristic (ROC) analysis yielded 14 PL species that differed significantly in relative concentrations (area under curve (AUC) > 0.8) between the two groups. Among PLs present at higher levels in prostate cancer urine, phosphatidylcholines (PCs) and phosphatidylinositols (PIs) constituted the major head group PLs (3 PCs and 7 PIs). For technical reasons, PL species of low abundance may be underrepresented in data from UPLC-ESI-MS/MS performed in MRM mode. However, the proposed method enables the rapid screening of large numbers of plasma or urine samples in the search for biomarkers of human disease.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.18 no.6
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• pp.642-651
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• 2009

The history of excavator design is not long enough which still causes most of the design considerations to be focused on static analysis or simple functional improvement based on static analysis. However, the real forces experiencing on each component of excavator are highly transient and impulsive. Therefore, the prediction and the evaluation of the movement of the excavator by dynamic load in the early design stage through the dynamic transient analysis of the excavator and ensuring of design technique plays an importance role to reduce development-cost, shorten product-deliver, decrease vehicle-weight and optimize the system design. In this paper, Commercial software DADS and ANSYS help to develop the track model of the crawler type excavator, and to evaluate the performance and the dynamic characteristics of excavator with various simulations. For that reason, the track of crawler type excavator is modelled with DADS Track Vehicle Superelement, and the reaction forces on the track rollers were predicted through the driving simulation. Also, the upper frame and cabin vibration characteristics, at the low RPM idle state, were evaluated with engine rigid body modelling. And flexibility body effects were considered to determine the more accurate joint reaction forces and accelerations under the upper frame swing motion.