• Advances in environmental research
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• 제2권1호
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• pp.1-8
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• 2013

There is a significant demand to make various dissolved gases in water. However, the conventional aeration method shows low gas mass transfer rate and gas utilization efficiency. In this study, a novel rotating wheel entraining gas method was developed for making high dissolved $O_2$ and $O_3$ in water. It produced higher concentration and higher transfer rate of dissolved $O_2$ and $O_3$ than conventional bubble aeration method, especially almost 100% of gas transfer efficiency was achieved for $O_3$ in enclosed reactor. For application of rotating wheel entraining gas method, aerobic bio-reactor and membrane bio-reactor (MBR) were successfully used for treatment of domestic and pharmaceutical wastewater, respectively; and vacuum ultraviolet $(VUV)/UV+O_3/O_2$ reactors were well used for sterilization in air/water, removal of dust particles and toxic gases in air, and degradation of pesticide residue and sterilization on fruits and vegetables.

• 제어로봇시스템학회논문지
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• 제3권4호
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• pp.422-434
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• 1997

In this paper, a two-stage kinematic optimal design for a 3 degree of-freedom (DOF) excavator subsystem, which consists of boom, arm and bucket, is performed. The objective of the first stage is to find the optimal parameters of the joint-actuating mechanisms which maximize the force-torque transmission ratio between the hydraulic actuator and the rotating joint. The objective of the second stage is to find the optimal link parameters which maximize the isotropic characteristic of the excavator subsystem throughout the workspace. It is illustrated that kinematic/dynamic performances of the kinematically optimized excavator subsystem have improved compared to those of original HE280 excavator, with respect to three performance indices such as maximum load handling capacity, maximum velocity capability, and acceleration capability.

• 전기학회논문지
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• 제67권3호
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• pp.440-447
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• 2018

Double parking is very common in a parking lot where there is not sufficient parking space. When we double-park a car, we leave transmission gear in neutral position and release the emergency brake so that the double-parked car can be moved just by pushing it. However, moving a double-parked car by pushing is very hard and dangerous especially for the old and the weak. So, we propose an omni-directional mobile robot for moving a double-parked car easily and safely. The developed omni-directional mobile robot moves a double-parked car by rotating a wheel of a double-parked car. It has two specially designed rollers to rotate a wheel of a double-parked car and is designed so that the height of the robot is very low to be able to enter beneath a double-parked car. It can move a double-parked car safely by detecting obstacles in the way with five ultrasonic sensors. We verified by several experiments that the developed omni-directional mobile robot can be used to move a double-parked car easily and safely.