• Journal of the Korean Institute of Intelligent Systems
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• v.27 no.2
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• pp.89-98
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• 2017

The control moment gyroscope(CMG) can be used for essential balancing control of a one-wheeled mobile robot. A single-gimbal CMG has a simple structure and can supply strong restoring torque against external disturbances. However, the CMG generates unwanted directional torque also besides the restoring torque; the unwanted directional torque causes instability in the one-wheeled robot control system that has high rotational degrees of freedom. This study proposes a control system for a one-wheeled mobile robot by using a CMG scissored pair to eliminate the unwanted directional torque. The well-known LQR control algorithm is designed for robustness against modeling error in the dynamic motion equations of a one-wheeled robot. Computer simulations for 3D nonlinear dynamic equations are carried out to verify the proposed control system with the CMG scissored pair and the LQR control algorithms.

• Computational Structural Engineering
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• v.10 no.4
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• pp.205-216
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• 1997

In order to trace the lateral post-buckling behaviors of thin-wafled space frames, a geometrically nonlinear finite element formulation is presented by applying incremental equilibrium equations based on the updated Lagrangian formulation and introducing Vlasov's assumption. The improved displacement field for symmetric thin-walled cross sections is introduced based on inclusion of second order terms of finite rotations, and the potential energy corresponding to the semitangential rotations and moments is consistently derived. For finite element analysis, tangent stiffness matrices of the thinwalled space frame element with 7 degrees of freedom including the restrained warping for each node are derived by using the Hermition polynomials as shape functions. A co-rotational formulation in order to evaluate the unbalanced loads is presented by separating the rigid body rotations and pure deformations from incremental displacements and evaluating the updated direction cosines of the frame element due to rigid body rotations and incremental member forces from pure deformations. Finite element solutions for the spatial buckling and post-buckling analysis of thin-walled space frames are presented and compared with available solutions and other researcher's results.

• Proceedings of the Korean Vacuum Society Conference
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• 2010.02a
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• pp.16-17
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• 2010

Molecular spintronics has attracted attentions, which combines molecular electronics with the spin degree of freedom in electron transport. Among various molecules as candidates of the molecular spintronics, single molecule magnet (SMM) is one of the most promising material. SMM molecules show a ferromagnetic behavior even as a single molecule and hold the spin information even after the magnetic field is turned off. Here in this report, we show the spin behavior of SMM molecules adsorbed on the Au surface by combining the observation of Kondo peak in the STS and ESR-STM measurement. Kondo resonance state is formed near the Fermi level when degenerated spin state interacts with conduction electrons. ESR-STM detects the Larmor frequency of the spin in the presence of a magnet field. The sample include $MPc_2$ and $M_2Pc_3$ molecules ($M\;=\;Tb^{3+}$, $Dy^{3+}$, and $Y^{3+}$ Pc=phthalocyanine) whose critical temperature as a ferromagnet reaches 40 K. A clear Kondo peak was observed which is originated from an unpaired electron in the ligand of the molecule, which is the first demonstration of the Kondo peak originated from electron observed in the STS measurement. We also observed corresponding peaks in ESR-STM spectra. [1] In addition we found that the Kondo peak intensity shows a clear variation with the conformational change of the molecule; namely the azimuthal rotational angle of the Pc planes. This indicates that the Kondo resonance is correlated with the molecule electronic state. We examined this phenomena by using STM manipulation technique, where pulse bias application can rotate the relative azimuthal angle of the Pc planes. The result indicates that an application of ~1V pulse to the bias voltage can rotate the Pc plane and the Kondo peaks shows a clear variation in intensity by the molecule's conformational change.

• Bulletin of the Korean Chemical Society
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• v.14 no.6
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• pp.713-717
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• 1993

The crystal structure of the potassium salt of penicillin V has been studied by the X-ray crystallographic methods. Crystal data are as follows; potassium 3,3-dimethyl-7-oxo-6-phenoxyacetoamido-4-thia-1- azabicyclo[3.2.0]-heptane-2${\alpha}$-carboxylate, $K^+{\cdot}C_{16}H_{18}N_2O_5S^-$, $M_r$= 388.5, triclinic, Pl, a= 9.371 (1), b= 12.497 (2), c= 15.313 (2) ${\AA},\;{\alpha}= 93.74\;(2),\;{\beta}=99.32\;(1),\;{\gamma}=90.17\;(1)^{\circ},\;V=1765.7\;(2)\;{\AA}^3$, Z=4, $D_m=1.461\;gcm^{-1},\;{\lambda}(Cu\;K{\alpha})=1.5418\;{\AA},\;{\mu}=40.1\;cm^{-1}$, F(000)=808, T=296 K. The structure was solved by the heavy atom and difference Fourier methods with intensity data measured on an automated four-circle diffractometer. The structure was refined by the full-matrix least-squares method to a final R= 0.081 for 3563 observed $[I_0{\geq}2{\sigam}(I_0)]$ reflections. The four independent molecules assume different overall conformations with systematically different orientations of the phenyl groups although the penam moieties have the same closed conformations. There are intramolecular hydrogen bonds between the exocyclic amide nitrogen and phenoxy oxygen atoms. The penam moiety is conformationally very restricted although the carboxyl and exocyclic amide groups apparently have certain rotational degrees of freedom but the phenyl group is flexible about the ether bond despite the presence of the intramolecular N-H${\cdots}$O hydrogen bond. There are complicated pseudo symmetric relationships in the crystal lattice. The penam moieties are related by pseudo 20.5 screw axes and the phenyl groups by pseudo centers of symmetry. The potassium ions, related by both pseudo symmetries, form an infinite zigzag planar chain parallel to the b axis. Each potassium ion is coordinated to seven oxygen atoms in a severely distorted pentagonal bipyramid configuration, forming the infinite hydrophilic channels which in turn form the molecular stacks. Between these stacks, there are only lipophilic interactions involving the phenyl groups.

• Journal of Aerospace System Engineering
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• v.13 no.5
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• pp.94-101
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• 2019

The dynamic characteristics of the composite reflector panels are numerically and experimentally investigated. A dynamics model of the panel is analytically developed based on a deployment mechanism of the antenna. The deployment is passively activated using elastic energy of a spring with two rotational degrees of freedom. Using the flexible multi-body dynamic analysis ADAMS, dynamic behavior of the panels such as velocities, deformations, as well as reaction forces during the deployment, are investigated in the gravity and zero-gravity cases. The reflector panel is manufactured using carbon fiber reinforced plastics (CFRPs) and its deployment characteristics are experimentally observed using a zero-gravity deployment test. The impact response and vibration problems that occur during deployment of the antenna panel have been identified and reliably deployed using dampers.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.1
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• pp.79-87
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• 2015

This paper proposes a floating-type wave energy conversion system that consists of a mechanical part (yo-yo vibrating system, motion rectifying system, and power transmission system) and electrical part (power generation system). The yo-yo vibrating system, which converts translational input to rotational motion, is modeled as a single degree-of-freedom system. It can amplify the wave input via the resonance phenomenon and enhance the energy conversion efficiency. The electromechanical model is established from impedance matching of the mechanical part to the electrical system. The performance was analyzed at various wave frequencies and damping ratios for a wave input acceleration of 0.14 g. The maximum output occurred at the resonance frequency and optimal load resistance, where the power conversion efficiency and electrical output power reached 48% and 290 W, respectively. Utilizing the resonance phenomenon was found to greatly enhance the performance of the wave energy converter, and there exists a maximum power point at the optimum load resistance.

• Journal of Life Science
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• v.27 no.5
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• pp.584-590
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• 2017

Antifreeze proteins (AFPs) bind to ice crystals and inhibit their growth. AFPs are essential for the survival of organisms living in subzero environments. Type I AFP (AFP37) isolated from winter flounder is an ${\alpha}$-helical peptide of 37 residues long. In this study, we attempted to develop short AFP fragments with higher activity and solubility. We designed and synthesized N-terminal 15 and 21 residue-long AFPs, designated AFP15 and 21. Also dimerized AFP15 and 21, designated dAFP15N and dAFP21N, respectively, were generated through disulfide bonds between peptides containing CGG residues added to the N-terminus of AFP15 and AFP21 (designated AFP15N and 21N). Their helical contents and antifreeze activities were assessed using circular dichroism (CD) spectroscopy and a nanoliter osmometer, respectively. The helical content of AFP15 AFP21, AFP15N, AFP21N, dAFP15N and dAFP21N was 47, 48, 23.8, 28, 49.1, and 52%, respectively compared to that of wild type AFP37; the antifreeze activity was 8.4, 9.3, 0.05, 5.6, 12.1, 11.2% respectively, compared to that of wild type AFP37. Contrary to our anticipation, the dimerized peptides showed almost the same antifreeze activity as their monomeric counterparts. These results indicate that the dimerized peptides behave as monomeric peptides due to the high rotational freedom of disulfide bonds connecting two monomeric peptides. The star-shaped ice crystals generated by the peptides also demonstrated weak interaction between ice and peptides.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.30 no.4
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• pp.329-334
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• 2017

The structures, which are made up with the huge number of degrees-of-freedom and the assembly of substructures, have a great complexity. In order to increase the computational efficiency, the analysis models have to be simplified. Many substructuring techniques have been developed to simplify large-scale engineering problems. The techniques are very powerful for solving nonlinear problems which require many iterative calculations. In this paper, a modal derivatives-based model order reduction method, which is able to capture the stretching-bending coupling behavior in geometrically nonlinear systems, is adopted and investigated for its performance evaluation. The quadratic terms in nonlinear beam theory, such as Green-Lagrange strains, can be explained by the modal derivatives. They can be obtained by taking the modal directional derivatives of eigenmodes and form the second order terms of modal reduction basis. The method proposed is then applied to a co-rotational finite element formulation that is well-suited for geometrically nonlinear problems. Numerical results reveal that the end-shortening effect is very important, in which a conventional modal reduction method does not work unless the full model is used. It is demonstrated that the modal derivative approach yields the best compromised result and is very promising for substructuring large-scale geometrically nonlinear problems.

• Land and Housing Review
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• v.4 no.3
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• pp.271-277
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• 2013

The BNWF (Beam on Nonlinear Winkler Foundation) model is one of the simplest idealizations for a pile embedded in soil as it ignores the continuity of the soil. This method is difficult to model the behavior of pile group foundation subjected to lateral loading. The limitation can be overcome with the utilization of the finite element method (FEM) or finite different method (FDM) to represent a pile element embedded in a soil medium. Both the ground and piles are modeled with soild elements. The solid elements, which do not have rotational degree of freedom, is not appropriate for modeling piles. It can be overcome by substantially increasing the number of elements, which can be prohibitive for 3D modeling. This paper used the beam element and rigid link incorporated in the OpenSees to model the pile. The accuracy of the model is validated through comparison with lateral load test and BNWF analysis. It is shown that the method can capture the measured behavior accurately. It is therefore recommended to be used in group pile analyses.

• Journal of the Korea institute for structural maintenance and inspection
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• v.28 no.1
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• pp.70-81
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• 2024

In this study, Tridimensional Hybrid Isolation System(THIS) was proposed as a vibration isolator for traffic loads, combining vertical and horizontal isolation systems. Its efficacy in improving serviceability for vertical vibration was analytically evaluated. Firstly, for the analysis, the major vibration modes of the existing apartment were identified through eigenvalue analysis for the system and pulse response analysis for the bedroom slab using commercial structural analysis software. Subsequently, a 16-story model with horizontal, vertical and rotational degrees of freedom for each slab was numerically organized to represent the achieved modes. The dynamic analysis for the measured acceleration from an adjacent ground to high-speed railway was performed by state-space equations with the stiffness and damping ratio of THIS as variables. The result indicated that as the vertical period ratio increased, the threshold period ratio where the slab response started to be suppressed varied. Specifically, when the period ratio is greater than or equal to 5, the acceleration levels of all slabs decreased to approximately 70% or less compared to the non-isolated condition. On the other hand, it was ascertained that the influence of damping ratios on the response control of THIS is inconsequential in the analysis. Finally, the improvement in vertical vibration performance of THIS was evaluated according to design guidelines for floor vibration of AIJ, SCI and AISC. It was confirmed that, after the application of THIS, the residential performance criteria were met, whereas the non-isolated structure failed to satisfy them.