• 한국지능시스템학회논문지
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• 제26권1호
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• pp.16-22
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• 2016

세계적으로 수많은 로봇연구실에서 이륜 도립진자 이동로봇에 대한 연구가 진행되고 있다. 본 논문에서는 이런 이륜 도립진자 이동로봇이 평탄한 경사면에서 안정적으로 주행할 수 있도록 하는 강인 제어기를 개발하는 것으로 고려한다. 경사면에서 이륜 도립진자 이동로봇의 균형을 위해 3 자유도의 운동방정식에서 선회운동을 제한한 2 자유도 동력학식을 사용하며, 가변구조시스템 이론을 근간으로 하는 슬라이딩 모드 제어기를 제안하고 LQR 이론을 이용하여 슬라이딩 운동이 일어나는 슬라이딩 평면을 설계한다. 시뮬레이션을 위해 Mathworks사의 Simulink를 활용하여 이륜 도립진자 이동로봇의 2 자유도 모델을 실현하고, 슬라이딩 모드 제어기 또한 Simulink를 이용하여 구현한다. 시뮬레이션 결과를 통해 제안된 제어기가 경사면을 주행하는 이륜 도립진자 이동로봇을 효과적인 제어한다는 것을 보인다.

• 한국재료학회지
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• 제12권4호
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• pp.259-263
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• 2002

Three different ribbons of amorphous $Til_{1-x}Be_x$ alloys such as $Ti_{0.59}Be_{0.41},\;Ti_{0.61}Be_{0.39}\;and\;Ti_{0.63}Be_{0.37}$ were made by melt-spinning method to be used as brazing filler metals for joining Zircaloy-4 nuclear fuel cladding tubes, and their crystallization behavior as well as microstructure of the brazed zone were examined. The crystallization behavior was investigated in teams of thermal stability, crystallization temperature and activation energy. The crystallization of the $Ti_{1-x}Be_x$ alloys proceeded in two steps by the formation of ${\alpha}$-Ti at a lower temperature and of TiBe at a higher temperature. The crystallization temperature and activation energy of $Ti_{1-x}Be_x$ alloys were higher and larger than those of $Zr_{1-x}Be_x$ alloys and PVD Be. Those resulted thinner joining layer with $Ti_{1-x}Be_x$ alloys, which kept sound thickness of Zircaloy-4 nuclear fuel cladding tubes after brazing. But in the brazed zones made by $Ti_{1-x}Be_x$ filler metals, a little solid-solution layers composed of Zr and Ti were formed toward the Zr cladding tube and Zr was detected in the brazed zones. Microstructure of brazed zone was changed from globular to dentrite with decreasing Be content in the $Ti_{1-x}Be_x$ filler metal.

• International Journal of Automotive Technology
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• 제6권2호
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• pp.149-159
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• 2005

A full nonlinear finite element P185/70Rl4 passenger car radial-ply tire model was developed and run on a 1.7-meter-diameter spinning test drum/cleat model at a constant speed of 50 km/h in order to investigate the tire transient response characteristics, i.e. the tire in-plane free vibration modes transmissibility. The virtual tire/drum finite element model was constructed and tested using the nonlinear finite element analysis software, PAM-SHOCK, a nonlinear finite element analysis code. The tire model was constructed in extreme detail with three-dimensional solid, layered membrane, and beam finite elements, incorporating over 18,000 nodes and 24 different types of materials. The reaction forces of the tire axle in vertical (Z axis) and longitudinal (X axis) directions were recorded when the tire rolled over a cleat on the drum, and then the FFT algorithm was applied to examine the transient response information in the frequency domain. The result showed that this PI 85/70Rl4 tire has clear peaks of 84 and 45 Hz transmissibility in the vertical and longitudinal directions. This result was validated against more than 10 previous studies by either theoretical or experimental approaches and showed excellent agreement. The tire's post-impact response was also investigated to verify the numerical convergence and computational stability of this FEA tire model and simulation strategy, the extraordinarily stable scenario was confirmed. The tire in-plane free vibration modes transmissibility was successfully detected. This approach was never before attempted in investigations of tire in-plane free vibration modes transmission phenomena; this work is believed to be the first of its kind.

• Structural Engineering and Mechanics
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• 제81권4호
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• pp.411-428
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• 2022

This paper presents the Campbell diagram analysis of the rotordynamic system using the full order model (FOM) and the reduced order model (ROM) techniques to determine the critical speeds, identify the stability and reduce the computational time. Due to the spin-speed-dependent matrices (e.g., centrifugal stiffening matrix), several model order reduction (MOR) techniques may be considered, such as the modal superposition (MS) method and the Krylov subspace-based MOR techniques (e.g., Ritz vector (RV), quasi-static Ritz vector (QSRV), multifrequency quasi-static Ritz vector (MQSRV), multifrequency/ multi-spin-speed quasi-static Ritz vector (MMQSRV) and the combined Ritz vector & modal superposition (RV+MS) methods). The proposed MMQSRV method in this study is extended from the MQSRV method by incorporating the rotational-speed-dependent stiffness matrices into the Krylov subspace during the MOR process. Thus, the objective of this note is to respond to the question of whether to use the MS method or the Krylov subspace-based MOR technique in establishing the Campbell diagram of the shaft-disc-blade assembly systems in three-dimensional (3D) finite element analysis (FEA). The Campbell diagrams produced by the FOM and various MOR methods are presented and discussed thoroughly by computing the norm of relative errors (ER). It is found that the RV and the MS methods are dominant at low and high rotating speeds, respectively. More precisely, as the spinning velocity becomes large, the calculated ER produced by the RV method is significantly increased; in contrast, the ER produced by the MS method is smaller and more consistent. From a computational point of view, the MORs have substantially reduced the time computing considerably compared to the FOM. Additionally, the verification of the 3D FE rotordynamic model is also provided and found to be in close agreement with the existing solutions.

• Steel and Composite Structures
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• 제49권5호
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• pp.487-502
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• 2023

In the realm of nanotechnology, the nonlocal strain gradient theory takes center stage as it scrutinizes the behavior of spinning cantilever nanobeams and nanotubes, pivotal components supporting various mechanical movements in sport structures. The dynamics of these structures have sparked debates within the scientific community, with some contending that nonlocal cantilever models fail to predict dynamic softening, while others propose that they can indeed exhibit stiffness softening characteristics. To address these disparities, this paper investigates the dynamic response of a nonlocal cantilever cylindrical beam under the influence of external discontinuous dynamic loads. The study employs four distinct models: the Euler-Bernoulli beam model, Timoshenko beam model, higher-order beam model, and a novel higher-order tube model. These models account for the effects of functionally graded materials (FGMs) in the radial tube direction, giving rise to nanotubes with varying properties. The Hamilton principle is employed to formulate the governing differential equations and precise boundary conditions. These equations are subsequently solved using the generalized differential quadrature element technique (GDQEM). This research not only advances our understanding of the dynamic behavior of nanotubes but also reveals the intriguing phenomena of both hardening and softening in the nonlocal parameter within cantilever nanostructures. Moreover, the findings hold promise for practical applications, including drug delivery, where the controlled vibrations of nanotubes can enhance the precision and efficiency of medication transport within the human body. By exploring the multifaceted characteristics of nanotubes, this study not only contributes to the design and manufacturing of rotating nanostructures but also offers insights into their potential role in revolutionizing drug delivery systems.

• Tribology and Lubricants
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• 제39권6호
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• pp.268-272
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• 2023

This study explores the characteristics of tilting pad journal bearings used in the high-speed rotating shaft systems of centrifugal compressors. A centrifugal compressor is a high-speed rotating machine that is widely used to compress gases or vapors employed in various industrial applications. It transfers the centrifugal force of a fast-spinning impeller to the fluid and compresses it under high pressure. Many high-speed rotating shaft systems, which require high stability, use tilting pad journal bearings. The characteristics of these bearings can vary depending on several properties, and identifying the appropriate characteristics is essential to optimize the design on a case-to-case basis. In this study, the authors perform a time-dependent analysis of the properties of tilting pad journal bearings and the rotordynamics of the rotating shaft system using COMSOL Multiphysics software. Specifically, the authors analyze the characteristics of the tilting pad journal bearings by performing a parametric sweep using parameters such as pad clearance, maximum tilting angle, preload, number of pads, and pad pivot offset. The authors then use the results of the bearing-characteristics analysis to evaluate the vibration of the rotating shaft and verify its operation within a desirable range. The understanding gained from this study will allow us to determine the optimal properties of these bearings and the limiting operational speed using COMSOL Multiphysics software.

• 한국분말재료학회지
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• 제13권5호
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• pp.327-335
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• 2006

In the development of new hydrogen absorbing materials for a next generation of metal hydride electrodes for rechargeable batteries, metastable Mg-Ni-based compounds find currently special attention. Amor phous-nanocrystalline $Mg_{63}Ni_{30}Y_7$ and $Mg_{50}Ni_{30}Y_{20}$ alloys were produced by mechanical alloying and melt-spinning and characterized by means of XRD, TEM and DSC. On basis of mechanically alloyed Mg-Ni-Y powders, complex hydride electrodes were fabricated and their electrochemical behaviour in 6M KOH (pH=14,8) was investigated. The electrodes made from $Mg_{63}Ni_{30}Y_7$ powders, which were prepared under use of a SPEX shaker mill, with a major fraction of nanocrystalline phase reveal a higher electrochemical activity far hydrogen reduction and a higher maximum discharge capacity (247 mAh/g) than the electrodes from alloy powder with predominantly amorphous microstructure (216 mAh/g) obtained when using a Retsch planetary ball mill at low temperatures. Those discharge capacities are higher that those fur nanocrystalline $Mg_2Ni$ electrodes. However, the cyclic stability of those alloy powder electrodes was low. Therefore, fundamental stability studies were performed on $Mg_{63}Ni_{30}Y_7$ and $Mg_{50}Ni_{30}Y_{20}$ ribbon samples in the as-quenched state and after cathodic hydrogen charging by means of anodic and cathodic polarisation measurements. Gradual oxidation and dissolution of nickel governs the anodic behaviour before a passive state is attained. A stabilizing effect of higher fractions of yttrium in the alloy on the passivation was detected. During the cathodic hydrogen charging process the alloys exhibit a change in the surface state chemistry, i.e. an enrichment of nickel-species, causing preferential oxidation and dissolution during subsequent anodization. The effect of chemical pre-treatments in 1% HF and in $10\;mg/l\;YCl_3/1%\;H_2O_2$ solution on the surface degradation processes was investigated. A HF treatment can improve their anodic passivation behavior by inhibiting a preferential nickel oxidation-dissolution at low polarisation, whereas a $YCl_3/H_2O_2$ treatment has the opposite effect. Both pre-treatment methods lead to an enhancement of cathodically induced surface degradation processes.

• 공업화학
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• 제22권4호
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• pp.376-383
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• 2011

글리시돌과 라우릴 알코올을 반응시켜 합성한 LA와 LA3 비이온계면활성제의 CMC는 각각 $0.97{\times}10^{-3}mol/L$, $1.02{\times}10^{-3}mol/L$이며, 1 wt% 농도에서의 표면장력은 26.99 mN/m과 27.48 mN/m이었다. 동적 표면장력 측정 결과에 의하면 LA와 LA3 비이온 계면활성제 모두, 공기와 수용액의 계면이 계면활성제 단분자에 의하여 비교적 짧은 시간 내에 포화되었으며, 1 wt% LA와 LA3 계면활성제 시스템들의 접촉각은 각각 27.8, $20.9^{\circ}$를 나타내었다. 비극성 오일 n-decane과 1 wt% 계면활성제 수용액 사이의 시간에 따른 계면장력은 시간에 따라 감소하며, LA와 LA3 시스템 모두 2~3 min 이내의 짧은 시간에 평형에 도달하였고, 평형에서의 계면장력 값은 각각 0.1524, 0.1716 mN/n을 나타내었다. $25^{\circ}C$에서의 계면활성제 수용액은 두 시스템 모두 비교적 안정한 상태를 유지하였고, LA 비이온 계면활성제가 LA3 비이온 계면활성제에 비하여 거품 안정성이 큼을 확인하였으며, 이러한 거품 안정성 측정 결과는 표면장력 측정 결과와도 일치하였다. 계면활성제, 물, 비극성 탄화수소 오일로 이루어진 3성분 시스템에 대하여 $25{\sim}60^{\circ}C$의 온도에서 상평형 실험을 수행한 결과, lower phase 마이크로에멀젼 혹은 oil in water (O/W) 마이크로에멀젼이 excess oil 상과 평형을 이루는 2상 영역만이 관찰되었을 뿐, lamellar liquid crystalline phase 혹은 middle-phase 마이크로에멀젼을 포함한 3상 영역은 나타나지 않았다.

• 한국식품과학회지
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• 제9권2호
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• pp.123-130
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• 1977

동방유량(東邦流糧)에서 공급(供給)받은 저변성(低變成) 탈지대두박(脫脂大豆粕)을 0.02N NaOH액(液)으로 추출(抽出)하여 Soy Protein Isolate (SPI)의 수율(收率)을 증류수나 염용액(鹽溶液)으로 추출(抽出)할때 보다 높이는 과정(過程)(84 % 수율(收率))을 확립(確立)하였으며 제조(製造)된 SPI는 92.1 %의 단백질(蛋白質)을 함유(含有)하였다. SPI를 $70^{\circ}C$에서 moisture heat를 하면 80분간(分間)에 5 %의 변성(變性)이 일어났으나 $95^{\circ}C$에서는 20분(分) 처리(處理)에 의(依)하여 95 %의 변성(變性)이 일어났다. SPI의 alkali 현탄액 (dope solution)은 SPI의 농도(濃度) 15 %, NaOH 농도(濃度) 0.6 %일때 7분(分)만에 60 poises를 나타내고 계속 안정(安定)된 점도(粘度)를 유지하였다. NaOH의 농도(濃度)가 0.9 %일 때는 시간(時間)이 경과(經過)함에 따라 점도(粘度)는 증가(增加)하였다가 감소(減少)하는 경향(傾向)을 보였다. syringe needle (dia. 0.3 mm)로서 모의(模擬) 실험(實驗) 결과(結果) 점도(粘度)가 $28^{\circ}C$에서 60 Poises일때 가장 적합한 단백질섬유(蛋白質纖維)의 texture를 보여주었다. 가열(加熱)에 의(依)한 SPI의 gelation은 8 %이상(以上)의 SPI농도(濃度)일 때 gel이 형성(形成)되기 시작하였으며 $100^{\circ}C$까지 안정(安定)한 gel을 형성(形成)하였고 SPI의 농도(濃度)가 12 %일때 $120^{\circ}C$에서 30분(分) 가열(加熱)에 의(依)하여 20,000 Poises의 좋은 점도(粘度)를 가졌으나 $120^{\circ}C$이상에서는 gel의 continuity가 떨어져 과립상(果粒上)의 gel이 생성(生成)되었다. SPI의 유화력(乳化力)은 pH가 8.7, NaCl의 농도(濃度)가 2 %일때 가장 큰 유화력(乳化力)을 나타냈다. milk casein과 비교(比較) 실험(實驗) 결과(結果) 유화력(乳化力)은 약간 낮았으나 염(鹽)이 존재(存在)하는 경우는 근사한 유화력(乳化力)을 보였다. 그러나 SPI의 foaming capacity는 foaming stability 면(面)에서 egg albumin이나 milk casein과 비교(比較)하여 양호(良好)한 결과(結果)를 보여주었다.

• 한국재료학회지
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• 제8권11호
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• pp.1026-1030
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• 1998

Fe기 비정질합금에서 과냉각액체영역의 유무에 따른 열적 안정성을 비교평가하기 위하여 결정화온도 이하에서 유리천이가 나타나지 않는 $Fe_{80}P_6C_{12}B_{12}$합금과 52K의 과냉각 액체영역을 갖는 $Fe_{73}P_{11}C_6B_4AI_4Ge_2$ glassy 합금을 열분석하였다. 등온결정화에 의한 열분석의 결과 JMA plot의 n값은 $Fe_{80}P_6C_{12}B_{12}$합금이 1.8-2.2이고 과냉각 액체영역을 갖는 $Fe_{73}P_{11}C_6B_4AI_4Ge_2$ 합금이 2.5-4.0으로서 후자의 경우가 열적으로 안정하였다. 결정화의 양상은 $Fe_{80}P_6C_{12}B_{12}$ 합금의 경우 핵생성속도가 일정할 때 확산율속에 의해 결정입자가 성장하는 반면 $Fe_{73}P_{11}C_6B_4AI_4Ge_2$ glassy합금의 경우 핵생성속도가 일정할 때 계면입자가 성장한다. $Fe_{73}P_{11}C_6B_4AI_4Ge_2$ 합금 및 $Fe_{80}P_6C_{12}B_{12}$ 합금의 결정화에 필요한 활성화에너지, 핵생성 및 성장에 필요한 활성화에너지는 각각 371, 353kJ/mol, 그리고 324, 301KJ/mol 및 301, 273KJ/mol로서 과냉각 액체영역을 갖는 합금이 열적으로 안정하다고 판단된다.