• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.8
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• pp.1592-1598
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• 2011

In this paper, a formation control method based on the leader-following approach for nonholonomic mobile robots is proposed. In the previous works, it is assumed that the followers know the leader's velocity by means of communication. However, it is difficult that the followers correctly know the leader's velocity due to the contamination or delay of information. Thus, in this paper, an adaptive approach based on the parameter projection algorithm is proposed to estimate the leader's velocity. Moreover, the adaptive backstepping technique is used to compensate the effects of a dynamic model with the unknown time-invariant and time-varying parameters. From the Lyapunov stability theory, it is proved that the errors of the closed-loop system are uniformly ultimately bounded. Simulation results illustrate the effectiveness of the proposed control method.

• Nuclear Engineering and Technology
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• v.33 no.3
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• pp.261-269
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• 2001

In this study, sorption experiments of uranium onto silica colloids were carried out and the effects of important geochemical parameters such as pH, ionic strength, carbonate concentration, colloid concentration, and total concentration of uranium were investigated. The sorption coefficients of uranium for silica colloids named as pseudo-colloid formation constants were about 10$^4$~ 10$^{5}$ mL/g depending on the experimental conditions. The effects of the geochemical parameters were found to be important in the sorption of uranium onto silica colloids. A Langmuir type sorption isotherm of uranium between silica colloids and the solution phase was also presented. The sorption mechanisms were explained by analyzing the effects of the geochemical parameters.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.6
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• pp.1490-1500
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• 1995

Compression molding of SMC (Sheet Molding Compound) in a thin plaque with substructures like a rib is involved with the formation of surface defect along the centerline over the rib area called by sink mark depending on process parameters. The surface quality of the external panels in automotive manufacturing is so critical that this kind of defect should be eliminated during manufacturing stages. The effect of process parameters on sink mark formation and the distribution of chopped fiberglasses in the compression molded thin plaque with a rib was experimentally investigated in the present study. In order to estimate the effect of the molding parameters such as molding temperature, mold closing speed, depth of the rib, corner radius of the rib, and final molded part thickness of flat portion on the depth of sink mark and the distribution of fiberglasses in the molded SMC part with the rib under the present experimental conditions, the molding parameters used in experiments were non-dimensionalized equation for predicting the depth of sink mark was determined through dimensional analysis based on the experimental data. The orientation and distribution of fiberglasses and fillers which directly affect the formation and depth of sink mark were investigated by taking the photographs of the cross-sectional area of the molded specimen using scanning electron microscope. The experimental results proposed from this investigation are useful in understanding the formation of sink mark and predicting the depth of sink mark in compression molding of SMC with substructures.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.7 s.184
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• pp.30-38
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• 2006

Laser cutting technology is one of flexible rapid manufacturing technologies with various advantageous including a high cutting speed, manufacturing of parts with a complex shape and others. The quality of the cut part and the optimum cutting conditions are highly dependent on the combination of the process parameters. The objective of this research works is to investigate the influence of process parameters, such as power of laser, cutting speed of laser and material thickness, on the surface roughness and the striation formation of the cut section for the case of cutting of CSP 1N sheet using high power Nd:YAG Laser with a continuous wave (CW). In order to find the relationship between process parameters and the surface roughness and the striation formation of the cut section, several experiments are carried out. Through the investigation of the empirical results, it has been shown that the surface roughness is highly related to the striation formation, including the frequency and angle of the striation, of the cut section. From the results of experiments, an optimum cutting speed for each cutting condition has been obtained to improve both the quality of the cut surface and the cutting efficiency.

• Environmental Sciences Bulletin of The Korean Environmental Sciences Society
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• v.4 no.2
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• pp.71-78
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• 2000

The chlorination of municipal drinking water supplies leads to the formation of so-called disinfection by-products(DBPs), many of which have been reported to cause harmful health effects based on animal studies. This study was conducted: 1) to observe seasonal changes in the major DBPs at four sampling sites on a drinking water distribution system located in Chunchon, Kangwon Do; and 2) to examine the effects of major water quality parameters on the formation of DBPs. During the field sampling, the water temperature, pH, and total and free chlorine residuals were all measured. The water samples were then analyzed for total organic carbon(TOC) and eight disinfection by-products in the laboratory. Chloroform, dichloroacetic acid, and trichloroacetic acid were the major constituents of the measured DBPs. The concentrations of the total DBPs were highest in fall, particularly in October, and lowest in summer. The concentrations of the total DBPs increased with increasing TOC concentrations. Multiple regression analyses showed that the concentrations of chloroform, bromodichloromethane, and chloral hydrate were linearly correlated with the pH. Other water parameters were not included in the regression equations. Accordingly, these results suggest that TOC and pH are both important factors in the formation of DBPs.

• Geomechanics and Engineering
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• v.20 no.1
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• pp.29-41
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• 2020

It is extremely important to obtain rock strength parameters for geological engineering. In this paper, the evolution of sandstone cohesion and internal friction angle with plastic shear strain was obtained by simulating the cyclic loading and unloading tests under different confining pressures using Particle Flow Code software. By which and combined with the micro-crack propagation process, the mesoscopic mechanism of parameter evolution was studied. The results show that with the increase of plastic shear strain, the sandstone cohesion decreases first and then tends to be stable, while the internal friction angle increases first, then decreases, and finally maintains unchanged. The evolution of sandstone shear strength parameters is closely related to the whole process of crack formation, propagation and coalescence. When the internal micro-cracks are less and distributed randomly and dispersedly, and the rock shear strength parameters (cohesion, internal friction angle) are considered to have not been fully mobilized. As the directional development of the internal micro-fractures as well as the gradual formation of macroscopic shear plane, the rock cohesion reduces continuously and the internal friction angle is in the rise stage. As the formation of the macroscopic shear plane, both the rock cohesion and internal friction angle continuously decrease to a certain residual level.

• Bulletin of the Korean Chemical Society
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• v.33 no.3
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• pp.848-854
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• 2012

We have studied the oligomerization of a fibril-forming segment of ${\alpha}$-Synulcein using a replica exchange molecular dynamics (REMD) simulation. The simulation was performed with trimers and tetramers of a 12 amino acid residue stretch (residues 71-82) of ${\alpha}$-Synulcein. From extensive REMD simulations, we observed the spontaneous formation of both trimer and tetramer, demonstrating the self-aggregating and fibril-forming properties of the peptides. Secondary structure profile and clustering analysis illustrated that antiparallel ${\beta}$-sheet structures are major species corresponding to the global free energy minimum. As the size of the oligomer increases from a dimer to a tetramer, conformational stability is increased. We examined the evolution of simple order parameters and their free energy profiles to identify the process of aggregation. It was found that the degree of aggregation increased as time passed. Tetramer formation was slower than trimer formation and a transition in order parameters was observed, indicating the full development of tetramer conformation which is more stable than that of the trimer. The shape of free energy surface and change of order parameter distributions indicate that the oligomer formation follows a dock-and-lock process.

• Transactions of the Korean hydrogen and new energy society
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• v.29 no.1
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• pp.71-80
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• 2018

Electrospinning is a versatile technique that utilizes electrostatic forces to produce very thin and fine fibers of polymer ranging from submicron to nanometer scale. The technique can be applied to fibers of a various polymer types. Working parameters in the electrospinning are very important to understand not only the nature of electrospinning but also the conversion of polymer solutions into nanofibers through electrospinning. Those parameters in the electrospinning can be broadly divided into three parts. The first parameter is solution parameters such as molecular weight of polymer, concentration, viscosity, surface tension and conductivity/surface charge density of solution. The second parameter is process such as voltage, distance between the collector and the tip of the syringe, shape of collectors, flow rate. The third parameter is ambient parameters such as humidity and temperature. Fibers which made by electrospinning with working parameters are applied for various fields according to shape such as medical, cloth, photodiode, a sensor technology, catalyst, filtration, battery etc.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.236-239
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• 1995

In this paper,Upper bound analysis to predict the formation of corner cavity during the final stage of backward extrusion is used. The critical condition for corner cavity formation is obtained by upper bound analysis. The quantitive relationships between corner cavity formation and process parameters are studied. To broaden forming limit area, driven container and multi-step forming process is proposed. As a result of FEM, forming limit is enlarged. And this results is compared with the analytric results

• Water Engineering Research
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• v.4 no.2
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• pp.59-68
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• 2003

The applicabilities and validities of two methodologies fur the prediction of THM (trihalomethane) formation in a water pipeline system were proposed and discussed. One is the multiple regression technique and the other is an artificial neural network technique. There are many factors which influence water quality, especially THMs formations in water pipeline systems. In this study, the prediction models of THM formation in water pipeline systems are developed based on the independent variables proposed by American Water Works Association(AWWA). Multiple linear/nonlinear regression models are estimated and three layer feed-forward artificial neural networks have been used to predict the THM formation in a water pipeline system. Input parameters of the models consist of organic compounds measured in water pipeline systems such as TOC, DOC and UV254. Also, the reaction time to each measuring site along pipeline is used as input parameter calculated by a hydraulic analysis. Using these variables as model parameters, four models are developed. And the predicted results from the four developed models are compared statistically to the measured THMs data set. It is shown that the artificial neural network approaches are much superior to the conventional regression approaches and that the developed models by neural network can be used more efficiently and reproduce more accurately the THMs formation in water pipeline systems, than the conventional regression methods proposed by AWWA.