• 로봇학회논문지
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• 제2권3호
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• pp.234-241
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• 2007

Effective tools which can alleviate the complexity and computational load problem in collision-free motion planning for multi-agent system have steadily been demanded in robotics field. To reduce the complexity, the extended collision map (ECM) which adopts decoupled approach and prioritization is already proposed. In ECM, the collision regions which represent the potential collision of robots are calculated using the computational power; the complexity problem is not resolved completely. In this paper, we propose a mathematical analysis of the extended collision map; as a result, we formulate the collision region as an equation with 5-8 variables. For mathematical analysis, we introduce realistic assumptions as follows; the path of each robot can be approximated to a straight line or an arc and every robot moves with uniform velocity or constant acceleration near the intersection between paths. Our result reduces the computational complexity in comparison with the previous result without losing optimality, because we use simple but exact equations of the collision regions. This result can be widely applicable to coordinated multi-agent motion planning.

• 한국표면공학회:학술대회논문집
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• 한국표면공학회 2014년도 추계학술대회 논문집
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• pp.123-123
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• 2014

본 연구는 환경 및 인체에 유해한 포르말린을 사용하지 않은 동 도금액 개발에 관한 것이다. 본 연구에서는 여러 착화제 및 환원제를 혼합하여 각각의 환원제 및 착화제가 동 도금액의 안정성에 미치는 영향을 관찰하고자 하였다. 연구결과 환원제로 두 가지 성분 이상의 환원제가 혼합될 경우 동 도금액의 구동에 용이한 것을 확인할 수 있었으며 착화제의 경우 일반적으로 무전해 동 도금액에서 사용되는 착화제에 제 2의 착화제가 포함될 경우 도금액의 안정성을 향상시킴을 확인할 수 있었다.

• Bulletin of the Korean Chemical Society
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• 제14권2호
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• pp.262-265
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• 1993

Conformational free energy calculations using an empirical potential function and a hydration shell model (program CONBIO) were carried out on antifungal agent fluconazole in the unhydrated and hydrated states. The initial geometry of fluconazole was obtained from two minimized fragments of it using a molecular mechanics MMPMI and followed by minimizing with a semiempirical AM1 method. In both states, the feasible conformations were obtained from the calculations of conformational energy, conformational entropy, and hydration free energy by varying all the torsion angles of the molecule. The intramolecular hydrogen bonds of isopropyl hydroxyl hydrogen and triazole nitrogens and the structural flexibility are of significant importance in stabilizing the conformations of fluconazole in both states. Hydration is proved to be one of the essential factors in stabilizing the overall conformation in aqueous solution. Two F atoms of phenyl ring are not identified as an essential key in determining the stable conformations and may be responsible for the interaction with the receptor of fluconazole.

• 한국표면공학회지
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• 제55권4호
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• pp.202-214
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• 2022

Internal connections between device, package and external terminals for connecting packaging and printed circuit board are normally manufactured by electroless Ni-P plating followed by immersion Au plating (ENIG process) to ensure the connection reliability. In this study, a new non-cyanide-based immersion and electroless Au plating solutions using thiomalic acid as a complexing agent and aminoethanethiol as a reducing agent was investigated on different underlayer electroless Ni-P plating layers. As a result, it was confirmed that the deposition behavior and film properties of electroless Au plating are affected by grain size and impurity of the electroless Ni-P film, which is used as the plating underlayer. Au plating on the electroless Ni-P plating film with a dense surface structure showed the highest bonding strength. In addition, the electroless Au plating film on the Ni-P plating film has a smaller particle size exhibited higher bonding strength than that on the large particle size.

• Elastomers and Composites
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• 제50권1호
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• pp.13-17
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• 2015

A study of the effects of MWCNT as a nucleating agent on the formation reactions of the rigid polyurethane foams (RPUFs) was carried out. Sample PUFs, formulated with grease-type master batch of MWCNT/surfactant, were fabricated by free-rising method. Temperature changes with time during foaming process were measured using a digital thermometer. RPUF foaming process was observed to undergo 2-step processes with temperature inflection around 60 sec after the start of reaction, and then reached slowly the max. temperature. While the max. temperature of neat PUF was measured as ca. $120^{\circ}C$, that of the samples with MWCNT were as higher value as ca. $130^{\circ}C$, and, even the time to reach that temperature was reduced by about 15 sec. Average cell size of PUF samples decreased from 185.1 for the neat PUF to $162.9{\mu}m$ for the sample of 0.01 phr of MWCNT. As the result, it was considered that MWCNT in RPUF foaming process could play a roll both as a nucleating agent and as a catalyst.

• 콘크리트학회논문집
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• 제28권5호
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• pp.519-525
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• 2016

본 논문에서는 혼화제에 따른 3성분계 그라우트에 대하여 자유수축 및 구속수축에 대하여 평가하였다. 본 연구에서 3성분계 그라우트는 플라이애쉬, 지르코늄 실리카퓸을 사용하였고, 팽창재(a, b)와 수축저감제 혼화제를 병용 사용하였다. 또한 유럽규정 EN 445에 따라 그라우트의 기본재료특성 실험을 수행하여 블리딩, 체적변화량, 유동성, 압축강도 실험을 수행하여 기본재료특성 거동도 분석하였다. 실험결과, 팽창재와 수축저감제 혼입률에 따라 유동성은 다소 영향은 없었으나, 우수한 블리딩 및 침하 저감성능과 압축강도를 나타났다. 자유수축 거동에서는 팽창재와 수축저감제를 혼입한 변수들은 0.0E-0.0R 변수보다 최소 29%의 수축저감성능을 보여 주었다. 특히 팽창재 a와 수축저감제를 병용 사용한 변수에서는 수축 저감의 효과가 더욱 우수한 것으로 나타났으며, 혼화제의 혼입률이 증가할수록 텐던 구속에 의한 수축균열은 뒤늦게 발생함을 알 수 있었다. 그러나 유독 팽창재 a 2.0%, 수축저감제 0.50%를 혼입한 변수에서는 우수한 수축저감성능으로 수축균열이 발생하지 않았다. 종합하여 볼 때, 본 연구의 실험 조건에서는 팽창재 a 2.0%, 수축저감제 0.50%인 조합이 PSC 교량용 고품질 3성분계 그라우트의 최적의 혼입률인 것으로 분석된다.

• 한국응용과학기술학회지
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• 제23권1호
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• pp.37-44
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• 2006

Solvent-free low foaming scouring agents (LFSC) were prepared by blending of 2-ethylhexylaminoethyl sulfate (2-EHAS), POE(10) octadecylbenzyl- ammonium chloride (POBAC) and Sedlan FF-200 (FF-200). As the results of several tests, 2-EHAS/POBAC/FF-200/water (8g/12g/20g/60g) mixture (LFSC-5) showed good cleaning power, penetrating ability and stability to alkali, and gave less problem in water pollution. The foaming power of LFSC-5 measured by Ross and Miles method was 8mm foam height immediately after foaming, and that measured by Ross and Clark method was less than 300mm foam height at $30^{\circ}C$, and 18mm at $80^{\circ}C$. As a result, LFSC-5 proved a good low foaming scouring agent for fiber.

• 한국생산제조학회지
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• 제21권5호
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• pp.720-725
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• 2012

Sodium hypochlorite is used worldwide as a water disinfectant and in bleaching agent. Sodium hypochlorite applied to water initially undergoes hydrolysis to form free chlorine consisting of hypochlorous acid(HOCl) and hypochlorite ion($OCl^-$). For free chlorine determination, an electrochemical method is simple due to the electroactivity of free chlorine; it measures current and is free of most reagents. Amperometric free chlorine sensor has been developed with gold (Au)-based electrode. The 3-electrode free chlorine sensor whose working and counter electrodes were Pt exhibited excellent response to HClO at +400mV vs. Ag/AgCl/sat. KCl. In addition, the use of a pH error correction algorithm provided a reliable measurement of residual free chlorine in water sample without any pretreatment in the normal pH range(pH 6~8) of municipal water supply. The free chlorine sensor installed in on-line monitoring system could be used to continually monitor the level of residual free chlorine in real samples.

• International Journal of Control, Automation, and Systems
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• 제5권3호
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• pp.295-306
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• 2007

It is well known that mathematical solutions for multi-agent planning problems are very difficult to obtain due to the complexity of mutual interactions among multi-agents. Most of the past research results are thus based on the probabilistic completeness. However, the practicality and effectiveness of the solution from the probabilistic completeness is significantly reduced by heavy computational burden. In this paper, we propose a practically applicable solution technique for multi-agent planning problems, which assures a reasonable computation time and a real world application for more than 3 multi-agents, for the case of general shaped paths in agent movement. First, to reduce the computation time, an extended collision map is developed and utilized for detecting potential collisions and obtaining collision-free solutions for multi-agents. Second, a priority for multi-agents is considered for successive and interactive modifications of the agent movements with lower priority. Various solutions using speed reduction and time delay of the relevant agents are investigated and compared in terms of the computation time. A practical implementation is finally provided for three different types of agents to emphasize the effectiveness of the proposed interactive approach to multi-agent planning problems.

• Journal of Microbiology and Biotechnology
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• 제9권6호
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• pp.826-831
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• 1999

${\beta}-Glucan$, one of the major cell wall components of Saccharomyces cerevisiae, is known to enhance the immune function, especially by activating macrophages. Accordingly, in an effort to develop a safe and efficient immune stimulatory agent, we prepared crude ${\beta}-glucan$ (glucan-p1) and partially purified ${\beta}-glucan$ that was free of mannoproteins (glucan-p2), and evaluated their effect on both the macrophage function and resistance to E. coli-induced peritonitis. To investigate the function of the macrophages, phagocytosis, $TNF-{\alpha}$ secretion, oxygen burst, and the expression of cytokine genes such as $IFN-{\gamma}$ and IL-12 were analyzed. Glucan-p2 markedly stimulated the macrophages with all these parameters. Glucan-p1, however, did not stimulate phagocytosis, yet it induced $TNF-{\alpha}$ secretion, oxygen burst, and the expression of $IFN-{\gamma}$ and IL-12, although less efficiently than glucan-p2. Finally, to test the in vivo protective effect of {\beta}-glucan against infection, the survival of mice from E. coli-induced peritonitis was investigated. After 24 h of the peritoneal challenge of E. coli, all of the mice treated with glucan-p2 survived whereas none survived in the control group. Glucan-p1 showed only a marginal effect in protecting the mice. These results suggest that mannoprotein-free gluean-p2, but not gluean-p1, can serve as an effective immune-stimulating agent.