• 전기학회논문지P
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• 제51권3호
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• pp.155-160
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• 2002

This paper focuses on the problem of local obstacle avoidance of mobile robots. To solve this problem, the safety direction section search algorithm is suggested. This concept is mainly composed with non-collision section and collision section from the detecting area of laser scanning sensor. Then, we will search for the most suitable direction in these sections. The proposed local motion planning method is simple and requires less computation than others. An environment model is developed using the vector space concept to determine robot motion direction taking the target direction, obstacle configuration, and robot trajectory into account. Since the motion command is obtained considering motion dynamics, it results in smooth and fast as well as safe movement. Using the mobile base, the proposed obstacle avoidance method is tested, especially in the environment with pillar, wall and some doors. Also, the proposed autonomous motion planning and control algorithm are tested extensively. The experimental results show the proposed method yields safe and stable robot motion through the motion speed is not so fast.

• Journal of Electrochemical Science and Technology
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• 제2권2호
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• pp.124-129
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• 2011

A simple process of fabricating micropillar structure and its influence upon enhancing electrochemical biosensor response were studied in this work. Conducting polymer PEDOT was used as a base material in formulating a composite with PVA. Micro porous PC membrane filter was used as a template for the micropillar of the composite on ITO electrode. This structure could provide plenty of encapsulating space for enzyme species. After dosing enzyme solution into this space, Nafion film tent was cast over the pillar structure to complete the micropillar cavity structure. In this way, the encapsulation of enzyme could be accomplished without any chemical modification. The amount of enzyme species was easily controllable by varying the concentration of the dosing solution. The more amount of enzyme is stored in the sensor, the higher the electrochemical response is produced. One more reason for the sensitivity improvement comes from the large surface area of the micropillar structure. Application of 0.7 V produced the best current response under the condition of pH 7.4. This biosensor showed linear response to the glucose in 0.1~1 mM range with the average sensitivity of $14.06{\mu}A/mMcm^2$. Detection limit was 0.01 mM based on S/N = 3.

• 한국응용곤충학회지
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• 제29권3호
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• pp.157-164
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• 1990

한국산 멧누에(Bomdyx mandarina)chorion 유전자의 형질 발현기구를 규명하기 위한 연구의 일환으로 본 실험을 실시했다. 멧누에의 난각구조를 주사형 전자현마경에 의해 관찰한 결과 매우 특이적인 구조가 인정되었다. 즉 원추상의 불규칙 돌기에 의한 돌기구조층과 이 돌기 구조층을 덮고 있는 한 층의 얇은 덮개 구조층이 그것이다. 2차원 전기영동법에 의해 chorion 단백질을 분석한 결과, 난각을 구성하는 주요 단백질 성분은 등전점 4~6, 분자량 6~30 kd로 밝혀졌다. 특히 특이난각구조와 관련된 특이단백질 성분을 검출하였으며 이들의 대부분은 고cysteine 단백질인 것으로 추정했다. 이상의 연구결과에 의해 멧누에 난각의 특이 구조 형성에 따른 유전자발현기구 규명을 위한 기초자료가 얻어졌다.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2005년도 추계학술대회 논문집 Vol.18
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• pp.362-363
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• 2005

The objectives of this paper are to achieve good planarization of the deposited film and to improve deposition efficiency of multi-layer structures by using surface-micromaching process in MEMS technology. Planarization characteristic of poly-Si film deposited on thin oxide layer with MEMS structures is evaluated with different slurries. Patterns used for this research have shapes of square, density, line, hole, pillar, and micro engine part. Advantages and disadvantages of CMP for MEMS structures are observed respectively by using the test patterns with structures larger than 1 um line width. Preliminary tests for material selectivity of poly-Si and oxide are conducted with two types of slurries: ILD1300 and Nalco2371. And then, the experiments were conducted based on the pretest.

• 보존과학회지
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• 제36권1호
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• pp.15-27
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• 2020

The Main Hall of the Fengguo monastery in Yixian county, Liaoning province, China, is the best preserved and largest wooden Buddhist structure, typical of the Liao dynasty style, in China. However, some degradation to the timber frame of the Main Hall has been noted, and this is causing concern in terms of the long-term preservation of the structure. In this study, wooden pillars showing the degradation phenomena of whitening, for areas in contact with the stone floor, and extensive surface damage at higher locations(mostly above 1 m) have been examined. Samples taken from wooden pillar surfaces were analyzed using X-ray powder diffraction, Fourier-transform infrared spectroscopy(FTIR), ion chromatography, and pH measurements. With respect to the whitening phenomenon, we found inorganic calcium precipitates and oxalate ions, along with higher pH values. These symptoms indicated that chemical changes were taking place in response to alkaline conditions, suggesting that alkaline mixtures with calcium content in the foundations may be responsible. Regarding the upper surface-damaged areas, no valid evidence for chemical degradation was found using FTIR analysis, while damaged areas exhibited the presence of more bat guano-related materials than which were apparent in undamaged areas. The occurrence of this surface-damaged phenomenon has therefore been attributed to physical damage caused by bat activity over long periods of time.

• Environmental Engineering Research
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• 제18권2호
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• pp.95-101
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• 2013

Alternative sources of water are sought in some water stressed communities in the study area. The study focuses on the Aguata-Awka area of southeastern Nigeria. Aquifers occur at great depths, and surface waters may be far from homesteads. The scarcity of water has necessitated the people to adopt various local technologies for harvesting rainfall. The local technology includes collecting rainwater from roofs and channeling the water into large underground tanks, shallow wells and surface reservoirs. Large concrete tanks of $6m{\times}6m{\times}4m$ dimensions are often built underground and can store $144m^3$ of water. Surface reservoirs built on 4 m concrete pillar supports having dimensions of $10m{\times}10m{\times}4m$ and have a storage capacity of $400m^3$. Water samples were collected at 3 different locations of Agulu, Ekwulobia, and Awka and were analyzed for their physical, chemical, and bacteriological parameters. Results indicate a range of values for pH, 5.9 to 7.1; turbidity, 0.9 to 2.7; total dissolved solids, 80 to 170 mg/L; total hardness, 4.5 to 6.4 mg/L; magnesium, 1.2 to 1.4 mg/L; bicarbonate, 19.4 to 83.6 mg/L; and sulfate, 3.6 to 6.4 mg/L. Bacteriological analysis results were negative for fecal and total coliform counts. All parameters, with the exception of pH where aluminum and galvanized iron roofs are used for collection, fall within the recommended guidelines for drinking water quality of the World Health Organization, and the Standard Organization of Nigeria, new Nigerian standards for drinking water quality. Magnesium is above the maximum permitted level for consumer acceptability of the Nigerian standards for drinking water quality. The water can be classified as fresh moderately hard and soft. The water can be described as a calcium and bicarbonate type.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2008년도 추계학술대회 논문집 Vol.21
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• pp.418-418
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• 2008

The electrochemical etching of silicon in HF-based solutions is known to form various types of porous structures. Porous structures are generally classified into three categories according to pore sizes: micropore (below 2 nm in size), mesopore (2 ~ 50 nm), and macropore (above 50 nm). Recently, the formation of macropores has attracted increasing interest because of their promising characteristics for an wide scope of applications such as microelectromechanical systems (MEMS), chemical sensors, biotechnology, photonic crystals, and photovoltaic application. One of the promising applications of macropores is in the field of MEMS. Anisotropic etching is essential step for fabrication of MEMS. Conventional wet etching has advantages such as low processing cost and high throughput, but it is unsuitable to fabricate high-aspect-ratio structures with vertical sidewalls due to its inherent etching characteristics along certain crystal orientations. Reactive ion dry etching is another technique of anisotropic etching. This has excellent ability to fabricate high-aspect-ratio structures with vertical sidewalls and high accuracy. However, its high processing cost is one of the bottlenecks for widely successful commercialization of MEMS. In contrast, by using electrochemical etching method together with pre-patterning by lithographic step, regular macropore arrays with very high-aspect-ratio up to 250 can be obtained. The formed macropores have very smooth surface and side, unlike deep reactive ion etching where surfaces are damaged and wavy. Especially, to make vertical microwire or nanowire arrays (aspect ratio = over 1:100) on silicon wafer with top-down photolithography, it is very difficult to fabricate them with conventional dry etching. The electrochemical etching is the most proper candidate to do it. The pillar structures are demonstrated for n-type silicon and the formation mechanism is well explained, while such a experimental results are few for p-type silicon. In this report, In order to understand the roles played by the kinds of etching solution and mask patterns in the formation of microwire arrays, we have undertaken a systematic study of the solvent effects in mixtures of HF, dimethyl sulfoxide (DMSO), iso-propanol, and mixtures of HF with water on the structure formation on monocrystalline p-type silicon with a resistivity with 10 ~ 20 $\Omega{\cdot}cm$. The different morphological results are presented according to mask patterns and etching solutions.

• KSBB Journal
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• 제24권5호
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• pp.432-438
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• 2009

본 연구는 환경샘플 중 병원균을 진단하기 위한 목적을 가진다. 최소 챔버 칩에서 환경 샘플 중 병원균을 농축하고 mRNA를 증폭하여 효과적이고 간단한 진단방법을 고안하였다. PDMS로 면적 $1.5\;cm{\times}\;1.5\;cm$, 높이 $100\;{\mu}L$의 칩을 제작하여 유리에 부착시켰다. RNase에 의한 진단 오류 또는 실패를 막고자 RNase away 처리를 하고, RNA와 PDMS의 결합을 막기 위해 BSA 처리를 하였다. 수질에 있는 병원균은 매우 적은 농도로 존재하므로 농축의 과정이 필요하다. 농축의 방법에는 여러 가지가 있으나 본 연구에서는 유리 비드를 칩 내에 삽입하고 저농도의 시료를 주입함으로서 고농도로 농축을 하는 방법을 사용하였다. 그러나 부피가 작은 칩 내에서 수행하기에는 내부 압력이 작용하여 문제가 발생하여 $100\;{\mu}m$의 유리 비드를 사용하고 유리비드의 칩 내부 이탈을 방지하기 위하여 댐을 만들어 농축에 가장 적합한 칩의 형태를 잡았다. 시료의 주입속도에 따라 내부 압력이 상승하여 댐의 기능이 상실하여 유리 비드가 이탈하게 되므로 그것을 방지하기 위하여 칩 내에 댐을 강화하여 만들고 내부압력 증가가 방지되는 최적의 댐을 개발하여 시료의 주입 속도 5 mL/min까지 유리 비드의 이탈을 막았다. 유리 비드에서의 RNA 농축은 pH 5에서 효과적이고 pH가 증가할수록 유리 비드와 RNA의 결합이 끊어지는 현상을 보였으므로 시료에 pH 5의 버퍼를 첨가하여 농축을 진행하고 중성의 NASBA 용액을 주입하여 유리비드에서 탈착된 농축된 고농도의 RNA를 증폭하였다. NASBA는 항온 수조에서 온도에 변화 없이 $41^{\circ}C$에서 1시간 30분 동안 진행하며 증폭된 mRNA는 직접 확인하였다. 이 방법은 LOC 기술을 적용하여 저농도의 시료를 효과적으로 측정할 수 있도록 편리한 바이오 칩을 개발함으로써 대용량의 샘플 중 극 저농도의 대장균을 효과적으로 검출할 수 있는 장점을 가지고 있다.

• Bulletin of the Korean Chemical Society
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• 제34권12호
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• pp.3749-3754
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• 2013

Two 3D isomorphous and isostructural complexes, namely, $[Zn(BDOA)(bpy)(H_2O)_2]_n$ (1) and $[Cd(BDOA)-(bpy)(H_2O)_2]_n$ (2); (BDOA = Benzene-1,4-dioxyacetic acid, bpy = 4,4'-bipyridine) were synthesized under hydrothermal conditions and characterized by means of elemental analyses, thermogravimetric (TG), infrared spectrometry, and single crystal X-ray diffraction. Complexes 1 and 2 crystallize in the triclinic system, space group P-1 and each metal ion in the complexes are six-coordinated with the same coordination environment. In the as-synthesized complexes, $BDOA^{2-}$ anions link central metal ions to form a 1D zigzag chain $[-BDOA^{2-}-Zn(Cd)-BDOA^{2-}-Zn(Cd)-]_{\infty}$, whereas bpy pillars connect metal ions to generate a 1D linear chain $[-bpy-Zn(Cd)-bpy-Zn(Cd)-]_{\infty}$. Both infinite chains are interweaved into 2D grid-like layers which are further constructed into a 3D open framework, where hydrogen bonds play as the bridges between the adjacent 2D layers. Luminescent properties of complex 1 showed selectivity for $Hg^{2+}$ ion.

• JSTS:Journal of Semiconductor Technology and Science
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• 제14권3호
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• pp.263-267
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• 2014

Super junction trench gate power MOSFETs have been receiving attention in terms of the trade-off between breakdown voltage and on-resistance. The vertical structure of super junction trench gate power MOSFETs allows the on-resistance to be reduced compared with conventional Trench Gate Power MOSFETs. The heat release of devices is also decreased with the reduction of on-resistance. In this paper, Lattice Temperature of two devices, Trench Gate Power MOSFET and Super junction trench gate power MOSFET, are compared in several temperature circumstance with the same Breakdown Voltage and Cell-pitch. The devices were designed by 100V Breakdown voltage and measured from 250K Lattice Temperature. We have tried to investigate how much temperature rise in the same condition. According as temperature gap between top of devices and bottom of devices, Super junction trench gate power MOSFET has a tendency to generate lower heat release than Trench Gate Power MOSFET. This means that Super junction trench gate power MOSFET is superior for wide-temperature range operation. When trench etching process is applied for making P-pillar region, trench angle factor is also important component. Depending on trench angle, characteristics of Super junction device are changed. In this paper, we focus temperature characteristic as changing trench angle factor. Consequently, Trench angle factor don't have a great effect on temperature change.