• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.533-538
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• 1991

In the design and operation of robot arms with flexible links, the equations of motion are required to exactly model the interaction between rigid motion and elastic motion and to be formulated efficiently. Thus, the flexible link is represented on the basis of the D-H rigid link representation to measure the elastic deformation. The equations of motion of robot arms, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated by using F.E.M. to model complex shaped links systematically and by eliminating elastic mode of higher order that does not largely affect motion to reduce the number of elastic degree of freedom. Finally, presented is the result of simulation to flexible robotic arm whose joints are controlled by direct or PD control,

• 제어로봇시스템학회논문지
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• 제19권9호
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• pp.834-838
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• 2013

This paper proposes a new ball robot which has a four axis structure and four motors that directly actuate the ball to move or to maintain the balance of the robot. For the Balancing control, it is possible to use non-model-based controller to control simply without complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed ball robot.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2001년도 춘계학술대회 논문집 유기절연재료 전자세라믹 방전플라즈마 연구회
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• pp.33-37
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• 2001

Recently, the HFPD measurement testing is widely used in partial discharge measurement of HV machines because HFPD measurement testing receives less influence of external noise and has a merit of good sensitivity. Also HFPD testing is able to offer the judgement standard of degradation level of HV machine and can detect discharge signals in live-line. Therefore it is very useful method compare to previous conventional PD testing method and effective diagnosis method in power transformer that requires live-line diagnosis. But partial discharges have very complex characteristics of discharge pattern so it is required continuous research to development of precise analysis method. In recent, the study of partial discharge is carrying out discover of initial defect of power equipment through condition diagnosis and system development of degradation diagnosis using HFPD(High Frequency Partial Discharge) detection. In this study, simulated transformer is manufactured and HFPD occurred from transformer is measured with broad band antenna in real time, the degradation grade of transformer is analyzed through produced patterns in simulated transformer according to applied voltages.

• Bulletin of the Korean Chemical Society
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• 제30권10호
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• pp.2338-2340
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• 2009

Ionic palladium(II) complex containing a long aliphatic chain, [(tmeda)$PdL]_2(PF_6)_4$ (tmeda = N,N,N',N'-tetramethylethylenediamine; L = decylmethylbis(m-pyridyl)silane) allowed to form a puckered submicrosphere morphology without any template or additive. The puckered spheres reversibly adsorb and desorb dioxane molecules. Coligand and cosolvent effects on the formation of submicrospherical morphology were observed.

• Bulletin of the Korean Chemical Society
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• 제29권3호
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• pp.679-681
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• 2008

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.558-560
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• 1998

The operation of robot manipulators has a restriction that the operator must reside at the factory, where the manipulator is used. To overcome this restriction, we propose a remote control system using the internet, the system which runs on the Window 95 environment is composed of the remote client which transfers commands to the server which control and manage the manipulator in the factory. In the control of Hong-ik Direct Drive Arm, it is necessary to consider the complex nonlinear parameters causing the mutual interaction between joints, so we use two TMS320C31 DSP chips in the controller for the real time dynamic control algorithms. For the test of system integrity and the verification of the mathematical modeling, we apply CTM, PD and VSS control algorithms and the simulation results are satisfactory.

• 대한건축학회논문집:계획계
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• 제36권5호
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• pp.71-82
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• 2020

As the number of students continues to decline, alternatives to regional linkage and utilization of school facilities in the region are being sought. Therefore, the purpose of this study is to propose programs and remodeling directions for school facilities for neighborhood regeneration in urban regeneration revitalization areas. To this end, first, this study analyzed changes in educational courses and policies in Korea. Second, domestic and foreign cases of combined operation of school facilities were analyzed. Third, implications for the improvement of local-linked school facilities were derived through policies and case analysis. Finally, the direction of the plan considering this was proposed.

• 마이크로전자및패키징학회지
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• 제31권2호
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• pp.1-8
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• 2024

Bonding wires are composed of conductive metals of Au, Ag & Cu with excellent electrical conductivities for transmitting power and signals to wafer chips. Wire metals do not provide electrical insulation, adhesion promoter and corrosion passivation. Adhesion between metal wires is extremely weak, which is responsible for wire cut failures during thermal cycling. Organic coating for electrical insulation does not satisfy bondability and manufacturability, and it is complex to apply very thin organic coating on metal wires. Automotive packages require enhanced reliability of packages under harsh conditions. LED and power packages are susceptible to wire cut failures. Contrary to conventional OCB behaviors, forming gas was not required for free air ball formation for both Ag and Pd-coated Cu wires with Al₂O₃ passivation.

• 대한건축학회논문집:계획계
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• 제34권5호
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• pp.21-28
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• 2018

This study analyzed the physical characteristics and change characteristics of urban detached residential area. In the reality of South Korea in which the history of modern urbanization is not long, the densification that progressed together with sudden population growth without any consideration of city plans became to reveal many problems. Thereafter, apartment-centered large scaled development plans have been implemented until now as an alternative for the foregoing. As the residential environments of old downtown areas that were excluded from the development have been gradually deteriorated, large scaled re-development and reconstruction projects have been adopted as ways to solve the problems of the old downtown areas. On one hand, the development methods that damage the history of the detached housing areas have been resisted. With such a background, this study attempted the analysis of the change characteristics of the Kookmin Housing Complex in Suyu 1-dong, Seoul with a view to playing the role of evidentiary materials for the disappearing urban detached housing areas or those urban detached housing areas that may be revived. This author hopes and the results of this study will lead to careful development that presents measures to maintain and develop modern urban residential areas where the history of past residential areas and culture are disappearing due to full-scale redevelopment.

• 대한화학회지
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• 제56권6호
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• pp.679-691
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• 2012

New series of metal complexes of Co(II), Ni(II), Cu(II), Zn(II), Pd(II) and Pt(II) with 4-(p-chlorophenyl)-1-(pyridin-2-yl)thiosemicarbazide (HCPTS) have been synthesized and characterized by elemental analyses, magnetic moment, spectra (IR, UV-Vis, $^1H$ NMR, mass and ESR) and thermal studies. The IR data suggest different coordination modes for HCPTS which behaves as a monobasic bidentate with all metal ions except Cu(II) and Zn(II) which acts as a monobasic tridentate. Based on the electronic and magnetic studies, Co(II), Cu(II), Pd(II) and Pt(II) complexes have square - planner, Ni(II) has mixed stereochemistry (tetrahedral + square planar), while Zn(II) is tetrahedral. Molar conductance in DMF solution indicates the non-ionic nature of the complexes. The ESR spectra of solid copper(II) complex show $g_{\parallel}$ (2.2221) > $g_{\perp}$ (2.0899) > 2.0023 indicating square-planar structure and the presence of the unpaired electron in the $d_x2_{-y}2$ orbital with significant covalent bond character. The thermal stability and degradation kinetics of the ligand and its metal complexes were studied by TGA and DTA and the kinetic parameters were calculated using Coats-Redfern and Horowitz-Metzger methods. The complexes have more antibacterial activity against some bacteria than the free ligand. However, the ligand has high anticancer activities against HCT116 (human colon carcinoma cell line) and HEPG2 (human liver hepatocellular carcinoma cell line) compared with its complexes.