• 대한기계학회논문집A
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• 제34권6호
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• pp.667-673
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• 2010

본 논문은 의사-임피던스 모델을 이용하여 2족보행로봇이 비평탄면에서 보행하는 제어기법을 제안한다. 의사-임피던스 모델은 인간이 보행 시, 발바닥이 지면과 순응하는 동작을 모사하였다. 지면과 접촉하면서 인간의 발바닥은 2가지 보행상태를 갖게 된다. 첫 번째 상태에서는 지면과 순응하기 위해 노력이나 의도적인 토크를 가하는 것이 아니라 수동적인 모션으로 순응하게 된다. 두 번째 상태에서는 지면과 접촉한 후, 적절한 토크를 유지하여 인간의 몸이 보행을 지속할 수 있게끔 유도하며 이를 하중이동단계라고 한다. 이러한 과정이 안정적으로 로봇의 보행을 유지할 수 있음을 12자유도의 2족보행로봇과 6축의 힘을 가지는 환경모델을 반영한 시뮬레이션을 통해 보여준다. 이러한 시뮬레이션결과가 제안된 의사-임피던스 모델이 효과적임을 보여준다.

• 상하수도학회지
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• 제29권3호
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• pp.407-414
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• 2015

The effect of activated carbon particle diameter (i.e. US sieve No. $8{\times}10$ ($d_p{\approx}2.19mm$), $18{\times}20$ ($d_p{\approx}0.92mm$), $50{\times}60$ ($d_p{\approx}0.27mm$) and $170{\times}200$ ($d_p{\approx}0.081mm$) on caffeine adsorption is investigated. BET surface area was increased with decreasing particle diameter ($d_p$), and caffeine adsorption rates increased with decreasing $d_p$. Moreover, pseudo-second order model is predicted the experimental data more accurately than pseudo-first order model, and the fastest rate constant ($k_2$) was $1.7g\;mg^{-1}min^{-1}$ when $d_p$ was 0.081 mm. Surface diffusion coefficient (Ds) was decreased with decreasing $d_p$ based on the minimum sum of square error (SSE). Practically, certain ranges of Ds are acceptable with high reliability ($R^2$) and it is determined that the effect of $d_p$ on Ds is unclear. The effect of pH on caffeine adsorption indicated the dependency of m/L ratio (mass liquid ratio) and $pH_{pzc}$. The $pH_{pzc}$ (i.e. $7.9{\pm}0.2$) was not affected by $d_p$. The higher caffeine adsorption at pH 4 and pH 7 than at pH 10 is due to $pH_{pzc}$, not $pk_a$ of caffeine.

• Korean Chemical Engineering Research
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• 제53권3호
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• pp.309-314
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• 2015

야자계 활성탄을 사용하여 수용액으로부터 brilliant blue FCF 염료의 흡착에 대해 조사하였다. 회분식 실험은 흡착제의 양, 초기농도와 접촉시간과 온도를 흡착변수로 사용하여 수행하였다. 흡착평형자료는 Langmuir와 Freundlich 식을 사용하여 해석하였으며, Freundlich 식이 더 좋은 일치도를 나타냈다. 평가된 Freundlich 상수(1/n=0.129~0.212)로부터 활성탄에 의한 brilliant blue FCF의 흡착조작이 적절한 처리방법이 될 수 있음을 알았다. 흡착속도실험자료를 유사일차반응속도식과 유사이차반응속도식에 적용해 본 결과, 흡착동력학은 유사이차반응속도식에 잘 맞는 것으로 나타났다. 음수값의 Gibbs 자유에너지(-4.81~-10.33 kJ/mol)와 양수값의 엔탈피(+78.59 kJ/mol)는 흡착이 자발적이고 흡열공정으로 진행된다는 것을 나타낸다.

• Bulletin of the Korean Chemical Society
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• 제34권9호
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• pp.2753-2759
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• 2013

The aim of the present study is to explore the possibility of utilizing fly ash and loess, as alternative to activated carbon, for the adsorption of diazinon in water. Batch adsorption experiment was performed to evaluate the influences of various factors like initial concentration, contact time and temperature on the adsorption of diazinon. The adsorption data shows that fly ash is not effective for the adsorption of diazinon. The equilibrium data for both activated carbon and loess were fitted well to the Freundlich isotherm model. The pseudo-second-order kinetic model appeared to be the better-fitting model because it has higher $R^2$ compared to the pseudo-first-order kinetic model. The thermodynamic parameters such as free energy (${\Delta}G$), the enthalpy (${\Delta}H$) and the entropy (${\Delta}S$) were calculated. Contrary to loess, the ${\Delta}G$ values of activated carbon were negative at the studied temperatures. It indicates that the adsorption of diazinon by activated carbon is a favorable and spontaneous process. The positive ${\Delta}H$ values of activated carbon and loess suggest that the diazinon adsorption process is endothermic in nature. In addition, the positive ${\Delta}S$ values show that increased randomness occurs at the solid/solution surface during the adsorption of diazinon.

• 한국환경과학회지
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• 제20권12호
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• pp.1607-1615
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• 2011

The adsorption performance of cupper and zinc ions($Cu^{2+}$ and $Zn^{2+}$) in aqueous solution was investigated by an adsorption process on reagent grade Na-A zeolite(Z-WK) and Na-A zeolite (Z-C1) prepared from coal fly ash. Z-C1 was synthesized by a fusion method with coal fly ash from a thermal power plant. Batch adsorption experiment with Z-C1 was employed to study the kinetics and equilibrium parameters such as initial metal ions concentration and adsorption time of the solution on the adsorption process. Adsorption rate of metal ions occurred rapidly and adsorption equilibrium reached at less than 120 minutes. The kinetics data of $Cu^{2+}$ and $Zn^{2+}$ ions were well fitted by a pseudo-second-order kinetics model more than a pseudo-first-order kinetics model. The equilibrium data were well fitted by a Langmuir model and this result showed $Cu^{2+}$ and $Zn^{2+}$ adsorption on Z-C1 would be occupied by a monolayer adsorption. The maximum adsorption capacity($q_{max}$) by the Langmuir model was determined as $Cu^{2+}$ 99.8 mg/g and $Zn^{2+}$ 108.3 mg/g, respectively. It appeared that the synthetic zeolite, Z-C1, has potential application as absorbents in metal ion recovery and mining wastewater.

• 상하수도학회지
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• 제29권6호
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• pp.609-615
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• 2015

This study was carried out for characterization of MIO synthesized in our laboratory by co-precipitation method and applied isotherm and kinetic models for adsorption properties. XRD analysis were conducted to find crystal structure of synthesized MIO. Further SEM and XPS analysis was performed before and after phosphate adsorption, and BET analysis for surface characterization. Phosphate stock solution was prepared by KH2PO4 for characterization of phosphate adsorption, and batch experiment was conducted using 50 ml conical tube. Langmuir and Freundlich models were applied based on adsorption equilibrium test of MIO by initial phosphate solution. Pseudo first order and pseudo second order models were applied for interpretation of kinetic model by temperature. Surface area and pore size of MIO were found $89.6m^2/g$ and 16 nm respectively. And, the determination coefficient ($R^2$) value of Langmuir model was 0.9779, which was comparatively higher than that of Freundlich isotherm model 0.9340.

• Advances in environmental research
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• 제1권3호
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• pp.223-236
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• 2012

Biosorption of methylene blue (MB) from aqueous solution was studied with respect to the point of zero charge of coconut husk, dye concentration, particle size, pH, temperature, as well as adsorbent and NaCl concentration using coconut husk biomass. Amongst Langmuir and Freundlich adsorption isotherms studied, Langmuir adsorption isotherm showed better agreement. Pseudo second order kinetics model was found to be more suitable for data presentation as compared to pseudo first order kinetics model. Also, involvement of diffusion process was studied using intraparticle diffusion, external mass transfer and Boyd kinetic model. Involvement of intraparticle diffusion model was found to be more relevant (prominent) as compared to external mass transfer (in) for methylene blue biosorption by the coconut husk. Moreover, thermodynamic properties of MB biosorption by coconut husk were studied. Desorption of methylene blue from biomass was studied with different desorbing agents, and the highest desorption achieved was as low as 7.18% with acetone, which indicate stable immobilization. Under the experimental conditions MB sorption was not significantly affected by pH, temperature and adsorbent concentration but low sorption was observed at higher NaCl concentrations.

• 한국환경과학회지
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• 제24권2호
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• pp.151-162
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• 2015

The adsorption characteristics of Sr ions and Cs ions in single and binary solution by zeolite A were investigated in batch experiment. The adsorption rate of Sr ions and Cs ions by zeolite A obeyed pseudo-second-order kinetic model in single and binary solution. The initial adsorption rates (h) and adsorption capacities of both ions obtained from pseudo-second-order kinetic model, and the values were decreased with increasing concentration of the competitive ions (0~1.5 mM). Also, adsorption isotherm data in binary solution were well fitted to the extended Langmuir model, the maximum adsorption capacities of Sr and Cs calculated from the model were 1.78 mmol/g and 1.64 mmol/g, respectively. The adsorption of Sr and Cs ions by zeolite A was carried out in the presence of other cations such as $Na^+$, $K^+$, $Mg^{2+}$ and $Ca^{2+}$. The results showed that the zeolite A can maintain a relatively high adsorption capacity for Sr and Cs ions and exhibits a high selectivity in the presence of competitive cations. The effect of competition had an order of $Ca^{2+}$ > $K^+$ > $Mg^{2+}$ > $Na^+$ for Sr ions and $K^+$ > $Ca^{2+}$ > $Na^+$ > $Mg^{2+}$ for Cs ions at the same cation concentration.

• 한국환경과학회지
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• 제28권6호
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• pp.561-570
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• 2019

A zeolitic material (Z-Y2) was synthesized from Coal Fly Ash (CFA) using a fusion/hydrothermal method under low-alkali condition (NaOH/CFA = 0.6). The adsorption performance of the prepared zeolite was evaluated by monitoring its removal efficiencies for Sr and Cs ions, which are well-known as significant radionuclides in liquid radioactive waste. The XRD (X-ray diffraction) patterns of the synthesized Z-Y2 indicated that a Na-A type zeolite was formed from raw coal fly ash. The SEM (scanning electron microscope) images also showed that a cubic crystal structure of size $1{\sim}3{\mu}m$ was formed on its surface. In the adsorption kinetic analysis, the adsorption of Sr and Cs ions on Z-Y2 fitted the pseudo-second-order kinetic model well, instead of the pseudo-first-order kinetic model. The second-order kinetic rate constant ($k_2$) was determined to be $0.0614g/mmol{\cdot}min$ for Sr and $1.8172g/mmol{\cdot}min$ for Cs. The adsorption equilibria of Sr and Cs ions on Z-Y2 were fitted successfully by Langmuir model. The maximum adsorption capacity ($q_m$) of Sr and Cs was calculated as 1.6846 mmol/g and 1.2055 mmol/g, respectively. The maximum desorption capacity ($q_{dm}$) of the Na ions estimated via the Langmuir desorption model was 2.4196 mmol/g for Sr and 2.1870 mmol/g for Cs. The molar ratio of the desorption/adsorption capacity ($q_{dm}/q_m$) was determined to be 1.44 for Na/Sr and 1.81 for Na/Cs, indicating that the amounts of desorbed Na ions and adsorbed Sr and Cs ions did not yield an equimolar ratio when using Z-Y2.

• 한국환경과학회지
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• 제24권9호
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• pp.1145-1153
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• 2015

PVC-Zeolite composite was prepared by immobilizing zeolite with polyvinyl chloride (PVC). The prepared PVC-Zeolite beads were characterized by using X-ray diffractometer (XRD), fourier transform infrared spectrometer (FTIR), thermo gravimetric analyzer (TGA), and scanning electron microscopy (SEM). The removal properties of Sr and Cs ions from aqueous solution were investigated in batch experiment. The removal efficiencies of Sr and Cs ions by the PVC-Zeolite beads were dependent on the initial pH of solution. The removal efficiencies sharply increased at below pH 4 and was kept constant at pH 4 or more. The adsorption kinetics of Sr and Cs ions by the PVC-Zeolite beads were fitted well by the pseudo-second-order model ($r^2$>0.99) more than pseudo-first-order model. The maximum adsorption capacities of Sr and Cs ions calculated from Langmuir isotherm model were 39.37 mg/g and 55.87 mg/g, respectively.