• Journal of the Korean Society for Precision Engineering
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• v.30 no.7
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• pp.725-732
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• 2013

This paper presents a torque distribution algorithm for improving the stability and mobility of a wall-climbing robot platform. During ascent, the pitch moment caused by the payload or external disturbances separates the robot's triangular tracks from the wall, significantly deteriorating its stability. Moreover, the reaction forces stemming from the increase in the pulling force may degrade the robot's mobility. Thus, it is very important to minimize the reaction forces acting on the triangular tracks, as well as the fluctuations in the pulling force, during the climb. Through dynamic modeling of the proposed robot platform, we demonstrated the dependence of the robot's stability and mobility on the torque distribution of the triangular tracks. Extensive simulations using different climbing speeds were used to significantly improve the stability and mobility of the proposed robot platform.

• International Journal of Highway Engineering
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• v.16 no.4
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• pp.21-33
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• 2014

PURPOSES: The purpose of this study was to break away from the workforce method using cold-mix asphalt mixtures and has a constant quality and has develop repair materials of pre-production asphalt-precast types. METHODS: The selection of the repair material was determined as the results obtained through physical properties of materials and the field applicability. In case of repair materials, values obtained through Marshall stability test & the dynamic stability test & retained stability test as well as the site conditions was considered. In case of adhesive, test results were obtained through examination of the bond strength(tensile, shear) and the field applicability of the adhesive was examined through combined specimens to simulate field applications. RESULTS : According to the results of laboratory tests, in the case of repair materials, Marshall stability and dynamic stability, retained stability of cold-mix reaction type asphalt mixture is the highest. In the case of adhesive, two-component epoxy-urea has a very high bonding strength(tensile, shear) was most excellent. According to the results of field tests, when epoxy-urea was excellent workability. Also, the repair body through actual mock-up test did not occur large deformation and fracture after 12 months. CONCLUSIONS : A suitable repair material is cold-mix reaction type mixture of asphalt-precast, a suitable adhesive is a two-component epoxy-urea.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.2
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• pp.169-175
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• 2002

A sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is performed for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• Archives of Pharmacal Research
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• v.26 no.9
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• pp.667-678
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• 2003

We examined the effect of p-substituents in p-substituted cinnamyl methyl ethers and 1-(p-substituted phenyl)allyl methyl ethers with CSI, and confirmed that the CSI reaction of allyl ethers (p-substituted ethers) is a competitive reaction of $S_Ni{\;}and{\;}S_N1$ mechanism according to the stability of the carbocation. And, the only terminal allylic amine was obtained through the migration reaction in thermodynamic reaction condition.

• Korean Journal of Materials Research
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• v.11 no.2
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• pp.71-75
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• 2001

The reaction stability of nickel with side-wall materials of SiO$_2$ and Si$_3$N$_4$ on p-type 4"(100) Si substrate were investigated. Ni on 1300 $\AA$ thick SiO$_2$ and 500 $\AA$ - thick Si$_3$N$_4$ were deposited. Then the samples were annealed at 400, 500, 750 and 100$0^{\circ}C$ for 30min, and the residual Ni layer was removed by a wet process. The interface reaction stability was probed by AES depth Profiling. No reaction was observed at the Ni/SiO$_2$ and Ni/Si$_3$N$_4$, interfaces at 400 and 50$0^{\circ}C$. At 75$0^{\circ}C$, no reaction occurred at Ni/SiO$_2$ interface, while $NiO_x$ and Si$_3$N$_4$ interdiffused at Ni/Si$_3$N$_4$ interface. At 100$0^{\circ}C$, Ni layers on SiO$_2$ and Si$_3$N$_4$ oxidized into $NiO_x$ and then $NiO_x$ interacted with side-wall materials. Once $NiO_x$ was formed, it was not removed in wet etching process and easily diffused into sidewall materials, which could lead to bridge effect of gate-source/drain.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1999.11a
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• pp.247-256
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• 1999

This paper describes the results of analysis, syntheses and Roll Stability of various Di-urea greases. Di-urea greases were synthesized by reaction of 4,4'-Methylenebis(phenyl isocyanate) and various amines, such as cyclohexylamine, octylamine, stearylamine and p-toluidine with base oil at 80-180 $^{\circ}C$. The synthesized di-urea greases were analyzed by FT-R spectroscopy. The Roll Stability of synthesized di-urea greases was evaluated.

• YAKHAK HOEJI
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• v.55 no.1
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• pp.69-74
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• 2011

Hyaluronic acid (HA) is a natural polymer consisting of disaccharide units of D-glucuronic acid and N-acetyl-D-glucosamine. It has a great potential and success in cosmetic and biomedical applications. However, native HA is highly soluble and easily metabolized by enzymes such as hyaluronidase. Thus, various studies have been reported on modifying the physicochemical properties of HA, while maintaining its biocompatibility. For controlled drug delivery, many trials for fabricating HA microspheres were achieved under chemical reaction. The HA microspheres fabricated to improve the physical stability of HA using adipic acid dihydrazide (ADH) by cross-linking reaction has been reported earlier, however it lacks the desired physical stability and rapidly decomposes by swelling or enzymes. Therefore, we prepared double cross-linked HA microspheres (DC-HA microspheres) and alginate containing HA microspheres (AC-HA microspheres) to enhance its physicochemical properties. DC-HA microspheres were prepared using trisodium trimetaphosphate (STMP) under crosslinking reaction after ADH cross-linking reaction. AC-HA microspheres were prepared by adding alginate as a networking polymer. These microspheres were characterized by morphology, particle size, zeta potential, stability against hyaluronidase. Results showed that the DC-HA and AC-HA microspheres are more stable than that of HA microspheres.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.92.1-92
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• 2001

Sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is taken for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• YAKHAK HOEJI
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• v.34 no.6
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• pp.415-421
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• 1990

The effects of temperature, pH, light and concentration on the degradation of trimebutine maleate in aqueous solution were investigated on the basis of accelerated stability analysis, and the stabilization of the solution was attempted by addition of several additives. The decomposition of trimebutine maleate in solution followed first-order reaction the was not only accelerated by temperature elevation but also the lower the concentratin the more speeded up the reaction. The decomposition mechanism of trimebtine could be confirmed by hydrolysis of ester bond in the structure. It was assumed trimebutine maleate is so photosensitive that the solution of the drug underwent accelerated decomposition under UV rays. What is more, the degradation of trimebutine solution was supposed to catalyzed by specific acid-base catalysis considered the pH dependence for the hydrolysis of ester, and the solution was most stable over the range of pH 2-2.8 in solution. The additives, citric acid, asparitc acid and glutamic acid, inhibited considerably the decomposition of the drug solution, and these additives might be used as stabilizers in trimebutine maleate solution.

• Macromolecular Research
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• v.17 no.2
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• pp.121-127
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• 2009

The cure kinetics of the epoxy-layered, silicate nanocomposites were studied by differential scanning calorimetry under isothermal and dynamic conditions. The materials used in this study were o-cresol novolac epoxy resin and phenol novolac hardener, with organically modified layered silicates. Various kinetic parameters, including the reaction order, activation energy, and kinetic rate constants, were investigated, and the storage stability of the epoxy-layered silicate nanocomposites was measured. To synthesize the epoxy-layered silicate nanocomposites, the phenolic hardener underwent pre-intercalation by layered silicate. From the cure kinetics analyses, the organically modified layered silicate decreased the activation energy during cure reaction in the epoxy/phenolic hardener system. In addition, the storage stability of the nanocomposite with the pre-intercalated phenolic hardener was significantly increased compared to that of the nanocomposite with direct mixing of epoxy, phenolic hardener, and layered silicate. This was due to the protective effect of the reaction between onium ions and epoxide groups.