• 제어로봇시스템학회논문지
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• 제16권11호
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• pp.1060-1067
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• 2010

In this paper, we present a new type of spherical robot having two arms. This robot, called KisBot, mechanically consists of three parts, a wheel-shaped body and two rotating semi-spheres. In side of each semi-sphere, there exists an arm which is designed based on slider-crank mechanism for space efficiency. KisBot has hybrid types of driving mode: rolling and wheeling. In the rolling mode, the robot folds its arms through inside of itself and uses them as pendulum, then the robot works like a pendulum-driven robot. In the wheeling mode, two arms are extended from inside of the robot and are contacted to the ground, then the robot works like a one-wheel car. The Robot arms can be used as a brake during rolling mode and add friction to the robot for climbing a slope during wheeling mode. We developed a remote controlled type robot for experiment. It contains two DC motors which are located in the center of each semi-sphere for main propulsion, two RC motors for each arm operation, speed controllers for each semi-sphere, batteries for main power source, and other mechanical components. Experiments for the rolling and wheeling mode verify the hybrid driving ability and efficiency of the our proposed spherical robot.

• 한국가시화정보학회지
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• 제9권3호
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• pp.38-43
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• 2011

When draining takes place through an axially located drain port in a cylindrical tank without any prevent, a vortex with an air core occurs. In this study, semi spherical concave and convex meshes with different size inner hole are used to find the air core can suppress. The study is carried out with different values of inner hole of mesh and different install direction of semi spherical mesh using PIV and measured velocity distribution. By providing a mesh, the air core can be prevented, even if the ratio of inner hole of mesh and diameter of cylinder is around 0.66. The experimental results show that a convex mesh type is more effective to suppress the air core generation than a concave mesh type.

• 디지털융복합연구
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• 제14권4호
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• pp.419-424
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• 2016

본 논문에서는 광학설계 프로그램을 이용하여 LED 광원의 위치 변화에 따른 배광분포에 대하여 연구하였다. 사용한 LED 조명기구는 엣지형의 LED 배열을 이용하였으며 반사판을 중심으로 도광판 및 확산판을 위와 아래에 배치한 구조이다. LED 칩을 반사판 에지 중심에서 위로 1mm, 2mm 및 3mm로 위치를 바꾸어 시뮬레이션 하였다. LED 칩이 중심에 위치한 경우는 전반확산 배광분포를 보였으며 2mm 이상에서는 효율 0.56의 반직접 배광 분포를 보였다. 3mm 위에 LED 칩을 위치시키면 0.31 효율을 갖는 직접 배광분포를 갖는 배광특성을 나타내었다. 도광판은 평면형 보다 칩 위치에서 밖으로 작아지는 쐐기형의 구조에서 더 좋은 효율을 나타내었다. 그리고 반사면에 반구형의 형상을 0.015mm 씩 증가시키며 방사 형태로 배치한 경우는 파워 1.02W, 효율 0.25, 최대광도 0.104W/sr로서 패턴을 형성하지 않은 경우보다 더 우수한 광 특성을 얻을 수 있었다.

• Bulletin of the Korean Chemical Society
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• 제24권6호
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• pp.712-716
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• 2003

The semi-diabatic potential energy surfaces (PESs) of the excited states of polyatomic molecules can be constructed for use in ab initio molecular dynamics (AIMD) studies by relying on the continuity of the electronic energy, oscillator strength, and spherical extent of an excited state along with first derivatives of these quantities as computed by using the equation-of-motion coupled-cluster (EOM-CC) method. The semidiabatic PESs of both the π → $π^*$ valence excited state and the 3s-type Rydberg state of ethylene are presented and discussed in this paper, in conjunction with some of the AIMD results we obtained for these states.

• 소성∙가공
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• 제9권4호
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• pp.389-394
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• 2000

The studies on gram size refinement for rheocast processing of hypereutectic Al-18%Si alloys have been investigated in the present study. To increase the efficiency of mechanical stirring, sieve type stirrer are newly designed and implemented for rheocasting of hypereutectic Al-18%Si alloy. Mechanical stirring of semi-solid slurry by using sieve type mechanical stirrer results in morphological changes of the primary Si particles, from angular rod shape to near spherical shape and uniform distribution of proeutectic Si. The remarkable spheroidization of Primary Si Particles and distributional uniformity of proeutectic Si show well the efficiency of sieve type mechanical stirring method which can accelerate the coalescence-fracture-wear of the individual particles by strong turbulent flow between lattices during rotation of sieve type stirrer.

• 폴리머
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• 제36권5호
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• pp.628-636
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• 2012

폴리(비닐 알코올)(PVA)/디메틸설폭사이드 용액에 폴리스티렌 라텍스 구형입자(직경 범위: 100~300 nm)를 소량 첨가한 뒤, 구형 입자 표면에 형성된 사슬 배제층 두께가 사슬의 농도에 따라 어떻게 의존하는지를 동적 광산란법으로 조사하였다. 묽은 용액 농도에서는 배제층의 두께가 PVA 사슬의 회전반경의 $63{\pm}3%$ 수준에서 일정하게 유지되었었으나 준희박 용액 농도의 초기 영역인 $1.5{\leq}C[{\eta}]{\leq}3$ 범위에서는 배제층 두께 ${\delta}$의 고분자 농도 의존성은 이론치 -0.75와 비슷한 ${\delta}{\sim}C^{-0.8}$로 얻어졌다. 보다 높은 농도 $C[{\eta}]$ >3 이상에서는 배제층의 두께가 급격히 감소하는 것으로 나타났는데 그 이유는 탐침입자간 Oosawa 인력에 의하여 유발된 응집효과가 그 원인인 것으로 설명할 수 있었다.

• Journal of Electrical Engineering and Technology
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• 제11권2호
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• pp.446-454
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• 2016

In this paper, we present experimental results of the soil discharge characteristics as a function of moisture content when a 1.2/50-㎲ lightning impulse voltage is applied. For this study, laboratory experiments were carried out based on factors affecting the transient behavior in soils. The electrical breakdown voltages in soils were measured for a 0-6% range of moisture content for sand and a 0 - 4% range of moisture content for gravel. A test cell with semi-spherical electrodes buried face-to-face in the middle of a cylindrical container was used. The distance separating the electrodes is 100 mm. As a result, the time-lag to breakdown in soils decreases as the amplitude of applied voltage increases. The time-lag to initiation of ionization streamer is decreased, with an increase in the moisture content. However, the formative time-lag is rarely changed. The behavior of soil discharges depend not only on the type of soil and its moisture content but also on the amplitude of the impulse voltage. When the test voltage is applied repeatedly, electrical breakdown occurs along different discrete paths, leading radially away from the injected electrode. i.e., the fact that the ionization streamers propagate in different paths from shot to shot was observed.

• Structural Engineering and Mechanics
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• 제6권6호
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• pp.693-710
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• 1998

This paper concerns studies on the shape formation of post-tensioned and shaped steel domes. The post-tensioned and shaped steel domes, assembled initially at ground level in an essentially flat condition, are shaped to a curved space form and erected into the final position by means of a post-tensioning technique. Based on previous studies on this shape formation principle, three post-tensioned and shaped steel domes have been constructed. The results of the shape formation tests and finite element analyses are reported in this paper. It is found that the first two test domes did not furnish a part-spherical shape as predicted by finite element analyses, because the movements of some mechanisms were not controlled sufficiently. With a revised post-tensioning method, the third dome obtained the theoretical prediction. The test results of the three post-tensioned and shaped domes have shown that a necessary condition to form a desired space shape from a planar layout with low joint stiffnesses is that the movements of all the existing mechanisms must be effectively controlled as indicated by the finite element analysis. The extent of the maximum elastic deformation of a post-tensioned and shaped steel structure is determined by the strength of the top chords and their joints. However, due to the semi-rigid characteristic of the top chord joints, the finite element analyses cannot give a close prediction for the maximum elastic deformations of the post-tensioned and shaped steel domes. The results of the current studies can be helpful for the design and construction of this type of structure.

• 한국수산과학회지
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• 제40권3호
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• pp.147-152
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• 2007

Spermiogenesis and mature spermatozoa of the Korean false minnow Pseudogobio esocinus (Cyprinidae) are described by means of scanning and transmission electron microscopy. Spermiogenesis is characterized by lateral development of the flagellum, absence of nuclear rotation, and eccentric nuclear fossa formation. The spermatozoa have a spherical head containing a nucleus with highly condensed chromatin and no acrosome. The nuclear fossa contains the proximal centriole and anterior part of the distal centriole. The midpiece is type A II and contains semi-fused mitochondria around the axoneme. However, the symmetrical distribution of 4 or more the mitochondria does not follow a general pattern of the cyprinid spermatozoa. Cytoplasmic vesicles in the midpiece are common in Cypriniformes and some of Siluriformes and Characiformes spermatozoa.