• Journal of the Korea Society for Simulation
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• v.20 no.1
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• pp.51-59
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• 2011

This paper is concerned with locomotion of dog-like quadruped robots that can adapt to various terrains, mainly dealing with implementation methods and characteristics of static and dynamic gaits. To this end, a 12-DOF robot is built in house, motional trajectories of its body and feet are generated mimicking biological life, and the corresponding leg joint angles are analytically obtained by inverse kinematics. Such joint angle data are then applied to the robot's ADAMS model for computer simulations so that the planned walk and trot gaits are both confirmed dynamically stable. However, contrary to the simulation results, previous trot patterns showed unstable behavior during experiments. This problem led us to analyze the reason, and in the course we discovered the importance of maximally utilizing the concept of WSM rather than ZMP and therefore reducing the gait period to secure the stability of dynamic gaits such as trot.

• Membrane and Water Treatment
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• v.6 no.3
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• pp.205-224
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• 2015

A novel hydrophilic poly (vinylidene fluoride)/poly (p-phenylene terephthalamide) (PVDF/PPTA) blend membrane was prepared by in situ polycondensation of p-phenylene diamine (PPD) and terephthaloyl chloride (TPC) in PVDF solution with subsequent nonsolvent induced phase separation (NIPS) process. For comparison, conventional solution blend membrane was prepared directly by adding PVDF powder into PPTA polycondensation solution. Blend membranes were characterized by means of viscometry, X-ray photoelectron spectroscopy (XPS), Field Emission Scanning Electron Microscopy (FESEM). The effects of different blending methods on membrane performance including water contact angle (WCA), mechanical strength, anti-fouling and anti-compression properties were investigated and compared. Stronger interactions between PVDF and PPTA in in situ blend membranes were verified by viscosity and XPS analysis. The incorporation of PPTA accelerated the demixing rate and caused the formation of a more porous structure in blend membranes. In situ blend membranes exhibited better hydrophilicity and higher tensile strength. The optimal values of WCA and tensile strength were $65^{\circ}$ and 34.1 MPa, which were reduced by 26.1% and increased by 26.3% compared with pure PVDF membrane. Additionally, antifouling properties of in situ blend membranes were greatly improved than pure PVDF membrane with an increasing of flux recovery ratio by 25%. Excellent anti-compression properties were obtained in in situ blend membranes with a stable pore morphology. The correlations among membrane formation mechanism, structure and performance were also discussed.

• Journal of the Korea Society of Computer and Information
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• v.18 no.5
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• pp.53-60
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• 2013

This paper proposed visualization tool for motion of snowboarding using Skeleton data obtained by the Microsoft's Kinect sensor. The BBP(Balanced Body Position) posture is a most basic motion in the Snowboarding. This posture is the primary technology for stable turns. The implementation of visualization tool to analyse the BBP posture of snowboard. comparative analysis with standard postures to the ankles, knees, hips and spine angle of joints and body tracking using coordinate information obtained by the Kinect Sensor. Analysis of the final results of the screen through the OpenGL library. This research result could be used to analysis for turn postures of snowboarding.

• Elastomers and Composites
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• v.49 no.4
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• pp.275-283
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• 2014

Butyl rubber is used as an adhesive and it is mainly used in the form of sheets. The goal of this study is to design an extrusion die for the butyl rubber sheets using computer simulation. The extrusion die for the butylrubber sheets consists of manifold area and land area. In the manifold area, flows are spread from the entrance of the extrusion die to the land area. In the land area, flows become stable to the flow direction and uniform sheet can be obtained. Island area is being installed in the land area to get uniform flow. Four parameters, angle of manifold, length of manifold, length of land and island, were examined in the computer simulation. The optimum geometry of the extrusion die is derived which has a uniform flow in the width direction of the die.

• Bulletin of the Korean Chemical Society
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• v.28 no.11
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• pp.1951-1957
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• 2007

A new synthetic strategy based on the acid-base catalyzed sol-gel method was developed for the preparation of a series of mesoporous TiO2 nanoparticles. A key feature of the method involves a gradual change in pH (0.8- 9) during the sol-gel transition, which guarantees easy introduction of mesoporosity without relying on the well-established sonochemical or template approach. In addition, this method leads to the exclusive formation of the anatase phase stable enough to the calcination temperature up to 600 oC. The physicochemical properties of the particles in the series were characterized by various spectroscopic and analytical techniques such as wide-angle XRD, SAXRD, BET surface area, FE-SEM, TEM, FT-IR, TGA, and XPS. The photocatalytic efficiency of these materials was investigated for the oxidation of toluene under UV-irradiation. All but T-ad in the series exhibited high photocatalytic activity pushing the reaction into completion within 3 h. The reaction followed the first order kinetics, and the rate reaches as high as 3.9 × 10?2/min which exceeds the one with the commercially available Degussa P-25 by a factor of 3.2. When comparison is made among the catalysts, the reactivity increases with increase in the calcination temperature which in turn increases the crystallinity of the anatase phase, thus revealing the following rate orders: T-3 < T-4 < T-5 < T-6.

• Journal of the Korean Vacuum Society
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• v.19 no.4
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• pp.300-306
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• 2010

Superhydrophobic micro-nano hybrid structures were fabricated by reactive ion etching of hydrophobic polymer micro patterns using gold nanoparticles as etch masks. Micro structures of perfluoropolyether bisurethane methacrylate (PFPE) were prepared by soft-lithographic technique using polydimethylsiloxane (PDMS) molds. Water contact angles on the surfaces of various PFPE micro structures and corresponding micro-nano hybrid structures were compared to examine the effects of micro patterning and nanostructure formation in the manifestation of superhydrophobicity. The PFPE micro-nano hybrid structures exhibited a very stable superhydrophobicity, while the micro-only structures could not reach the superhydrophobicity but only showed the unstable hydrophobicity.

• Journal of the Korea Concrete Institute
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• v.13 no.2
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• pp.161-167
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• 2001

It is difficult to obtain accurate fracture toughness values using three point bending test(TPB) proposed by RILEM committees because the shape of load-deflection curve is irregular and final crack propagation occurs after some slow stable cracking. However, fracture toughness is easily obtained from crack initiation load in the disk test. In this paper, the fracture properties of high strength concrete disks with center-crack was investigated. For this purpose, the experimental results were compared with the results by finite element analysis(FEA). And the experimental fracture locus was compared with theoretical fracture locus. Also, the results of fracture properties for the degree of concrete strength are presented. It is concluded from this study that results from FEA with maximum stress theory were compared well with the results from experiment. And the degree of concrete strength was contributed to the crack initiation load and fracture toughness, but was not contributed to the failure angle. Also, The discrepancy of fracture locus between the maximum stress theory and the experiment for concrete is considered to depend upon a large energy requirement for inducing the mixed-mode and sliding mode fractures.

• Journal of Surface Science and Engineering
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• v.29 no.5
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• pp.345-349
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• 1996

The wetting property of polymer surfaces is very important for practical applications. Plasma source ion implantation technique was used to improve the wetting properties of polymer surfaces. Poly(ethylene terephtalate) and other polymer sheets were mounted on the target stage and an RF plasma was generated by means of an antenna located inside the vacuum chamber. High voltage pulses of up to -10kV, 10 $\mu$sec, and up to 1 kHz were applied to the stage. The samples were implanted for 5 minutes with using Ar, $N_2,O_2,CH_4,CF_4$ and their mixture as source gases. A contact angle meter was used to measure the water contact angles of the implanted samples and of the samples stored in ambient conditions after implantation. The modified surfaces were analysed with Time-Of-Flight Mass Spectrometer (TOF-SIMS) and Auger Electron Spectroscopy (AES). The oxygen-implanted samples showed extremely low water contact angles of $3^{\circ}C$ compared to $79^{\circ}C$ of unimplanted ones. Furthermore, the modified surfaces were relatively stable with respect to aging in ambient conditions, which is one of the major concerns of the other surface treatment techniques. From TOF-SIMS analysis it was found that oxygen-containing functional groups had been formed on the implanted surfaces. On the other hand, the $CF_4$-implanted samples turned out to be more hydro-phobic than unimplanted ones, giving water contact angles exceeding $100^{\circ}C$ . The experiment showed that plasma source ion implantation is a very promising technique for polymer surface modification especially for large area treatment.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.2
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• pp.175-180
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• 2009

In this article, we fabricated polytetrafluoroethylene(PTFE) nozzle treated by ion beam, in order to fabricate polymer based electrospray micro thruster with super hydrophobic nozzle. To obtain the super hydrophobic surface, PTFE surface is treated by argon and oxygen plasma treatment process. The optimal condition is investigated argon and oxygen flow rate as well as the paalied energy level for the treatment process. Fabricated nozzle was evaluated by measuring contact angle, and the surface morphology was examined by using scanning electron microscope(SEM) and atomic force microscope(AFM). We observe that jetting becomes more stable and repeatable on the treated nozzle. And to evaluate performance of fabricated nozzle, we measure micro scale thrust using a cantilever and a nozzle treated by ion beam laser displacement sensor.

• Journal of Astronomy and Space Sciences
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• v.19 no.4
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• pp.377-384
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• 2002

We have developed Real-time Phase DAta processor(RPDAP) for GPS L1 carrie. And also, we tested the RPDAP's positioning accuracy compared with results of real time kinematic(RTK) positioning. While quality of the conventional L1 RTK positioning highly depend on receiving condition, the RPDAP can gives more stable positioning result because of different set of common GPS satellites, which searched by elevation mask angle and signal strength. In this paper, we demonstrated characteristics of the RPDAP compared with the L1 RTK technique. And we discussed several improvement ways to apply the RPDAP to precise real-time positioning using low-cost GPS receiver. With correcting the discussed weak points in new future, the RPDAP will be used in the field of precise real-time application, such as precise car navigation and precise personal location services.