• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.1
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• pp.16-22
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• 2016

The research on two-wheeled inverted pendulum (TWIP) mobile robots has been ongoing in a number of robotic laboratories around the world. In this paper, we consider a robust controller design for the TWIP mobile robot driving on uniform slopes. We use a 2 degree-of-freedom (DOF) model which is obtained by restricting the spinning motion in a 3 DOF motion dynamic equation. In order to design the robust controller guaranteeing stability of the TWIP mobile robot driving on inclined surface, we propose a sliding mode control based on the theory of variable structure systems and design a sliding surface using the theory of the linear quadratic regulation (LQR). For simulation, the dynamic model of the TWIP mobile robot is constructed using Mathworks' Simulink and the sliding mode control is also implemented using Simulink. From simulation results, we show that the proposed controller effectively controls the TWIP mobile robot driving on slopes.

• Proceedings of the Korea Technical Association of the Pulp and Paper Industry Conference
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• 2009.04a
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• pp.23-28
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• 2009

The purpose of this study was to improve not only wet-end performances but also paper characteristics by the modification of various factors like molecular design and ionic characteristics of polyacrylamides First of all physical characteristics were observed after modify molecular design of the cationic polyacrylamides to linear, branched and cross-linked. In addition it was found analysis method to confirm branch degree of cationic polyacrylamides to combine ionic titration characteristics and spectroscopic behavior, After application of these structure modified polyacrylamides to the multiple retention systems with inorganic microparticles, it was found adjusting of branch degree of polyacrylamides was very important to optimize wet-end improvement. Second, After polymerization of amphoteric polyacrylamide to have both of cationic and anionic functional group in the polymer, we observed not only physical characteristics but also wet-end improvement to apply recycled pulp and found that the improvement of solution stability to prevent hydrolysis and increase of ash retention dramatically to compare traditional cationic polyacrylamide retention aid, Finally, After polymerization of anionic polyacrylamide, we observed not only wet-end improvement but also paper characteristics to apply preflocculation of PCC and it was found the improvements of flocculation efficiency, retention, ash retention, optical properties of the paper and bursting strength to compare traditional preflocculant of cationic polyacrylamide.

• Journal of Pharmaceutical Investigation
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• v.39 no.4
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• pp.309-314
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• 2009

An enzyme immunoassay (EIA) was validated for quantitation of cacitriol in human plasma. Calcitriol was immunoextracted with immunocapsules, which contain monoclonal antibodies to calcitriol linked to solid phase particles in suspension with a vitamin D binding protein inhibitor. Calcitrol was eluated and the eluates were evaporated under a gentle stream of nitrogen gas. The absorbance of analytes was determined using a microplate reader (reference wavelength 650 nm; measurement wavelength 450 nm). The method was specific and sensitive enough to detect as low as 6.5 pmol/L of calcitriol. Linear calibration range was 6.5-491 pmol/L with correlation coefficient greater than 0.99. The overall accuracy was in the range of 83.8 to 111.2% and precision C.V. (%) 0.99 to 8.47%. The recovery was approximately 100% and stability was confirmed during storage and sample preparation. The pharmacokinetic parameters were calculated by baseline subtraction because calcitriol is an endogenous material. Following oral dose of calcitriol, the mean AUC$_{24h}$ was 1038${\pm}$539 pmol/Lhr and C$_{max}$ of 128${\pm}$63.1 pmol/L was reached at 3.50${\pm}$1.07 hr. The mean t$_{1/2}$ of calcitriol was 5.13${\pm}$2.10 hr. The present EIA method was successfully applied to study bioavailability after oral administration of 2 ${\mu}$g of calcitriol in healthy Korean subjects.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.9
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• pp.838-844
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• 2015

This paper includes summarization and analysis of previous research results on acoustic attenuation due to particles and flow turning in rocket motors among various damping parameters. Particle damping is the most effective mechanism in suppressing high-frequency combustion instabilities occurring in rocket combustion chambers, which is dependent on the size and the mass fraction of particles. Relatively weak attenuation by flow turning compared to particle damping depends on the geometry of propellant and a combustion chamber. Pumping driving effects need to be taken into account when realizing vorticity generation on the propellant surface. However, its driving effects become cancelled out by flow turning loss when the propellant geometry is cylindrical.

• Journal of Digital Contents Society
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• v.7 no.1
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• pp.47-52
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• 2006

This paper proposes an algorithm for human sensibility evaluation using 4-channel EEG signals of the prefrontal and the parietal lobes. The algorithm uses an artificial neural network and the multiple templates. The linear prediction coefficients are used as the feature parameters of human sensibility. Comfortableness and temperature/humidity are evaluated. Many conventional researches have emphasized that a wave of left prefrontal lobe is activated in case of positive sensibility and that of right prefrontal lobe is activated in case of negative sensibility. So the power ratio of n wave is obtained from for computation and the results are compared. The results of the comfortableness evaluation for temperature and humidity showed that the outputs of the proposed algorithm coincided with corresponding sensibilities depending on the task of the temperature and the humidity. The conventional method using a wave is hardly related with comfortableness. And it is also observed that the uncomfortable state due to the high temperature and humidity can be easily changed to the comfortable state by small drop of the temperature and the humidity.

• International Journal of Naval Architecture and Ocean Engineering
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• v.3 no.4
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• pp.274-285
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• 2011

The supercavitating vehicle is an underwater vehicle that is surrounded almost completely by a supercavity to reduce hydrodynamic drag substantially. Since the cruise speed of the vehicle is much higher than that of conventional submarines, the drag force is huge and a buckling may occur. The buckling phenomenon is analyzed in this study through static and dynamic approaches. Critical buckling load and pressure as well as buckling mode shapes are calculated using static buckling analysis and a stability map is obtained from dynamic buckling analysis. When the finite element method (FEM) is used for the buckling analysis, the solver requires a linear static solver and an eigenvalue solver. In this study, these two solvers are integrated and a consolidated buckling analysis module is constructed. Furthermore, Particle Swarm Optimization (PSO) algorithm is combined in the buckling analysis module to perform a design optimization computation of a simplified supercavitating vehicle. The simplified configuration includes cylindrical shell structure with three stiffeners. The target for the design optimization process is to minimize total weight while maintaining the given structure buckling-free.

• Bulletin of the Korean Chemical Society
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• v.33 no.1
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• pp.105-110
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• 2012

A europium (III)-sensitized, spectrofluorimetric (FL) method is presented for the determination of sparfloxacin (SPAR) using an anionic surfactant, sodium dodecyl benzene sulphonate (SDBS). The method is based on the strong fluorescence (FL) enhancement of SPAR after the addition of $Eu^{3+}$ ions as fluorescence probes. The experimental results indicated that the FL intensity of the SPAR-$Eu^{3+}$ system was enhanced markedly by SDBS. The maximum FL emission signal was obtained at about 615 nm when excited at 372 nm. The experimental conditions that affected the FL intensity of the SPAR-$Eu^{3+}$-SDBS system were optimized systematically. The enhanced FL intensity of the system exhibited a good linear relationship with the SPAR concentration over the range of $1.5{\times}10^{-9}-1.2{\times}10^{-7}mol\;L^{-1}$ with a correlation coefficient (r) of 0.9987. The limit of detection ($3{\delta}$) was $4.15{\times}10^{-10}mol\;L^{-1}$ with a relative standard deviation (RSD) of 1.65%. This method was successfully applied for the determination of SPAR in pharmaceuticals, and human serum and urine samples with higher sensitivity, wide dynamic range and better stability. The possible interaction mechanism of the system is also discussed in detail by ultraviolet absorption spectra and FL spectra.

• Bulletin of the Korean Chemical Society
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• v.34 no.11
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• pp.3307-3311
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• 2013

A new fiber optical sensor was developed for the determination of 2,4-dichlorophenol (DCP). The sensor was based on DCP oxidation by oxygen with the catalysis of iron(III) tetrasulfophthalocyanine (Fe(III)PcTs). The optical oxygen sensing film with $Ru(bpy)_3Cl_2$ as the fluorescence indicator was used to determine the consumption of oxygen in solution. A lock-in amplifier was used for detecting the lifetime of the oxygen sensing film by measuring the phase delay change of the sensor head. The different variables affecting the sensor performance were evaluated and optimized. Under the optimal conditions (i.e. pH 6.0, $25^{\circ}C$, Fe(III)PcTs concentration of 0.62 mg/mL), the linear detection range and response time of the sensor are $1.0{\times}10^{-6}-9.0{\times}10^{-6}$ mol/L and 250 s, respectively. The sensor displays high selectivity, good repeatability and stability, and can be used as an effective tool in analyzing DCP concentration in practical samples.

• Journal of the Korean Magnetics Society
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• v.16 no.4
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• pp.193-196
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• 2006

The magnetic properties of Ni nanowires consisting of one to four atoms are investigated by mean of ab initio spin-polarized density functional calculations. Stability of zigzag-square $Ni_4$ nanowire is larger than $Ni_4$ nanowires with square. The magnetic moment of linear $Ni_1$ is $1.34{\mu_B}/atom$, which is the largest magnitude among moments of five Ni nanowires. The magnetic moment of Ninanowires show to be decreased by increasing the number of atoms in unit cell. The smallest moment is $0.91 {\mu_B}/atom$ for square $Ni_4$ nanowire. The spin polarization of zigzag-square $Ni_4$ nanowire is 32% higher than that of fcc bulk Ni.

• Elastomers and Composites
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• v.48 no.3
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• pp.190-194
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• 2013

In this study, sebacic acid made from castor oil was used as monomer with isophthalic acid and glycols for polyester polyol synthesis. Polyurethane adhesive was synthesized from the various polyester polyol. From the result of adhesion strength test, polyester polyol made from sebacic acid showed better adhesive force than that of adipic acid due to higher cohesive energy. Branched glycol containing methyl group represented better adhesion than linear glycol. In the chain extender, adhesion strength increased going from PG, EG, BD. From the measurement of TGA, BD showed the best heat stability, and followed by PG, EG. Glass transition temperature increased in the order PG, EG, BD by the result of DMA.