3-Joint Planar Type 로봇 매니퓰레이터의 자기동조적응제어에 관한 연구

김규로,양희주,유용석,최명진,오택열 慶熙大學校 大學院 院友會 1996 高凰論集 Vol.17 No.-

This study has parallelogram trajectory tracking of Three Joint Planar type Robot Manipulator. The equation of motion for the three joint planar manipulator are obtained by substituting Lagrange's energy expression into Euler-Lagrange's equation and forming the appropriate derivative. Lagrangian method allows us to obtain the dynamics equations for very complicated systems in the simplest manner possible. SISO model is used for design of the controller. The design of controllers may be considered primary controller for manipulators to track the desired trajectory under ideal conditions and secondary controller to compensates for undesirable deviations of the motion from the trajectory caused by external and internal disturbances. The aim of this paper is to evaluate the efficiency by self-tunning adaptive control and considering a characteristic of control. Through the computer simulation, obtained the following results 1) selt-tunning adaptive control is superior to PD control, 2) During the learning period, the adaptive control algorithm is searching proper estimates and controller gains. After this period, the outputs of the joints start tracking closely the desired valued.

復合材料 連結 部位를 갖는 엔진 마운트 設計에 關한 硏究

최원종,김권진,오인택,임동준,홍영길,황명신 한국항공대학교 1993 論文集 Vol.31 No.-

본 논문에서는 초경량 항공기의 엔진 마운트 구조물에 대한 유한요소 해석을 수행하였으며, 구조의 안전성 확보에 중요한 영향을 주는 부분인 복합재료 동체와 엔진 마운트 간의 연결 부위에 대한 해석을 위해 유한요소 프로그램을 작성하였다. 본 연구에 의해 작성된 유한요소 프로그램의 신뢰성을 확인하기 위해 실제로 시편 제작 실험을 실시하여 실험치와 해석치를 비교 검토하였다. The finite element analysis was performed on the ULM's engine mount to verify the structural safety Result showed that proposed engine mount structure has a large margine of safety. Strains and stresses in the vicinity of the joint between a composite fuselage and a metallic engine mount were calculated by the finite element analysis program. Numerical results from the model were compared with the test results. Good agreement was found between experiment and model results.

Crosslinked anion exchange membranes with primary diamine-based crosslinkers for vanadium redox flow battery application

Cha, Min Suc,Jeong, Hwan Yeop,Shin, Hee Young,Hong, Soo Hyun,Kim, Tae-Ho,Oh, Seong-Geun,Lee, Jang Yong,Hong, Young Taik Elsevier 2017 Journal of Power Sources Vol.363 No.-

<P><B>Abstract</B></P> <P>A series of polysulfone-based crosslinked anion exchange membranes (AEMs) with primary diamine-based crosslinkers has been prepared via simple a crosslinking process as low-cost and durable membranes for vanadium redox flow batteries (VRFBs). Chloromethylated polysulfone is used as a precursor polymer for crosslinked AEMs (CAPSU-x) with different degrees of crosslinking. Among the developed AEMs, CAPSU-2.5 shows outstanding dimensional stability and anion (Cl<SUP>−</SUP>, SO<SUB>4</SUB> <SUP>2−</SUP>, and OH<SUP>−</SUP>) conductivity. Moreover, CAPSU-2.5 exhibits much lower vanadium ion permeability (2.72 × 10<SUP>−8</SUP> cm<SUP>2</SUP> min<SUP>−1</SUP>) than Nafion 115 (2.88 × 10<SUP>−6</SUP> cm<SUP>2</SUP> min<SUP>−1</SUP>), which results in an excellent coulombic efficiency of 100%. The chemical and operational stabilities of the membranes have been investigated via ex situ soaking tests in 0.1 M VO<SUB>2</SUB> <SUP>+</SUP> solution and in situ operation tests for 100 cycles, respectively. The excellent chemical, physical, and electrochemical properties of the CAPSU-2.5 membrane make it suitable for use in VRFBs.</P> <P><B>Highlights</B></P> <P> <UL> <LI> The crosslinking between polymer chains are constructed by 4,4′-diaminobenzophenone. </LI> <LI> The crosslinked AEMs were fabricated by commercial polysulfone (PSU; Udel<SUP>®</SUP> P-3500). </LI> <LI> The crosslinked AEM based on PSU indicated good chemical and dimensional stability. </LI> <LI> The performance of crosslinked AEM showed high EE (86%) with high capacity retention. </LI> </UL> </P> <P><B>Graphical abstract</B></P> <P>[DISPLAY OMISSION]</P>

Ether-free polymeric anion exchange materials with extremely low vanadium ion permeability and outstanding cell performance for vanadium redox flow battery (VRFB) application

Cha, Min Suc,Jo, Sang Woo,Han, Seung Hui,Hong, Soo Hyun,So, Soonyong,Kim, Tae-Ho,Oh, Seong-Geun,Hong, Young Taik,Lee, Jang Yong Elsevier 2019 Journal of Power Sources Vol.413 No.-

<P><B>Abstract</B></P> <P>Ether-free poly(<I>p</I>-phenylene)-based anion exchange membrane materials with outstanding vanadium ion blocking properties are reported. The synthesized ionomers with a rigid backbone structure show small dimensional variations despite the high ion exchange capacities. Among the synthesized membranes, the QPPP-2 membrane with ion exchange capacity of 2.1 meq·g<SUP>−1</SUP> exhibits high anion (OH<SUP>−</SUP>, SO<SUB>4</SUB> <SUP>2−</SUP>, and Cl<SUP>−</SUP>) conductivity. The QPPP-2 membrane shows an extremely low diffusion coefficient (2.12 × 10<SUP>−9</SUP> cm<SUP>2</SUP> min<SUP>−1</SUP>) for VO<SUP>2+</SUP>, which is much lower than that of Nafion 115 (2.88 × 10<SUP>−6</SUP> cm<SUP>2</SUP> min<SUP>−1</SUP>), indicating the vanadium ion blocking property of QPPP-2. Moreover, the chemical and operational stabilities of the membranes are investigated <I>via</I> ex situ soaking tests in 0.1 M VO<SUB>2</SUB> <SUP>+</SUP> solution and in situ operation tests for 100 cycles, respectively. The vanadium redox flow battery single cell assembled with the QPPP-2 membrane exhibits a coulombic efficiency of 99%, voltage efficiency of 87%, and energy efficiency of 86% during 100 cycles at 80 mA cm<SUP>−2</SUP>. The excellent chemical, morphological, and electrochemical properties of the QPPP-2 membrane make it suitable for use in vanadium redox flow battery.</P> <P><B>Highlights</B></P> <P> <UL> <LI> AEMs are fabricated by a Ni(0)-catalyzed cross-coupling reaction. </LI> <LI> The synthesized ionomers indicated excellent dimensional and chemical stability. </LI> <LI> Ether-free polymeric AEMs showed extremely low vanadium ion cross over. </LI> <LI> The performance of developed AEM showed high EE (87%) with high capacity retention. </LI> </UL> </P> <P><B>Graphical abstract</B></P> <P>[DISPLAY OMISSION]</P>

Preparation and characterization of crosslinked anion exchange membrane (AEM) materials with poly(phenylene ether)-based short hydrophilic block for use in electrochemical applications

Cha, Min Suc,Lee, Jang Yong,Kim, Tae-Ho,Jeong, Hwan Yeop,Shin, Hee Young,Oh, Seong-Geun,Hong, Young Taik Elsevier 2017 Journal of membrane science Vol.530 No.-

<P><B>Abstract</B></P> <P>Herein, our group report the investigation of cross-linked copolymer anion exchange membrane (AEM) materials with a partially rigid backbone structure based on poly(phenylene ether). Two types of quaternized AEM materials, QCPPAE-2/1 and QCPPAE-4/1, with an ion exchange capacity (IEC) of 1.08 and 1.75meq/g, respectively, were synthesized. The cross-linked AEMs exhibited a low water uptake (WU) and dimensional change and outstanding anion (Cl<SUP>−</SUP>, SO<SUB>4</SUB> <SUP>2−</SUP>, and OH<SUP>−</SUP>) conductivities. The nanoscale phase-separated morphologies of the polymer membranes were characterized using small-angle X-ray scattering (SAXS) and transmission electron microscopy (TEM). The synthesized membranes were introduced as a solid electrolyte into a vanadium redox flow battery (VRFB) and an anion exchange membrane fuel cell (AEMFC). The QCPPAE-2/1 membrane showed excellent coulombic efficiency (CE) of 99%, voltage efficiency (VE) of 88% and energy efficiency (EE) of 89% in VRFBs. Within AEMFCs, these membranes generated an outstanding power density as high as 106mW/cm<SUP>2</SUP> at 60°C.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Rigid backbone structure was synthesized via Ni (0)-cross coupling reaction. </LI> <LI> The crosslinking between polymer chains are constructed by 4,4’-diaminobenzophenone. </LI> <LI> The performance of crosslinked AEM showed high EE (88%>) and CE (99%>) in VRFB. </LI> </UL> </P> <P><B>Graphical abstract</B></P> <P>[DISPLAY OMISSION]</P>

An artificial photosensitizer drug network for mitochondria-selective photodynamic therapy

Park, So Young,Oh, Kyung Taek,Oh, Young Taik,Oh, Nam Muk,Youn, Yu Seok,Lee, Eun Seong The Royal Society of Chemistry 2012 Chemical communications Vol.48 No.19

<P>We report a new class of photosensitizer drug networks that can home into mitochondria and provide geospatial phototoxicity for tumors. We take advantage of the cleavable chemical network between the photosensitizer drug and poly(ethylene glycol), and find a significant increase in the efficiency of the multimeric drug network in mitochondria uptake and tumor inhibition.</P> <P>Graphic Abstract</P><P>A multimeric chlorin e6 network with cleavable disulfide linkages allowed for improved mitochondria uptake and tumor inhibition. <IMG SRC='http://pubs.rsc.org/services/images/RSCpubs.ePlatform.Service.FreeContent.ImageService.svc/ImageService/image/GA?id=c2cc16087k'> </P>

A Smart Polysaccharide/Drug Conjugate for Photodynamic Therapy

Park, So Young,Baik, Hye Jung,Oh, Young Taik,Oh, Kyung Taek,Youn, Yu Seok,Lee, Eun Seong WILEY‐VCH Verlag 2011 Angewandte Chemie Vol.123 No.7

<P><B>Trojanisches Pferd</B>: Ein neu entwickeltes Polysaccharid‐Wirkstoff‐Konjugat (siehe Bild) reagiert auf Änderungen des pH‐Werts und kann in HeLa‐Mäusetumoren eindringen, wie durch Fluoreszenzbildgebung gezeigt wurde. Das Konjugat hat Anwendungspotenzial in der photodynamischen Therapie: Es greift gezielt den Tumor an, ohne das umgebende Gewebe zu schädigen.</P>

Chemoprevention of Helicobacter pylori-associated Gastric Carcinogenesis in a Mouse Model : Is It Possible?

Hahm, Ki Baik,Song, Young Joon,Oh, Tae Young,Lee, Jeong Sang,Surh, Young-Joon,Kim Young Bae,Yoo, Byung Moo,Kim, Jin Hong,Han, Sang Uk,Nahm, Ki Taik,Kim, Myung-Wook,Kim, Dae Yong,Cho, Sung Won 한국생화학분자생물학회 2003 BMB Reports Vol.36 No.1

Although debates still exist whether Helicobacter pylory infection is really class I carcinigen or not, H. pylori has been known to provoke precancerous lesions like gastric adenoma and chronic atrophic gastritis with intestinal metaplasia as well as gastric cancer, Chronic persistent, uncontrolled gastric inflammations are possible basis for ensuing gastric carcinogenesis and H. pylori infection increase COX-2 expressions, which might be the one of the mechanisms leading to gastric cancer. To know the implication of long-term treatment of antiinflammatory drugs, rebamipide or nimesulide, on H. pylori-associated gastric carcinogenesis, we infected C57BL/6 mice with H. pylori, expecially after MNU administration to promote carcinogenesis and the effects of the long-term administration of rebamipide or nimesulide were eva,uated. C57BL/6 mice werre sacrificed 50 weeks after H. pylori infection. Colonization rates of H.pylory, degree of gastric inflammation and other pathological changes including atrophic gastitis and metaplasia, serum levels and mRNA transcripts of various mouse cytoknes and chemokines, and NF-κ]B binding activities, and finally the presence of gastric adenocarcinoma were compared between H. pylori infected group (HP), and H.pylori infected group administrated with long-term rebamipide containing pellet diets (HPR) or nimesulide mixed pellets (HPN). Gastric mucosal expressions of ICAM-1, HCAM, MMP, and transcriptional regulations of Nf-κB binding were all significantly decreased in HPR group than in HP group. Multi-probe RNase protection assay showed the significantly decreased mRNA levels of apoptosis related genes and various cytokines genes like IFN-r, RANTES, TNF-α, TNFR p75, IL-1β in HPR group. In the experiment designed to provoke gastric cancer through MNU treatment with H.pylori infection, the incidence of gastric carcinoma was not changed between HP and HPR group, but significantly decreased in HPN group, suggesting the chemoprevention of H. pylori-associated gastric carcinogenesis by COX-2 inhibition. Long-term administration of antiinfalmmatory drugs should be considered in the treatment of H. pylori since they showed the molecular and biologic advantages with possible chemopreventive effect against H. pylori-associated gastric carcinogenesis. If the final concrete proof showing the causal relationship between H. pylori infection and gastric carcinogenesis. If the final concrete proof showing the causal relationship between H. pylori infection and gastric carcinogenesis could be obtained, that will shed new light on chemoprevention of gastirc cancer, that is, that gastric cancer could be prevented through either the eradication of H. pylori or lessening the inflammation provoked by H. pylori infection in high risk group.

Chemoprevention of Helicobacter pylori-associated Gastric Carcinogenesis in a Mouse Model; Is It Possible?

Hahm, Ki-Baik,Song, Young-Joon,Oh, Tae-Young,Lee, Jeong-Sang,Surh, Young-Joon,Kim, Young-Bae,Yoo, Byung-Moo,Kim, Jin-Hong,Ha, Sang-Uk,Nahm, Ki-Taik,Kim, Myung-Wook,Kim, Dae-Yong,Cho, Sung-Won Korean Society for Biochemistry and Molecular Biol 2003 Journal of biochemistry and molecular biology Vol.36 No.1

Although debates still exist whether Helicobacter pylori infection is really class I carcinogen or not, H. pylori has been known to provoke precancerous lesions like gastric adenoma and chronic atrophic gastritis with intestinal metaplasia as well as gastric cancer. Chronic persistent, uncontrolled gastric inflammations are possible basis for ensuing gastric carcinogenesis and H. pylori infection increased COX-2 expressions, which might be the one of the mechanisms leading to gastric cancer. To know the implication of long-term treatment of antiinflammatory drugs, rebamipide or nimesulide, on H. pylori-associated gastric carcinogenesis, we infected C57BL/6 mice with H. pylori, especially after MNU administration to promote carcinogenesis and the effects of the long-term administration of rebamipide or nimesulide were evaluated. C57BL/6 mice were sacrificed 50 weeks after H. pylori infection. Colonization rates of H. pylori, degree of gastric inflammation and other pathological changes including atrophic gastritis and metaplasia, serum levels and mRNA transcripts of various mouse cytokines and chemokines, and NF-${\kappa}B$ binding activities, and finally the presence of gastric adenocarcinoma were compared between H. pylori infected group (HP), and H. pylori infected group administered with long-term rebamipide containing pellet diets (HPR) or nimesulide mixed pellets (HPN). Gastric mucosal expressions of ICAM-1, HCAM, MMP, and transcriptional regulations of NF-${\kappa}B$ binding were all significantly decreased in HPR group than in HP group. Multi-probe RNase protection assay showed the significantly decreased mRNA levels of apoptosis related genes and various cytokines genes like IFN-$\gamma$, RANTES, TNF-$\alpha$, TNFR p75, IL-$1{\beta}$ in HPR group. In the experiment designed to provoke gastric cancer through MNU treatment with H. pylori infection, the incidence of gastric carcinoma was not changed between HP and HPR group, but significantly decreased in HPN group, suggesting the chemoprevention of H. pylori-associated gastric carcinogenesis by COX-2 inhibition. Long-term administration of antiinflammatory drugs should be considered in the treatment of H. pylori since they showed the molecular and biologic advantages with possible chemopreventive effect against H. pylori-associated gastric carcinogenesis. If the final concrete proof showing the causal relationship between H. pylori infection and gastric carcinogenesis could be obtained, that will shed new light on chemoprevention of gastric cancer, that is, that gastric/cancer could be prevented through either the eradication of H. pylori or lessening the inflammation provoked by H. pylori infection in high risk group.

Drop-on-Demand Solder Droplet Jetting System for Fabricating Microstructure

Taik-Min Lee,Tae Goo Kang,Jeong-Soon Yang,Jeongdai Jo,Kwang-Young Kim,Byung-Oh Choi,Dong-Soo Kim IEEE 2008 IEEE transactions on electronics packaging manufac Vol.31 No.3

<P>The novel drop-on-demand (DOD) solder droplet jetting system, which can be characterized as the non-heat affection of the piezoelectric actuator, the control mechanism of the piston head-to-nozzle distance, and disposable nozzle parts, is devised. This system consists of the piezoelectric actuator, insulator, piston head-to-nozzle distance control apparatus, pressure control unit, and furnace. For the modulation of the droplet size, the distance from piston head-to-nozzle exit can be controlled by using the piston head-to-nozzle distance control apparatus. The working temperature is improved by locating the piezoelectric actuator outside of the furnace and by inserting the insulation block between the print head and the actuator. From a practical point of view, the DOD solder droplet jetting system has a simple structure for easily interchangeable nozzle parts. We derived the equation of the ejected droplet volume as a function of design parameters and operating conditions. The prototype of the DOD solder droplet jetting system was fabricated and the performance was verified. The diameter, volume and velocity of the ejected solder droplet are around 65-150 mum, 140 pl-1.8 nl, and 2.8-4 m/s, respectively. We also experimented with the effect of varying the chamber pressure, piston head-to-nozzle distance, and operating frequency on the ejected droplet diameter and velocity. The high aspect ratio vertical columns and inclined columns were fabricated by using the DOD solder droplet jetting system.</P>