This study is mainly focused on micellar effect of cetylpyridinium chloride(CPyCl) solution including alkylbenzimidazole( R-BI) on dephosphorylation of diphenyl-4-nitrophenylphosphinate(DPNPIN) in carbonate buffer(pH 10.7). The reactions of DPNPIN with R-BI⊖ are strongly catalyzed by the micelles of CPyCl. Dephosphorylation of DPNPIN is accelerated by BI⊖ ion in 10 -2 M carbonate buffer(pH 10.7) of 4×10 -3 M CPyCl solution up to 100 times as compared with the reaction in carbonate buffer by no BI solution of 4×10 -3 M CPyCl. The value of pseudo first order rate constant(k m BI) of the reaction in CPyCl solution reached a maximum rate constant increasing micelle concentration. Such rate maxima are typical of micellar catalyzed bimolecular reactions. The reaction mediated by R-BI⊖ in micellar solutions are obviously slower than those by BI⊖, and the reaction rate were decreased with increase of lengths of alkyl groups. It seems due to steric effect of alkyl groups of R-BI⊖ in Stern layer of micellar solution. The surfactant reagent, cetylpyridinium chloride(CPyCl) , strongly catalyzes the reaction of diphenyl-4-nitrophenylphosphinate(DPNPIN) with alkylbenzimidazole (R-BI) and its anion(R-BI⊖) in carbonate buffer(pH 10.7). For example, 4×10 -3 M CPyCl in 1×10 -4 M BI solution increase the rate constant (kψ=1.0×10 -2 sec -1 ) of the dephosphorylation by a factor ca.14, when compared with reaction (kψ=7.3×10 -4 sec -1 ) in 1×10 -4 M BI solution(without CPyCl). And no CPyCl solution, in 1×10 -4 M BI solution increase the rate constant (kψ=7.3×10 -4 sec -1 ) of the dephosphorylation by a factor ca.36, when compared with reaction (kψ=2.0×10 -5 sec -1 ) in water solution(without BI). This predicts that the reactivities of R-BI⊖ in the micellar pseudophase are much smaller than that of BI⊖ . Due to the hydrophobicity and steric effect of alkyl group substituents, these groups would penetrate into the core of the micelle for stabilization by van der Waals interaction with long alkyl groups of CPyCl.

This paper presents to study the path tracking method of AGV(autonomous guided vehicle) which has a laser guidance system. An existing automatic guided vehicles(AGVs) which were able to drive on wired line only had a automatic guidance system. However, the automatic guidance systems that those used had the high cost of installation and maintenance, and the difficulty of system change according to variation of working environment. To solve such problems, we make the laser guidance system which is consisted of a laser navigation and gyro, encoder. That is robust against noise, and flexible according to working environment through sensor fusion. The laser guidance system can do a perfect autonomous driving. However, the commercialization of perfect autonomous driving system is difficult, because the perfect autonomous driving system must recognize the whole environment of working space. Hence, this paper studied the path tracking of AGV using laser guidance system without wired line. The path tracking method is consisted of virtual path generation method and driving control method. To experiment, we use the fork-type AGV which is made by ourselves, and do a path tracking experiments repeatedly on same experimental environment. In result, we verified that proposed system is efficient and stable for actual fork-type AGV.

도시 우수 배수 시스템에서 우수 관거는 개수로 흐름 상태로 가정하여 설계되었기 때문에 합류맨홀에서의 에너지 손실은 일반적으로 중요하게 고려되지 않았다. 그러나 과부하흐름에서 에너지 손실은 관거의 배수능력을 저하시켜 도심지역의 침수피해를 가중시키는 요인이 된다. 그러므로 과부하 합류맨홀 내에서의 수두 손실을 분석할 필요가 있다. 본 연구에서는 합류맨홀에 대한 문헌조사 및 현장조사를 실시하여 실험장치를 제작하고 실험조건을 선정하였다. 선정된 실험조건인 맨홀