태양열 에너지의 효율적인 이용과 자동화 장치의 개발을 목표로 지중가온의 온도변화 특성을 실험. 분석한 결과는 다음과 같다. 1) 10월 13일의 1일 하우스 내기온이 주야간에 24℃의 차이가 있으며, 무가온시 지온변화는 지중 10 m 부근에서 6℃, 지중 20 cm 부근에서는 3℃정도의 차이를 보이고 있다. 2) 20시경에 내기온과 지온차가 가장 작은 것으로 나타났으며, 지중 20 cm 부근의 온도변화는 내기온이 가장 낮은 오전 7시부터 약 3시간이 경과된 오전 10시에 최저가 되었다 3) 가온수의 온도를 40℃, 50℃, 60℃로 변화하였을 때 지중 10 cm의 최저은도는 약 20℃ 지중 20 cm의 최저온도는 약 23℃로 나타나 가온온도가 40℃ 이상일 경우 가온온도에 따른 지중 10~20 cm사이의 온도차는 매우 작았다. 4) 지중 15~20 cm의 지온이 20℃가 되기 위해서는 가온수의 온도를 40℃ 이하가 되도록 설정하여야한다. 5) 가온수의 온도가 40℃, 50℃, 60℃이고 파이프 매설 깊이가 12 m일 경우 유입구와 유출구의 1일 평균온도차는 40℃일 경우 3.5℃ 50℃일 경우 4.4℃, 60℃일 경우 5.4℃정도로 이 구간에서 온도변화식은 T = 0.09591T＋2.5451(R2= 0.9966)로 거의 선형적으로 변화하였다. 6) 가온수 온도가 40℃의 경우 지중 15~20 cm, 50℃의 경우는 지중 13~19 cm, 60℃의 경우는 12~17 cm 부근이 경계영역으로 판단되었다. 7) 재배기간중 하우스 내기온을 11℃ 이상으로 유지하고, 가온수의 온도를 28℃로 순환 결과 지중 15 cm 이하에서 최저지온를 20℃ 이상의 온도를 유지할 수 있어 저온수공급에 의한 온도상승효과가 뚜렷이 나타났다. 8) 가온수의 온도를 28℃로 하여 지중가온 한 결과 지중 15~20 cm사이에 온도변화는 무가온구에 비하여 공히 4℃~7℃가 상승되었다.

케탈이나 아세탈반응에 의하여 이루어진 1, 3-디옥솔란 고리가 산수용액 중에서 불안정해 쉽게 가수분해되는 성질을 이용하여 소수부로는 지방산의 탄화수소사슬을 친수부로는 소디움 카르복시산(Soap)을 도입하여 분해 후 계면활성을 띠지 않는 분해성 계면활성제이다. 이 화합물의 수용액에 대한 표면장력은 31dyne/cm였고, 임계미셀농도는 1.0×10-3mol/L이었다. 기포력은 비교적 좋지 않았으며, 유화력은 콩기름보다 벤젠에서 양호하였다. 또한 이 화합물의 산분해 특성을 1wt% 수용액과 벤젠 사이의 계면장력 변화에 의하여 측정한 결과 pH 1 ~ 4범위에서 약 300분 안에 모두 가수분해됨을 확인하였다.

미셀반응, 유화중합, 상간이동촉매반응 등에 이용되는 계면활성제가 갖고 있는 문제점을 해결하기 위하여 반응 후 분해되는 분해성 계면활성제를 합성하였다. 케탈이나 아세탈반응에 의하여 이루워진 1,3-디옥솔란 고리가 산수용액 중에서 불안정해 쉽게 가수분해로 계면활성을 띠지 않는 분해성 계면활성제를 합성하였다. 합성된 화합물은 백색결정상태로 얻었으며 수율은 90% 이상이었다. 그리고 이 화합물과 중간생성물은 얇은막 크로마토그래피와 컬럼 크로마토그래피로 분리하여 적외선과 수소핵자기공명 및 원소분석 스텍트라로 그 화합물들의 구조를 확인하였다.

Transfer matrix를 사용하여 TiO2 및 Ag 단일 박막과 TiO2/Ag/TiO2 다층 박막의 두계에 따른 투과도 특성을 예측하였으며, 이를 실제 스퍼터 증착하여 제조한 박막의 광학 특성과 비교하였다. TiO2 및 Ag 박막에서는 복소굴절률을 사용하므로써 실제 증착박막에서 측정된 특성과 근접한 투과도 곡선의 예측이 가능하였다. TiO2/Ag/TiO2 3층 박막의 광학 특성은 Ag의 TiO2층으로의 확산 및 응집에 의해 transfer matrix로 예측한 투과도 특성과 전혀 다른 거동을 나타내었다. 그러나 4nm 및 6nm 두계의 Ti 박막을 확산방지층으로 증착한 TiO2/Ti/Ag/Ti/TiO2 구조의 5층 박막에서는 transfer matrix를 사용하여 예측한 TiO2/Ag/TiO2 3층 박막의 투과도 곡선과 유사한 광학 특성을 얻을 수 있었다.

A series of four sodium α-sulfo fatty acid allylester oligomers such as sodium α-sulfo lauric acid allylester oligomer, sodium α-sulfo myristic acid allyl ester oligomer, sodium α-sulfo palmitic acid allyl ester oligomer and sodum α-sulfo stearic acid allyl ester oligomer were examined for surface tension, defloculation effect and emulsifying power. Also critical micelle concentration (cmc) was evaluated. Consequently, these sodium allyl α-sulfo aliphatic carboxylate aligomers show o/w type emulsifying agent and dispersion effect in 1g/100ml soulution.

This study evaluated the contamination levels of inland pollution sources flowing into Taeanhaean National Park. The nutritional status of influents was assessed by analyzing water quality and trophic status index (TRIX) at 52 stations, and the contamination levels of sediments were evaluated by analyzing eutrophication cleanup index (CIET) and heavy metals at 36 stations. The results of the TRIX analysis showed that 26 of the 52 stations had influents with a TRIX value of 6-10 (poor water quality/very high trophic level), indicating atrocious water quality and high eutrophication levels. The results of the CIET analysis showed that 4 out of the 36 stations were highly contaminated with organic matter. Analysis of heavy metals showed that the copper (Cu) and zinc (Zn) levels exceeded the threshold effects level (TEL) and probable effects levels (PEL) at several stations. In addition, the arsenic (As) level exceeded the threshold effects level at one station, and the levels of the other heavy metals (Cd, Cr6+, Ni, Pb, and Hg) were lower. Most inland pollution sources have been identified as small-scale, but long-term and continuous exposure can negatively affect the marine ecosystem; therefore, it necessary to prepare inland pollution source management standards and measures suitable for the characteristics of the coastal area.

This paper presents cable-hydraulic driven 3DoF (Degree-of-Freedom) manipulator for cooperative robot with high output/low inertia and enhancing lager workspace of hydraulic manipulator. Hydraulic actuation could be solution to design more higher output manipulator than the one of electric motor actuation due to install actuation source and robot joint separated. In spite of this advantage, the conventional hydraulic driven manipulator using cylinder or vane actuator is not suitable for the candidate of cooperative robot because smaller workspace owing to small RoM (Range of Motion) hydraulic actuator. In this paper, we propose 3DoF manipulator with cable-hydraulic actuation which is more larger ratio of payload-to-weight than the one of conventional cooperative manipulator and larger workspace than the one of existing hydraulic driven manipulator. The performance of proposed manipulator was demonstrated by the experiments for confirming overall workspace task, high payload operation task under worst situation and comparing repeatability between developed manipulator and existed cooperative robots. The results of experiments showed that the appropriate performance of proposed manipulator for cooperative robot.

In this paper, a high performance underwater vehicle which can be manufactured at low cost is designed and fabricated, and its performance is verified through experiments. To improve efficiency, the Myring equation is used to design the appearance and the duct structure including the thruster is planned to increase the propulsion efficiency while reducing the drag force. Through various methods, it is secured stable waterproof performance, and also is devised to have high speed movement and turning performance. The developed underwater vehicle is equipped with a high output BLDC motor to achieve a linear speed of up to 2 m/s and can change direction rapidly with stability through four rudders. The rudders are driven by coupling a timing belt and a pulley by extending the axis of a servo motor, and are equipped at the end of the body to turn heading. In addition, for stable posture control, the roll keeps its internal center of gravity low and maintains its stability due to restoring force. By controlling the four rudders, pitch and yaw are handled by the PID controller and show stable performance. To investigate the horizontal turning performance, it is confirmed that the yaw rate controller is designed and stable yaw rate control is performed.

표피는 각질형성세포의 분화로부터 재생되어 계층화되는 상피 조직으로서 물리적 장벽을 형성함으로써 다양한 외부 오염원으로부터 개체를 보호한다. 자가포식 작용(autophagy)은 단백질 축적물, 손상된 세포 소기관, 세포내 미생물 등이 리소좀으로 운반되고 분해되도록 매개하는 기작이다. 최근 연구 결과에 의하면 자가포식 작용이 각질형성세포의 대사 기관과 핵을 제거하여 각질층으로 최종 분화하는데 중요한 역할을 하는 것이 보고 되었다. 그러나 자가포식 작용을 촉진함으로써 표피 분화를 유도할 수 있는지는 알려져 있지 않다. 본 연구에서는 천연물 유래 단일 화합물 라이브러리를 스크리닝하여 베타인(betaine)이 인간 각질형성세포주인 HaCaT 세 포에서 세포질 내 LC3 punctate 소포체 및 LC3-I에서 LC3-II로의 변환을 증가시켜 자가포식 작용을 촉진함을 규명했다. 자가포식 작용의 억제 신호인 mTOR 경로는 베타인에 의해 영향을 받지 않았으므로, 베타인에 의해 유도된 자가포식 작용은 mTOR에 독립적임을 알 수 있었다. 베타인에 의해 촉진되는 자가포식 작용은 primary keratinocyte 및 skin equivalent에서도 관찰되었다. 또한, 베타인 처리된 인공피부에서 표피층 두께가 증가함을 확인하였다. 이러한 결과들로부터, 자가포식 작용의 새로운 조절소재로서 베타인이 표피의 턴오버를 촉진하여 표피의 장벽기능을 개선하고 피부노화를 방지할 수 있음을 시사한다.

For the underwater localization, acoustic sensor systems are widely used due to greater penetration properties of acoustic signals in underwater environments. On the other hand, the good penetration property causes multipath and interference effects in structured environment too. To overcome this demerit, a localization method using the attenuation of electro-magnetic(EM) waves was proposed in several literatures, in which distance estimation and 2D-localization experiments show remarkable results. However, in 3D-localization application, the estimation difficulties increase due to the nonuniform (doughnut like) radiation pattern of an omni-directional antenna related to the depth direction. For solving this problem, we added a depth sensor for improving underwater 3D-localization with the EM wave method. A micro scale pressure sensor is located in the mobile node antenna, and the depth data from the pressure sensor is calibrated by the curve fitting algorithm. We adapted the depth(z) data to 3D EM wave pattern model for the error reduction of the localization. Finally, some experiments were executed for 3D localization with the fast calculation and less errors.

An electric motor is the one of the most important parts in robot systems, which mainly drives the wheel of mobile robots or the joint of manipulators. According to the requirement of motor performance, the controller type and parameters vary. For the wheel driving motors, a speed tracking controller is used, while a position tracking controller is required for the joint driving motors. Moreover, if the mechanical parameters are changed or a different motor is used, we might have to tune again the controller parameters. However, for the beginners who are not familiar about the controller design, it is hard to design pertinently. In this paper, we develop a nominal robust controller model for the velocity tracking of wheel driving motors and the position tracking of joint driving motors based on the disturbance observer (DOB) which can reject disturbances, modeling errors, and dynamic parameter variations, and propose the methodology for the determining the least control parameters. The proposed control system enables the beginners to easily construct a controller for the newly designed robot system. The purpose of this paper is not to develop a new controller theory, but to increase the user-friendliness. Finally, simulation and experimental verification have performed through the actual wheel and joint driving motors.

In this paper, developing of a pool cleaning robot is addressed. First, we analyze commercial pool cleaning robot mechanisms, and the merits and demerits of wireless version of a pool cleaning robot is introduced. And then the water-jet moving mechanism for a pool cleaning robot is proposed to improve energy efficiency and mechanical design advantage, which is one of the strong candidates for wireless pool cleaning robots. Next, the method of cleaning performance evaluation of pool cleaning robots is firstly defined with five key factors, and it was verified by experimental results. If the cleaning performance can be quantitatively defined, we can design optimally a pool cleaning robot, which results in the cost down.

According as tracks are twisted on running, wheel loads applied to outer rail are increased on curved track. Canting on tracks considering the balance cant allows to have permissible cant deficiency. The test bed area of Ho-Nam high railway is planed for 400km/h Speedup test, cant deficiency is expected to generate centrifugal load in the curve. Therefore, Korean design criteria recommend to increase maximum 20% of wheel load. This study shows that normalized wheel load variations are analyzed its stationary in inner and outer rail when centrifugal forces in outer rail of a curve are caused by curve radius, cant, velocity. Vertical wheel loads are reviewed on the behaviors of each structural element according to the increase of velocity.

Recently, robotic automation in clinical laboratory becomes of keen interest as a fusion of bio and robotic technology. In this paper, we present a new robotic platform for clinical tests suitable for small or medium sized laboratories using mobile robots. The mobile robot called Mobile Agent is designed as transfer system of blood samples, reagents, microplates, and any instruments. Also, the developed mobile agent can perform diverse tests simultaneously based on its cooperative and distributed ability. The driving circuits for the mobile agent are embedded in the robot, and each mobile agent communicates with other agents by using Bluetooth communication. The RFID system is used to recognize patient information. Also, the magnetic hall sensor is embedded to remove and compensate the cumulated error of locomotion at the bottom of mobile agent. The proposed mobile agent can be easily used for various applications because it is designed to be compatible with general software development tools. The Mobile agents are manufactured, and feasibility of the robot and localization of the agents using magnetic hall sensor are validated by preliminary experiments.

The thruster is the crucial factor of an underwater vehicle system, because it is the lowest layer in the control loop of the system. In this paper, we propose an accurate and practical thrust modeling for underwater vehicles which considers the effects of ambient flow velocity and angle. In this model, the axial flow velocity of the thruster, which is non-measurable, is represented by ambient flow velocity and propeller shaft velocity. Hence, contrary to previous models, the proposed model is practical since it uses only measurable states. Next, the whole thrust map is divided into three states according to the state of ambient flow and propeller shaft velocity, and one of the borders of the states is defined as Critical Advance Ratio (CAR). This classification explains the physical phenomenon of conventional experimental thrust maps. In addition, the effect of the incoming angle of ambient flow is analyzed, and Critical Incoming Angle (CIA) is also defined to describe the thrust force states. The proposed model is evaluated by comparing experimental data with numerical model simulation data, and it accurately covers overall flow conditions within 2N force error. The comparison results show that the new model's matching performance is significantly better than conventional models'.