• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09b
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• pp.105-119
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• 2003

일반적인 로봇시스템은 자신이 이동해야 할 목표 지점을 자율적으로 생성할 수 없으므로 어떤 다른 시스템의 정보를 이용하여 주변을 탐색하거나 장애물을 인식하고 식별하여 자신의 제어전략을 수립한다. 그러므로 본 논문에서 제시한 시스템은 초소형 비행체를 이용하여 주위 환경과 자율 이동로봇의 위치 정보를 탐색할 수 있도록 시스템을 구성하였다 이러한 시스템의 성능은 로봇이 위치하고 있는 주위의 불완전한 정보로부터 적절한 결론을 유도해 낼 수 있어야 한다. 그러한 비선형적인 문제는 현재까지도 문제 해결을 위해 많은 연구가 진행되고 있다. 본 연구에서는 자율이동로봇의 행동 환경을 공간상의 제약을 받지 않는 비선형 시스템인 초소형 비행체에 극초단파(UHF16채널) 영상장치를 이용하여 호스트 PC로 전송하고 호스트 PC는 로봇의 현재 위치, 이동해야 할 목표위치, 장애물의 위치와 형태 등을 분석한다. 분석된 결과 파라메타는 RF-Module을 이용해서 로봇에 전송하고, 로봇은 그 데이터를 분석하여 동작하게 된다. 로봇이 오동작 또는 장애물로 인해 정확한 목적지까지 도달하지 못할 때 호스트 PC는 새로운 최단경로를 생성하거나 장애물을 회피 할 새로운 전략을 로봇에게 보내준다. 본 연구에 적용한 알고리즘은 초소형 비행체에서 탐지한 불완전한 영상정보에서도 비교적 신뢰도 놀은 결과를 보이는 A* 알고리즘을 사용하였다 적용한 알고리즘은 실험을 통하여 실시간으로 정보를 처리할 수 있었으며, 자율 이동로봇의 충돌회피나 최단 경로 생성과 같은 문제를 실험을 통하여 그 성능과 타당성을 검토하였다.delta}textitH]$를 도출하였다.rc}C$에서 30 ㎫의 압력으로 1시간동안 행하였다 소결한 시편들은 직사각형 형태로 가공하였으며 표면은 0.5$\mu\textrm{m}$의 다이아몬드 입자로 연마하였다. XRD, SEM 및 TEM을 이용하여 상분석 및 미세조직관찰을 행하였다. 파괴강도는 3중점 굽힘 법으로 (3-point bending test) 측정하였다. 이때 시편 하부의 지지 점간의 거리는 30mm, cross-head 속도는 0.5 mm/min으로 하였고 5개의 시편을 측정하여 평균값을 구하였다.ell/\textrm{cm}^3$, 혼합재료 3은 0.123$\ell/\textrm{cm}^3$, 0.017$\ell/\textrm{cm}^3$, 혼합재료 4는 0.055$\ell/\textrm{cm}^3$, 0.016$\ell/\textrm{cm}^3$, 혼합재료 5는 0.031$\ell/\textrm{cm}^3$, 0.015$\ell/\textrm{cm}^3$, 혼합재료 6은 0.111$\ell/\textrm{cm}^3$, 0.020$\ell/\textrm{cm}^3$로 나타났다. 3. 단일재료의 악취흡착성능 실험결과 암모니아는 코코넛, 소나무수피, 왕겨에서 흡착능력이 우수하게 나타났으며, 황화수소는 펄라이트, 왕겨, 소나무수피에서 다른 재료에 비하여 상대적으로

• Journal of the Korea Concrete Institute
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• v.21 no.3
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• pp.367-375
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• 2009

Recently, more focus is shift to imbalances in aggregate market supply and demand and an exhaustion of natural resources. In this situation, Electric arc furnace oxidizing slag (EAF slag) has high application possibility as aggregate for concrete due to similar property with general aggregate. However, it is inherent the problem which causes pop-out by free-CaO contained in slag In this study, we've got the plan to assure the chemical stability of EAF slag, and then experimentally tested the mechanical performance and durability for the fine aggregate used EAF slag. On this test result, we suggest the application plan. At the result of this study, it shows that EAF slag would reduce the surface defect such as pop-out due to natural aging for the fixed hour and adjustment the grain size of EAF slag. And mechanical performance and durability according to the replacement rate of concrete service, were revealed more than equal or equal compare to general aggregate. Hereafter, quality control must precede not to impede the beauty of concrete surface as assure the safety for aging and processing. And, to establish the environmental resource recycling system for by-products of steel, it should be made development of various application and guideline of quality control for the EAF slag aggregate. Moreover, it must be constantly studied all kind of engineering performance and durability for related to this study.

• Journal of Korean Society of Environmental Engineers
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• v.36 no.11
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• pp.753-757
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• 2014

Anode electrode in a microbial fuel cell (MFC) should transfer the receiving electron as well as provide large surface area that can be immobilized microorganisms. Microorganisms' population is one of important factors to improve the current generation and to treat the livestock wastewater by biological treatment. These studies were attempted to investigate if stainless-steel wire skein (SSWS) could be used as anode electrode replacement a graphite felt electrode in microbial fuel cell. For these studies, pretreated livestock wastewater was used diluted to 500 mg/L as COD before use. At this time, the current showed a little difference of about 5% when using each of a SSW and graphite felt (control). There was no significant difference in the current value. The organic removal rate in the microbial fuel cells used graphite felt and SSWS was 82.4% and 88.3%, respectively. The COD removal in the MFC used the SSWS was higher than that of graphite felt. Ammonium nitrogen was showed similar trend in two case all. These results about current generation and organic matter reduction seem possible that SSWS was used to anode electrode. When SSWS is used, the initial investment for system construction is expected to be able to reduce by approximately 1/50.

• Journal of the Korea institute for structural maintenance and inspection
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• v.18 no.3
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• pp.133-142
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• 2014

Recently, more focus is shift to imbalances in aggregate market supply and demand and an exhaustion of natural resources. In this situation, Electric arc furnace oxidizing slag (EAF Slag) has high application possibility as aggregate for concrete due to similar property with general aggregate. In this study, We've got the plan to assure the chemical stability of EAF Slag, and then experimentally tested the mechanical performance and durability for the fine aggregate used EAF Slag. On this test result, we suggest the application plan. At the result of this study, it shows that EAF slag would reduce the surface defect such as pop-out due to natural aging for the fixed hour and adjustment the grain size of EAF Slag. And mechanical performance and durability according to the replacement rate of concrete service, were revealed more than equal or equal compare to general aggregate. Hereafter, quality control must precede not to impede the beauty of concrete surface as assure the safety for aging and processing. And, to establish the environmental resource recycling system for by-products of steel, it should be made development of various application and guideline of quality control for the EAF slag aggregate. Moreover, it must be constantly studied all kind of engineering performance and durability for related to this study.

• Proceedings of the Korean Powder Metallurgy Institute Conference
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• 2003.04a
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• pp.35-35
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• 2003

)를 금속와이어에 인가하면 저항발열에 의해 와이어가 미세한 입자나 금속증기상태로 폭발하는 현상을 이용한 것으로 기상합성법에 속한다고 할 수 있다. 선폭법은 다른 제조법에 비해 공정이 간단하여 생산비용이 저렴하며, 원재료의 조성을 갖는 분말의 합성과 금속간화합물, 융점차이가 나는 재료의 합금화 등이 가능하다. 인가에너지의 크기와 폭발 시 분위기를 제어함으로써 분말의 평균크기와 분포 제어 또한 가능하다. 본 연구는 러시아의 우수한 기초기술을 바탕으로 Pb-Sn계 합금은 전기폭발법으로 극미세분말을 제조하였으며, 분말의 형상, 상 화학조성의 변화를 조사하였다. 본 실험에 사용된 Sn-Pb계(All-Union State Standard 1499-70, 0.53mm)합금와이어는 자동시스템(1-0.6Hz)에 의해 챔버안으로 공급되었다. 이 때 임계폭발 와이어 길이는 50-80nm으로 실험을 행하였다. 챔버 압력은 1.4~2.0atm으로 유지하였다. 제조된 분말의 특성은 XRD, XRPES, SEM등을 이용하여 분말의 형상과 상, 화학조성, 표면분석을 행하였으며 DSC, TGA, BET분석을 통하여 온도변화에 따른 금속분말의 열량변화, 질량변화, 비표면적을 측정하였다. 제조된 Sn-Pb계 분말은 모두 평균 입도 117nm~220nm의 구형형상이었다. 이때 합금분말의 조성은 51.17~63.21 at%Sn, 35.47~46.37 at%Pb로 나타났다. 와이어에 인가되는 비에너지(W/Wc)가 감소된에 EK라 표면층의 Pb함량이 증가함을 보였다. 이는 와이어 내부 저항의 감소로 인한 공정시간의 지연과 Sn, Pb의 확산계수 차이에 의한 것으로 사료된다. 열분석 결과, Sn~Pb계 화합물의 융점은 167~$169^{\circ}C$로 관찰되었으며, $10^{\circ}C$/min로 $920^{\circ}C$까지 승은 하였을 때 17.1~18 wt%의 질량증가를 보였다.TEX>계 나노복합분말이 얻어짐을 알 수 있었다. 이 때 X션 회절피크의 line broadening으로부터 복합분말의 Fe 명균 결정립 크기는 24nm로 초미세 결정럽의 분말합금이었다. 포화자화값은 볼밀처리에 따라 점점 증가하여 MA 30시간에는 20.3emu/g로 포화됨을 알 수 있었다. 또한 보자력 Hc는 MA초기단계에 350e로 매우 낮으나 30시간 후에는 Hc값이 2600e로 매우 큰 값을 나타내었다. 이것은 환원반응결과 초기에 생성된 Fe의 결정립이 비교적 크고 결정결함이 적으나 볼밀처리를 30시간까지 행하면 Fe 결정렵의 미세화 빛 strain 증가로 magnetic hardening이 일어나기 때문인 것으로 사료된다.길이가 50, 30cm인 압출재를 제조하였다. 열간압출한 후의 미세조직을 광학현미경으로 압출방향에 평행한 방향과 수직방향으로 관찰하였고, 열간 압출재 이방성을 검토하기 위하여 X선 회절분석을 실실하여 결정방위를 확인하였다. 전기 비저항 및 Seebeck 계수 측정을 위하여 각각 2$\times$2$\times$10$mm^3$ 그리고 5$\times$5$\times$10TEX>$mm^3$ 크기의 시편을 준비하였다.준비하였다.전류를 구성하는 주요 입자의 에너지 영역(75~l13keV)에서 가장 높은(0.80) 상관계수를 기록했다. 넷째, 회복기 중에 일어나는 입자들의 유입은 자기폭풍의 지속시간을 연장시키는 경향을 보이며 큰 자기폭풍일수록 현저했다. 주상에서 관측된 이러한 특성은 서브스톰 확장기 활동이 자기폭풍의 발달과 밀접한 관계가 있음을 시사한다.se that were all low in two aspects, named "the Nonsignificant group". And the issues were high risk perception in general setting and lo

• The KIPS Transactions:PartA
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• v.12A no.4 s.94
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• pp.327-332
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• 2005

In the field of computer graphics, we have several research results to display the ocean waves on the screen, while we still not have a complete solution yet. Though ocean waves are constructed from a variety of sources, the dominant one is the surface gravity wave, which is generated by the gravity and the wind. In this Paper, we Present a real-time surface gravity wave simulation method, derived from a precise ocean wave model in the oceanography. There are research results based on the Pierson-Moskowitz(PM) model[1], which assumes infinite depth of water and thus shows some mismatches in the case of shallow seas. In this paper, we started from the Texel, Marsen and Arsloe(TMA) model[2], which is a more precise wave model and thus can be used to display more realistic ocean waves. We derived its implementation model for the graphics applications and our prototype implementation shows about 30 frames per second on the Intel Pentium 4 1.6GHz-based personal computer. Our major contributions to the computer graphics area ill be (1) providing more user-controllable parameters to finally generate various wave shapes and (2) the improvement on the expression power of waves even in the shallow seas.

• Korean Chemical Engineering Research
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• v.50 no.6
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• pp.952-959
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• 2012

The photocatalytic reactor was designed to have improved efficiency by enhancing a light intensity of photocatalytic reactor using a reflector coated on the surface at the outer radius of annular shaped photocatalytic reactor. The improved photocatalytic reactor performed to treat waste air containing malodor and VOC with the enhanced light intensity, of which the effect on their removal efficiency was investigated. The intensities of illumination of the improved photocatalytic reactor filled with porous silica-based media and nonporous glass bead media carrying photocatalyst were observed to increase by 28.5% and 30.1%, respectively, compared to those of photocatalytic reactor without any reflector. Using the improved photocatalytic reactor filled with porous silica-based media and nonporous glass bead media carrying photocatalyst, the removal efficiencies were enhanced by 2~3% and insignificantly, respectively. The removal efficiencies of the optimized photocatalytic reactor with reflectors, filled with porous silica-based media carrying photocatalyst, were observed to increase by 26% and 60%, compared to those of photocatalytic reactor (i.e., 19% and 53%), without any reflector, filled with nonporous glass bead media carrying photocatalyst, for hydrogen sulfide and toluene, respectively. The roughness of used reflector surface was measured to be ca. four times as big as that of a commercial mirror. However, their removal efficiencies are expected to be enhanced by increasing an light intensity resulting from lowering the roughness of used reflector coated on the improved photocatalytic reactor in the future.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.26 no.3
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• pp.227-239
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• 2008

Processing LiDAR (Light Detection And Ranging) data obtained from ALS (Airborne Laser Scanning) systems mainly involves organization and segmentation of the data for 3D object modeling and mapping purposes. The ALS systems are viable and becoming more mature technology in various applications. ALS technology requires complex integration of optics, opto-mechanics and electronics in the multi-sensor components, Le. data captured from GPS, INS and laser scanner. In this study, digital image processing techniques mainly were implemented to gray level coded image of the LiDAR data for building extraction and superstructures segmentation. One of the advantages to use gray level image is easy to apply various existing digital image processing algorithms. Gridding and quantization of the raw LiDAR data into limited gray level might introduce smoothing effect and loss of the detail information. However, smoothed surface data that are more suitable for surface patch segmentation and modeling could be obtained by the quantization of the height values. The building boundaries were precisely extracted by the robust edge detection operator and regularized with shape constraints. As for segmentation of the roof structures, basically region growing based and gap filling segmentation methods were implemented. The results present that various image processing methods are applicable to extract buildings and to segment surface patches of the superstructures on the roofs. Finally, conceptual methodology for extracting characteristic information to reconstruct roof shapes was proposed. Statistical and geometric properties were utilized to segment and model superstructures. The simulation results show that segmentation of the roof surface patches and modeling were possible with the proposed method.

• Journal of Soil and Groundwater Environment
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• v.11 no.6
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• pp.76-82
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• 2006

Fenton's reaction are difficult to apply in the field due to the low pH requirements for the reaction and the loss of reactivity caused by the precipitation of iron (II) at neutral pH. Moreover, Fenton-like reactions using iron mineral instead of injection of iron ion as a catalyst are operated to get high removal result at low pH. Because hydroxyl radical can generate at the surface of iron mineral, there are competition with a lot of hydroxide at around neutral pH. On the other side, to operate Fenton's reaction series at neutral pH, modified Fenton reaction is suggested. The complexes, composed by iron ions (ferrous ion or ferric ion)-chelating agent, could be acted as a catalyst and presented in the solution at neutral pH. However, modified Fenton reaction requires a lot of hydrogen peroxide. Accordingly, the purpose of this experiment was to effectively combine Fenton-like reaction and modified Fenton reaction for extending application of Fenton's reaction. i.e., injecting chelating agents in Fenton-like reaction at around neutral pH is increasing the concentration of dissolved iron ion and highly promoting the oxidation effect. 2,4,6-trinitrotoluene (TNT) was used as a probe compound for comparing reaction efficiencies in this study. If the concentration of dissolved iron ion in combined Fenton process were existed more than 0.1 mM, the total TNT removal were increased. Magnetite-NTA system showed the best TNT removal (76%) and Magnetite-EDTA system indicated about 56% of TNT removal. The results of these experiments proved more promoted 40-60% of TNT removal than Fenton-like reaction's.

• Solar Energy
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• v.12 no.3
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• pp.10-20
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• 1992

In this experiment, photochemical reaction has been applied to destroy TCE in water phase. The main target of this work is to investigate the technical feasibility of large scale of solar detoxification reactor for water treatment. The results have revealed that solar detoxification utilizing photon energy from the sun is the most attractive process to decompose organic toxins in water phase at room temperature. The detailed results from this work are as follows; (1) The highest conversion ratio of TCE was obtained by using $TiO_2$, annatase as a photocatalyst among $TiO_2$ anatase, $TiO_2$ rutile and $V_2O_5$ under the same experimental condition. The anatase crystal structure was confirmed with XRD analysis, and its surface area was 7.748 $m^2/g$ from the BET-$N_2$ measurement (2) 0.1 wt% of $TiO_2$ anatase has been adopted as optimal quantity for batch slurry reactor at this experimental conditions. (3) The effect of hydrogen peroxide on the conversion of TCE was investigated. Its optimal quantity was 0.06 vol. % under this experimental conditions. (4) The effect of oxygen on the conversion of TCE also was studied by controlling the head space in photoreactor. Results indicated that sufficient amount of oxygen should be supplied to accomplish the highest conversion rate of TCE in water phase.