• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.93-98
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• 2023

In this paper, the development of an autonomous electric vehicle for logistics with a robotic arm is introduced. The manual driving electric vehicle was converted into an electric vehicle platform capable of autonomous driving. For autonomous driving, an encoder is installed on the driving wheels, and an electronic power steering system is applied for automatic steering. The electric vehicle is equipped with a lidar sensor, a depth camera, and an ultrasonic sensor to recognize the surrounding environment, create a map, and recognize the vehicle location. The odometry was calculated using the bicycle motion model, and the map was created using the SLAM algorithm. To estimate the location of the platform based on the generated map, AMCL algorithm using Lidar was applied. A user interface was developed to create and modify a waypoint in order to move a predetermined place according to the logistics process. An A-star-based global path was generated to move to the destination, and a DWA-based local path was generated to trace the global path. The autonomous electric vehicle developed in this paper was tested and its utility was verified in a warehouse.

• Journal of Environmental Science International
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• v.27 no.8
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• pp.651-663
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• 2018

The hydrochemistry of groundwater from 47 wells in the Chungwon area, Korea was analyzed to examine the occurrence of natural radionuclides like uranium and radon. The range of Electrical Conductivity (EC) value in the study area was $67{\sim}1,404{\mu}S/cm$. In addition to the high EC value, the content of cations and anions also tends to increase. Uranium concentrations ranged from $ND{\sim}178{\mu}g/L$ (median value, $0.8{\mu}g/L$) and radon concentrations ranged from 80~12,900 pCi/L (median value, 1,250 pCi/L). Uranium concentrations in one well, that is 2.8% of the samples, exceeded $30{\mu}g/L$, which is the Maximum Contaminant Level (MCL) proposed by the US Environmental Protection Agency (EPA), based on the chemical toxicity of uranium. Radon concentrations in three wells, that is 6% of the samples, and one well, that is 2.8% of the samples, exceeded 4,000 pCi/L (AMCL of the US EPA) and 8,100 pCi/L (Finland's guideline level), respectively. Concentrations of uranium and radon related to geology of the study area show the highest values in the groundwater of the granite area. The uranium and radon contents in the groundwater were found to be low compared to those of other countries with similar geological settings. It is likely that the measured value was lower than the actual content due to the inflow of shallow groundwater by the lack of casing and grouting.

• Economic and Environmental Geology
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• v.43 no.1
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• pp.33-42
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• 2010

The purpose of this study was to understand the degree of natural radon removal efficiency of small-scale water supply systems. Six sites were selected for this study, and data on well characteristics (depth, pumping rate, water tank capacity, distance from well to tap water) were obtained. Water samples both from raw water and three tap waters at each site were collected and analyzed for radon concentration. Average radon removal efficiency of the five sites (A-E) in Nov. 2006 was 26.0% while that of the same sites in Dec. 2006 was 45.6% indicating seasonal difference in natural radon removal efficiency. Meanwhile short-term (April 23, April 30, May 8, 2007) radon removal efficiency from the site F was 44.1-49.0%, implying only a little difference in natural radon removal efficiency. The degree of radon removal at tap water was influenced mainly by pumping rate rather than distance from the well and water tank capacity.

• The Journal of Engineering Geology
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• v.23 no.4
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• pp.477-491
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• 2013

Natural radionuclides in groundwater in the Danyang area were investigated to characterize the behaviors of uranium and radon with respect to lithology and physico-chemical components, which can aid our understanding of their occurrence, properties, and origins. To this end, a total of 100 groundwater samples were collected and analyzed, and radionuclide levels were used to construct detailed concentration maps. The water type of the groundwater, assessed using a Piper diagram, is mainly Ca-Na-$HCO_3$. The concentrations of uranium range from 0.02 to $251.0{\mu}g/L$ (average, $3.85{\mu}g/L$) and only 1% exceed USEPA's MCL (Maximum Contaminant Level). Uranium is enriched in groundwaters of Cretaceous granites and Precambrian metamorphic rocks, whereas it is depleted in groundwaters of sedimentary rocks. The concentrations of radon range from 13 to 28,470 pCi/L (average, 2397 pCi/L). Only 15% of the samples exceed AMCL (Alternative Maximum Contaminant Level) of 4000 pCi/L. The radon concentration is highest in groundwater of Cretaceous granites and lowest in groundwater of sedimentary rocks. In conclusion, the distribution and occurrence of radionuclides are intimately related to the basic geological characteristics of the rocks in which the radiogenic minerals are primarily contained. The behavior of uranium is only weakly related to that of radon (correlation coefficient = 0.15). There are also weak correlations between radionuclides and the main chemical components, pH, EC, Eh, and well depth. Of note, the correlation coefficient between radon and $SiO_2$ is 0.68, and that between radon and $HCO_3$ is -0.48. Factor analysis shows that radionuclides behave somewhat independently of each other because there are no significant factors that control the behavior of chemical components as well as radionuclides. The detailed concentration maps during this study will be used to establish useful database of radionuclide distribution and geological properties throughout Korea.

• Economic and Environmental Geology
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• v.51 no.1
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• pp.27-38
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• 2018

Groundwaters in different rock types (Mesozoic granite, Precambrian gneiss, and schist) of Ganghwa island, Incheon City were characterized by using naturally occurring radioactive materials (NORM) and hydrogeochemical constituents. For the study, groundwater samples from 69 wells had been collected over eight years. Statistical methods were applied to relate hydrogeochemical components and NORM in the groundwater samples. The groundwater samples belonged to $Ca(Na)-HCO_3$ types. The uranium concentrations in three groundwater samples exceeded 30 ug/L of United States Environmental Protection Agency (US EPA) maximum contaminant level (MCL). The radon concentrations in 28 groundwater samples exceeded 4,000 pCi/L (picocuries per Liter) of US EPA alternative maximum contaminant level (AMCL). Gross-alpha in all the groundwater samples did not exceed 15 pCi/L of US EPA MCL. The average concentrations of uranium and radon in groundwater were the highest in granite area, and then gneiss, schist areas in order. In schist area, the correlation coefficient (R) between radon and $HCO_3$ is -0.40 and R between uranium and $SO_4$ is 0.54. In gneiss area, the R between radon and uranium is 0.55 and the R between uranium and $SO_4$ is 0.41. According to factor analysis, each geological area shows different chemical characteristics. The statistical analysis of whole groundwater resulted in nearly no significant relationship among uranium, radon and chemical constituents. Subsequently, more detailed studies on hydrogeological, geochemical, and geological characteristics related to NORM are required to better understand the behavior and fate of NORM.

• Journal of Soil and Groundwater Environment
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• v.18 no.1
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• pp.36-45
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• 2013

We analyzed natural radionuclides in 80 wells in volcanic rock areas and investigated environmental characteristics. Uranium and radon concentrations ranged from ND to $9.70{\mu}g/L$ (median value: 0.21) ${\mu}g/L$, 38~29,222 pCi/L (median value: 579), respectively. In case of gross-${\alpha}$, 26 samples exceeded MDA (minimum detectable activity, < 0.9 pCi/L) value and the activity values ranged from 1.05 to 8.06 pCi/L. The radionuclides concentrations did not exceed USEPA MCL (maximum contaminant level) value of Uranium ($30{\mu}g/L$) and gross-${\alpha}$ (15 pCi/L). But Rn concentrations in 4 samples exceeded USEPA AMCL (Alternative maximum contaminant level, 4,000 pci/L) and one of them showed a significantly higher value (29,222 pCi/L) than the others. The levels of uranium concentrations in volcanic rock aquifer regions were detected in order of andesite, miscellaneous volcanic rocks, rhyolite, basalt aquifer regions. Radon, however, was detected in order of miscellaneous volcanic rocks, rhyolite, andesite, basalt aquifer regions. The correlation coefficient between uranium and radon was r = 0.45, but we found that correlations of radionuclides with in-situ data or major ions were weak or no significant. The correlation coefficient between the depth of wells and uranium concentrations was a slightly higher than that of depth of wells and radons. Radionuclide concentrations in volcanic rock aquifers showed lower levels than those of other rock aquifers such as granite, metamorphic rock aquifers, etc. This result may imply difference of host rock's bearing-radioactive-mineral contents among rock types of aquifers.

• Journal of Korean Society on Water Environment
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• v.23 no.2
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• pp.201-205
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• 2007

This paper reports the amount of $^{222}Rn$ and $^{238}U$ in 18 sites of ground water and 30 sites of surface water. The instrument used to count $^{222}Rn$ activity was the liquid scintillation counter (LSC) which could resolute ${\alpha}$ and ${\beta}$ radiations. And $^{238}U$ was analyzed by the inductively coupled plasma (ICP). Radon and Uranium were not detected in raw and treated water which were sampled in a water treatment plant. However, radon ($^{222}Rn$) was high concentration in ground water from Jeon-la, Gang-won. So was uranium ($^{238}U$) in case of ground water from Gang-won, Choong-chung. Radon ($^{222}Rn$) activities were detected less than 15 pCi/L at 5 sampling points, 15~300 pCi/L at 7 sampling points, 300~4000 pCi/L at 6 sampling points. However, Radon ($^{222}Rn$) activities of all ground water samples were less than 4,000 pCi/L, which was bellow American Alternative Maximum Contamination Level (AMCL). Uranium ($^{238}U$) concentrations were less than $0.1{\mu}g/L$ at 5 sampling points, from $0.1{\mu}g/L$ to $20{\mu}g/L$ at 13 sampling points. Uranium was not detected in about 30% of the whole samples, but the concentration ranged from relatively low to high concentrations depending on the sampling point. The minimum detectable activity (MDA) of radon was 15 pCi/L. and the detection limit of uranium was $0.1{\mu}g/L$.

• The Journal of Engineering Geology
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• v.24 no.4
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• pp.551-574
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• 2014

The occurrence, distribution, and hydrogeochemical characteristics of uranium and radon in groundwater within different lithologies in Gyeongnam and Gyeongbuk provinces were investigated. A total of 201 groundwater samples from sedimentary rocks taking a large portion of the geology and from igneous rocks taking a small portion of the geology were analyzed and examined using factor analysis. Their radionuclide levels were used to construct detailed concentration maps. The groundwater types, defined using a Piper diagram, are mainly Ca-$HCO_3$ with less Na-$HCO_3$. Among the samples, one site exceeds $30{\mu}g/L$ of uranium (i.e., the maximum contaminant level of the USEPA) and three sites exceed 4,000 pCi/L of radon (i.e., the alternative maximum contaminant level). No samples were found to exceed the 15 pCi/L level of gross alpha or the 5 pCi/L level of radium. The concentration of uranium ranges from 0.02 to $53.7{\mu}g/L$, with a mean of $1.56{\mu}g/L$, a median of $0.47{\mu}g/L$, and a standard deviation of $4.3{\mu}g/L$. The mean concentrations of uranium for the different geological units increase in the following order: Shindong Group, Granites, Hayang Group, Yucheon Group, and Tertiary sedimentary rocks. The concentration of radon ranges from 2 to 8,740 pCi/L, with an mean of 754 pCi/L, a median of 510 pCi/L, and a standard deviation of 907 pCi/L. The mean radon concentrations for the investigated geological units increase in the following order: Granites, Yucheon Group, Tertiary sedimentary rocks, Hayang Group and Shindong Group. According to the factor analysis for each geological unit, uranium and radon behave independently of each other with no specific correlation. However, radionuclides show close relationships with some components. Regional investigations of radionuclides throughout the country require an integrated approach that considers the main lithological units as well as administrative districts.