• 제어로봇시스템학회논문지
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• 제18권5호
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• 대기
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• 제20권3호
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• pp.221-228
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• 2010

Aerosol particles with different size-cuts ($PM_{10}$, $PM_{2.5}$, and $PM_{1.0}$) were collected at Gosan Superstation on Jeju Island from August 2007 to June 2008. Mean concentrations of $PM_{10}$, $PM_{2.5}$ and $PM_{1.0}$ were $29.28{\mu}gm^{-3}$, $17.83{\mu}gm^{-3}$, and $14.30{\mu}gm^{-3}$, respectively. Soluble ions comprised 45.7%, 53.9%, and 60.3% of the total mass of $PM_{10}$, $PM_{2.5}$, and $PM_{1.0}$, respectively. While sulfate was the most dominant species of fine mode ($PM_{1.0}$), nitrate was enriched in coarse mode ($PM_{1.0-10}$). When the concentrations of coarse mode particles were greatly increased, nitrate tended to be enhanced in coarse mode with high calcium but low sulfate concentrations. During the high $PM_{1.0}$ events, however, nitrate was increased with sulfate at fine mode. Particularly, nitrate concentrations were substantially enhanced during high particle episodes, leading high ratios of nitrate to sulfate in air under northwest wind during wintertime. On the other hand, the levels of nitrate were lower than those of sulfate at average particle concentrations. The backward air mass trajectories indicated that nitrate concentrations were elevated in air arriving Gosan passing through Santung peninsula or near South Korea.

• 한국대기환경학회지
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• 제20권4호
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• pp.555-569
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• 2004

Size -segregated measurements of aerosol composition using 8-stage DRUM impactor are used to determine the transport of natural and anthropogenic aerosols at Gosan site from 29 March to 30 May in 2002. Separation of ambient aerosols by DRUM impactor offers many Advantages over other standard filtration techniques. Some of the most important advantages are the ability to segregate into details by particle tire, to better preserve chemical integrity since the air stream doesn＇t pars through the deposit, to collect samples as a function of time, and to have a wide variety of impaction surfaces available to match analytical needs. Although the transport of Yellow sand is a well-known phenomenon in springtime, the result of measurement shows that not only soil dust but also anthropogenic aerosols, including sulfur, enriched trace metals such as Pb, Ni, Zn. Cu, Cr, As, Se, Br, are transported to Gosan in springtime. This study combines the size- and time-resolved aerosol composition measurements with isentropic, backward air-mass trajectories in order to identify some potential source regions of anthropogenic aerosols. As a result, during the NYS period, the average concentration of PM$_{10}$ was 46$\mu\textrm{g}$/㎥, Si, Al. S, Fe, Cl, K, Ca were higher than 1,000 ng/㎥ and Ti was about 100 ng/㎥. The concentrations of Zn, Mn, Cu. Pb, Br, Rb, V, Cr, Ni. At, Se ranged between 1 and 70 ng/㎥. More than 50% typical soil elements, tuck as Al, Si, Fe, Cd. Ti, Cr, Cu, Br. were distributed in a coarse particle range(5.0-12${\mu}{\textrm}{m}$). In other hand, anthropogenic pollutants, luck as S, N, Vi, were mainly distributed in a fine particle range (0.09-0.56${\mu}{\textrm}{m}$). During the YS period, PM$_{10}$ increased about 8 times than NYS period, and main soil elements, such as Al, Si, S, K, V, Mn, Fe also doubled in coarse particle range (1.15-12${\mu}{\textrm}{m}$). But Zn, As, Pb, Cu and Se, which distributed in the time aerosols (0.09-0.56${\mu}{\textrm}{m}$), were on the same level with or decreased than NYS period. Finally. except the YS Period, coarse particles (2.5-12${\mu}{\textrm}{m}$) are inferred to be influenced by soil, coal combustion, waste incineration, ferrous and nonferrous sources through similar pathways with Yellow Sand. But fine particles have different sources, such as coal combustion, gasoline vehicle, biomass burning, oil or coal combustion, nonferrous and ferrous metal sources, which are transported from China, Korea peninsula and local sources.ces.

• 한국입자에어로졸학회지
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• 제15권3호
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• pp.91-104
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• 2019

In this study, hourly measurements of $PM_{2.5}$ and its major chemical constituents such as organic and elemental carbon (OC and EC), and ionic species were made between January 15 and February 10, 2018 at the air pollution intensive monitering station in Gwangju. In addition, 24-hr integrated $PM_{2.5}$ samples were collected at the same site and analyzed for OC, EC, water-soluble OC (WSOC), humic-like substance (HULIS), and ionic species. Over the whole study period, the organic aerosols (=$1.6{\times}OC$) and $NO_3{^-}$ concentrations contributed 26.6% and 21.0% to $PM_{2.5}$, respectively. OC and EC concentrations were mainly attributed to traffic emissions with some contribution from biomass burning emissions. Moreover, strong correlations of OC with WSOC, HULIS, and $NO_3{^-}$ suggest that some of the organic aerosols were likely formed through atmospheric oxidation processes of hydrocarbon compounds from traffic emissions. For the period between January 18 and 22 when $PM_{2.5}$ pollution episode occurred, concentrations of three secondary ionic species ($=SO{_4}^{2-}+NO_3{^-}+NH_4{^+}$) and organic matter contributed on average 50.8 and 20.1% of $PM_{2.5}$, respectively, with the highest contribution from $NO_3{^-}$. Synoptic charts, air mass backward trajectories, and local meteorological conditions supported that high $PM_{2.5}$ pollution was resulted from long-range transport of haze particles lingering over northeastern China, accumulation of local emissions, and local production of secondary aerosols. During the $PM_{2.5}$ pollution episode, enhanced $SO{_4}^{2-}$ was more due to the long-range transport of aerosol particles from China rather than local secondary production from $SO_2$. Increasing rate in $NO_3{^-}$ was substantially greater than $NO_2$ and $SO{_4}^{2-}$ increasing rates, suggesting that the increased concentration of $NO_3{^-}$ during the pollution episode was attributed to enhanced formation of local $NO_3{^-}$ through heterogenous reactions of $NO_2$, rather than impact by long-range transportation from China.

• 대한원격탐사학회지
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• 제30권2호
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• pp.241-249
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• 2014

본 연구에서는 광주과학기술원의 다파장 라만 라이다 시스템을 이용하여 2009년부터 2011년, 3년동안 광주에서 대기 에어로졸의 관측을 실시하였다. 관측된 라이다 신호의 분석으로부터 산출된 편광소멸도를 이용하여 황사의 층을 구분해 내었다. 구분 된 황사의 층의 고도에 따른 정보들은 Hybrid Single Particle Lagrangian Integrated Trajectory(HYSPLIT) 모델을 이용한 황사 층의 역궤적 분석에 이용되었고, 그 정보들을 통하여, 황사 층의 발원지 및 유입경로를 규명할 수 있었다. 한반도로 유입되는 황사는 고비사막을 기원으로 하는 경우가 가장 많은 것으로 나타났으며, 또한, 황사의 이동경로에 따른 광학적 특성 변화를 규명하기 위해, 중국 공업지역을 통과하여 유입된 황사 층과 발원지로부터 한반도로 직접적으로 유입된 황사의 구분하여 경로에 따른 입자 편광소멸도의 통계 분석을 실시하였다. 중국 공업지역을 통과하여 한반도로 유입된 황사의 편광소멸도는 0.07-0.1의 값을 보인 반면, 발원지로부터 공업지역을 경유하지 않고 직접 유입된 황사의 편광소멸도는 0.11-0.15로 상대적으로 높은 값을 보였다. 이는 발원지에서 발생한 순수 황사입자가 이동 중에 공업지역에서 발생한 오염입자와 혼합하여 황사층의 편광소멸도를 감소시킨 것으로 사료된다.

• 한국지구과학회지
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• 제34권7호
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• pp.693-710
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• 2013

동아시아 지역 봄철에 주로 발생하는 황사의 물리적 특성을 알아보기 위하여 부산지역에서 발생한 2009년 황사 기간의 종관 일기도와 자동기상관측장비(AWS)를 이용한 기상해석, $PM_{10}$ 샘플러와 레이저입자계수기(LPC)를 이용한 대기입자상 물질농도 분석, 위성영상과 역궤적분석 모델을 이용한 발생원을 조사하였다. 2009년 2월 20일의 경우 (사례 1), $PM_{10}$ 농도가 급격히 증가할 때 $0.3-1.0{\mu}m$의 작은 입자의 에어로솔 체적 농도 분포가 감소한 반면 $1.0-10.0{\mu}m$의 큰 입자의 농도는 증가하였다. 그 후 $PM_{10}$ 농도가 감소할 때 지상의 풍향은 북풍에서 남서풍으로 변하였으며, 전체 에어로솔 농도는 감소하였다. $PM_{10}$과 $1.0-10.0{\mu}m$의 큰 입자 농도의 상관계수는 0.9 이상으로 높은 양의 상관관계를 나타내었다. 이는 내몽골 지역에서 발달된 황사가 중국 고비 사막을 통과하여 한반도로 유입된 것으로 추측할 수 있었다. 2009년 4월 25일의 경우 (사례 2), $PM_{10}$ 농도가 급격히 증가할 때 $0.3-0.5{\mu}m$의 작은 입자의 에어로솔 체적 농도 분포가 감소한 반면 $0.5-10.0{\mu}m$의 큰 입자의 농도는 증가하였다. 그 후 $PM_{10}$ 농도가 감소할 때 $0.3-0.5{\mu}m$의 작은 입자의 농도는 증가한 반면 $0.5-10.0{\mu}m$의 큰 입자의 농도는 감소하였다. 이 때 지상의 풍향은 북동풍에서 남서풍으로 변한 후 다시 북동풍으로 변하였다. $PM_{10}$과 $1.0-10.0{\mu}m$의 큰 입자의 농도의 상관계수는 약 0.9에 가까운 높은 양의 상관관계를 나타내었다. 입자의 역궤적 수송 모델 분석 결과, 만주지역과 중국 동쪽 해안으로부터 한반도로 유입된 것으로 추측할 수 있었다.

• 한국대기환경학회지
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• 제34권4호
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• pp.567-587
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• 2018

A severe haze event occurred in October 2015 in Gwangju, Korea. In this study, the driving chemical species and the formation mechanisms of $PM_{2.5}$ pollution were investigated to better understand the haze event. Hourly concentrations of $PM_{2.5}$, organic and elemental carbon, water-soluble ions, and elemental constituents were measured at the air quality intensive monitoring station in Gwangju. The haze event occurred was attributed to a significant contribution (72.3%) of secondary inorganic species concentration to the $PM_{2.5}$, along with the contribution of organic aerosols that were strongly attributed to traffic emissions over the study site. MODIS images, weather charts, and air mass backward trajectories supported the significant impact of long-range transportation (LTP) of aerosol particles from northeastern China on haze formation over Gwangju in October 2015. The driving factor for the haze formation was stagnant atmospheric flows around the Korean peninsula, and high relative humidity (RH) promoted the haze formation at the site. Under the high RH conditions, $SO{_4}^{2-}$ and $NO_3{^-}$ were mainly produced through the heterogenous aqueous-phase reactions of $SO_2$ and $NO_2$, respectively. Moreover, hourly $O_3$ concentration during the study period was highly elevated, with hourly peaks ranging from 79 to 95ppb, suggesting that photochemical reaction was a possible formation process of secondary aerosols. Over the $PM_{2.5}$ pollution, behavior and formation of secondary ionic species varied with the difference in the impact of LTP. Prior to October 19 when the influence of LTP was low, increasing rate in $NO_3{^-}$ was greater than that in $NO_2$, but both $SO_2$ and $SO{_4}^{2-}$ had similar increasing rates. While, after October 20 when the impact of haze by LTP was significant, $SO{_4}^{2-}$ and $NO_3{^-}$ concentrations increased significantly more than their gaseous precursors, but with greater increasing rate of $NO_3{^-}$. These results suggest the enhanced secondary transformation of $SO_2$ and $NO_2$ during the haze event. Overall, the result from the study suggests that control of anthropogenic combustion sources including vehicle emissions is needed to reduce the high levels of nitrogen oxide and $NO_3{^-}$ and the high $PM_{2.5}$ pollution occurred over fall season in Gwangju.