• Journal of Korean Society on Water Environment
• /
• v.20 no.5
• /
• pp.506-511
• /
• 2004

Maintaining dissolved oxygen (DO) at sufficiently low concentration in the aeration tank at a wastewater treatment plant (WWTP) is essential for reduction of the costs of operation and maintenance. On the other hand, the low DO level may result in adverse effect on the integrity of the activated sludge, A typical and disastrous outcome frequently experienced is the outgrowth of filamentous microorganisms, which is called as filamentous bulking, In addition to the traditional methods such as sludge settleability and microscopic observation of the culture, molecular techniques including polymerase chain reaction (PCR) amplification followed by 16S rRNA sequencing were applied to identify filamentous bacteria present in bulking sludge under a condition of low DO concentration, Two morphologically distinct groups, presumably consisting of Sphaerofilus nafans, and Eikelboom Type 1701 or Type 1851, were identified through microscopic observation. They were further confirmed by subsequent 16S rRNA sequencing. Dominant filamentous bacteria identified by the molecular techniques were consisted of three major groups. Sequences of partial 16S rRNA cloned showed that the filamentous bulking organisms were closely related to Eikelboom Type 021N and Eikelboom Type 1701, and Sphaerotilus natans, respectively. Molecular methods were found to possess a strong potential of direct examination of the microbial community of an activated sludge system.

• Journal of Korean Society on Water Environment
• /
• v.26 no.1
• /
• pp.160-167
• /
• 2010

In this research, the performance evaluation between an alternating type process and a recirculating type process was investigated by using mathematical models. The Advanced Phase Isolation Ditch (APID) process and the $A^2/O$ process were selected the target processes of the alternating type and recirculating type, respectively. For more quantitative evaluation, 5 performance indexes which included economy and energy efficiency as well as effluent quality were used, and various disturbance conditions of influent were given to the process models. As simulation results, the APID process which had the specific operation modes to use the organic matter in influent effectively showed higher efficiency of denitrification than the $A^2/O$ process. In the case of effluent TSS, the $A^2/O$ process that the retention time in reactors could be maintained stably was more effective than the APID process. In the cases of various disturbance condition, although it was identified that both two processes had similar effluent quality, the sludge production of the $A^2/O$ process showed lower than that of the APID process while the APID process showed higher energy efficiency.

• The Journal of Korea Robotics Society
• /
• v.8 no.1
• /
• pp.51-57
• /
• 2013

Recently, the number of jellyfish has been rapidly grown because of the global warming, the increase of marine structures, pollution, and etc. The increased jellyfish is a threat to the marine ecosystem and induces a huge damage to fishery industries, seaside power plants, and beach industries. To overcome this problem, a manual jellyfish dissecting device and pump system for jellyfish removal have been developed by researchers. However, the systems need too many human operators and their benefit to cost is not so good. Thus, in this paper, the design, implementation, and experiments of autonomous jellyfish removal robot system, named JEROS, have been presented. The JEROS consists of an unmanned surface vehicle (USV), a device for jellyfish removal, an electrical control system, an autonomous navigation system, and a vision-based jellyfish detection system. The USV was designed as a twin hull-type ship, and a jellyfish removal device consists of a net for gathering jellyfish and a blades-equipped propeller for dissecting jellyfish. The autonomous navigation system starts by generating an efficient path for jellyfish removal when the location of jellyfish is received from a remote server or recognized by a vision system. The location of JEROS is estimated by IMU (Inertial Measurement Unit) and GPS, and jellyfish is eliminated while tracking the path. The performance of the vision-based jellyfish recognition, navigation, and jellyfish removal was demonstrated through field tests in the Masan and Jindong harbors in the southern coast of Korea.

• The Journal of Korea Robotics Society
• /
• v.11 no.4
• /
• pp.262-269
• /
• 2016

Flight of an autonomous unmanned aerial vehicle (UAV) generally consists of four steps; take-off, ascent, descent, and finally landing. Among them, autonomous landing is a challenging task due to high risks and reliability problem. In case the landing site where the UAV is supposed to land is moving or oscillating, the situation becomes more unpredictable and it is far more difficult than landing on a stationary site. For these reasons, the accurate and precise control is required for an autonomous landing system of a UAV on top of a moving vehicle which is rolling or oscillating while moving. In this paper, a vision-only based landing algorithm using dynamic gimbal control is proposed. The conventional camera systems which are applied to the previous studies are fixed as downward facing or forward facing. The main disadvantage of these system is a narrow field of view (FOV). By controlling the gimbal to track the target dynamically, this problem can be ameliorated. Furthermore, the system helps the UAV follow the target faster than using only a fixed camera. With the artificial tag on a landing pad, the relative position and orientation of the UAV are acquired, and those estimated poses are used for gimbal control and UAV control for safe and stable landing on a moving vehicle. The outdoor experimental results show that this vision-based algorithm performs fairly well and can be applied to real situations.

• Journal of the Korean Geotechnical Society
• /
• v.28 no.4
• /
• pp.115-124
• /
• 2012

The responses of stone column-improved ground under seismic loading are investigated using a series of 1g shaking table tests. These tests show similar results to those of one dimensional numerical models for stone column-improved ground based on Baez's assumption on the soil and stone-column interaction. The experimental and numerical results show that the stone column can prevent large shear deformations incurred due to cyclic softening in clayey deposits, but they also show that the surface acceleration in the improved clayey deposits may amplify more than that in unimproved clayey deposits when subjected to short periodic seismic motions.

• Proceedings of the Korean Geotechical Society Conference
• /
• 2010.09b
• /
• pp.61-67
• /
• 2010

Thick soft clay deposits which are generally located at the west and south coast of the Korean peninsula have complicated characteristics according to their orientation and formation history. Thus, several geotechnical problems could possibly occur when those soft clay deposits are used as foundations for marine structures. Deep cement mixing (DCM) method is one of the most widely used soft soil improvement method for various marine structures, nowadays. DCM method injects binders such as cement into the soft ground directly and mixes with the in-situ soil to improve the strength and other geotechnical properties sufficiently. However, the natural impacts induced by dynamic motions such as ocean waves, wind, typhoon, and tusnami give significant influences on the stability of marine structures and their underlaying foundations. Thus, the dynamic properties become important design criteria to insure the seismic stability of marine structures. In this study, the dynamic behavior of cemented Busan clay is evaluated. Laboratory unconfined compression test and resonant column test are performed on natural in-situ soil and cement mixed specimens to confirm the strength and strain-dependent dynamic behavior variation induced by cement mixing treatment. Results show that the unconfined compressive strength and shear modulus increase with curing time and cement content increment. Finally, the optimized cement mixing ratio for sufficient dynamic stability is obtained through this study. The results of this study are expected to be widely used to improve the reliability of seismic design for marine structures.

• Proceedings of the Korean Geotechical Society Conference
• /
• 2009.03a
• /
• pp.729-736
• /
• 2009

Several well resistance effects induced by bending, confining stress, temperature, bubbles, and apparent opening size have been considered and researched for the reasonable PBD design. The effect of apparent opening size(AOS), however, was not extensively studied and the clogging effect by AOS was not clearly researched. In this paper, the slurry consolidation test which 4 types of PBD are installed in large slurry consolidometer($H{\times}D$, $2.0m{\times}1.2m$) is performed to investigate the clogging effect by filter's AOS. The results show that the internal clogging is observed all types of PBD, and a quantity of inflowed soil particles are increased at the lower part of PBD and the kink zone. In addition, the internal clogging phenomenon does not relate with the shape and size of PBD. In filter's AOS test, it was easily observed that soil particles bigger than AOS of tested filter passed PBD filter by SEM. This paper demonstrates that the reduction of discharge capability may be accelerated by internal clogging at the kink zone.

• Proceedings of the Korean Geotechical Society Conference
• /
• 2009.03a
• /
• pp.255-264
• /
• 2009

Soils containing vanishing materials lead changes in the microstructure of particulate media due to water inflow. Thus, dissolution renders some local unstability. As the moisture contents decease, the component of the vanished materials may affects on the cementation of paniculate materials. This cementation phenomenon has a huge influence on the stiffness, strength and stability under lower stress level. The goal of this study is to introduce the cementation effects on a compressional wave velocity, a shear wave velocity, and the resonant frequency of shear waves. The glass bead and salt water with different mole contents are used. Test results show that the changes of shear and compressional wave velocities consist of three stages. In the first region, compressional wave velocities increase and shear wave velocities decrease with a decreases in reducing water contents from 100% to 90~95%. In the second region, shear and compressional wave velocities become stable at 90~95% to 10% of the water contents. In the third region, shear and compressional wave velocities increases dramatically with a decrease in the water content due to the capillary force and cementation of salt. Furthermore, the resonant frequency of the shear waves shows similar phenomenon. Specimens prepared by glass beads and salt water are proved to be able to provide a meaningful insight in under structural behaviors of the cementation.

• Journal of the Korean Geotechnical Society
• /
• v.20 no.2
• /
• pp.107-113
• /
• 2004

A new innovative prestressed support (IPS) earth retention system has been developed and introduced. The IPS is a wale system prestressed by steel wires. The IPS consists of wale, wires, and H-beam support. The IPS provides a high flexural stiffness to resist the bending by earth pressures. The IPS earth retention system provides a larger spacing of support, economical benefit, construction easiness, good performance, and safety control. This paper explains basic principles and mechanism of new IPS system and presents a design method of IPS earth retention system. In order to investigate applicability and safety of new IPS system, field tests were performed in a trench excavation. The new IPS system applied in a trench excavation was performed successfully. The measured performances of IPS system were presented and discussed.

• Journal of the Korean Geosynthetics Society
• /
• v.16 no.4
• /
• pp.163-176
• /
• 2017

The Discrete Element Method (DEM) has been widely used in civil engineering as well as various industrial fields to simulate granular materials. In this study, DEM was adopted to predict the performance of the face plate-type earth pressure balance (EPB) shield TBM (Tunnel Boring Machine). An analysis of the TBM excavation performance was conducted according to two pre-defined excavation conditions with the different rotation speeds per minute (RPM) of the cutterhead. The TBM model which was used in this study has a 6.64 m of diameter and six spokes. Also, 37 precutters and 98 scrapers at an each spoke were modeled with a real-scale specification. From the analysis, compressive forces at the cutterhead face, shield and cutting tools, resistant torques at the cutterhead face, muck discharge rate and accumulated muck discharge by the screw auger were measured and compared.